CN110340035A - A kind of cashew nut sorting equipment and method - Google Patents
A kind of cashew nut sorting equipment and method Download PDFInfo
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- CN110340035A CN110340035A CN201910632221.3A CN201910632221A CN110340035A CN 110340035 A CN110340035 A CN 110340035A CN 201910632221 A CN201910632221 A CN 201910632221A CN 110340035 A CN110340035 A CN 110340035A
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- 235000020226 cashew nut Nutrition 0.000 title claims abstract description 73
- 244000226021 Anacardium occidentale Species 0.000 title claims abstract description 65
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 68
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 58
- 238000007664 blowing Methods 0.000 claims abstract description 22
- 235000014571 nuts Nutrition 0.000 claims description 37
- 230000002950 deficient Effects 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 12
- 238000011179 visual inspection Methods 0.000 claims description 8
- 238000007781 pre-processing Methods 0.000 claims description 6
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 3
- 230000002708 enhancing effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 abstract description 2
- 241000208223 Anacardiaceae Species 0.000 description 8
- 238000004458 analytical method Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0081—Sorting of food items
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Abstract
Description
技术领域technical field
本发明属于水果分拣设备技术领域，尤其涉及一种腰果分拣装备及方法。The invention belongs to the technical field of fruit sorting equipment, and in particular relates to a cashew sorting equipment and method.
背景技术Background technique
我国是农业大国，腰果的产量一直遥遥领先，随着腰果加工的不断深化，需要对腰果进行分拣，现实中我国的腰果大部分采用人工操作，耗时耗力，而且效率低，因此，研制一种可以克服上述因素的腰果分拣装备是很有必要的。my country is a large agricultural country, and the output of cashew nuts has always been far ahead. With the continuous deepening of cashew nut processing, it is necessary to sort cashew nuts. In reality, most of the cashew nuts in my country are manually operated, which is time-consuming and labor-intensive, and the efficiency is low. Therefore, the development of A kind of cashew sorting equipment that can overcome the above-mentioned factors is necessary.
发明内容Contents of the invention
为了解决上述技术问题，本发明的目的在于提供一种腰果分拣装备及方法。In order to solve the above technical problems, the object of the present invention is to provide a cashew sorting equipment and method.
为此，本发明所采用的技术方案为：一种腰果分拣装备，包括检测台、振动排序装置、检测输送装置、视觉检测系统和不良果品吹出装置，所述的振动排序装置安装在检测输送装置的一端，所述视觉检测系统安装在检测输送装置的上侧，所述不良果品吹出装置安装在检测台的侧面，还包括控制所述检测输送装置、视觉检测系统和不良果品吹出装置的控制系统，以及为检测输送装置、视觉检测系统和不良果品吹出装置提供电能的电源，所述控制系统包括上位机和与上位机通讯连接的IO控制器。For this reason, the technical solution adopted in the present invention is: a kind of cashew nut sorting equipment, including a detection table, a vibration sorting device, a detection and conveying device, a visual detection system and a defective fruit blowing device, and the vibration sorting device is installed on the detection and conveying device. One end of the device, the visual detection system is installed on the upper side of the detection conveying device, and the defective fruit blowing device is installed on the side of the detection table, and also includes control of the detection conveying device, visual detection system and defective fruit blowing device system, and a power supply that provides electric energy for the detection conveying device, the visual inspection system and the defective fruit blowing device, and the control system includes a host computer and an IO controller communicated with the host computer.
生产线腰果来料后，腰果流入振动排序装置，经过振动排序装置后腰果按顺序排列流出震动盘，腰果进入检测传送带，当腰果通过相机下方的光电开关后，光电开关将信号传递给控制器，控制器触发拍照开关对腰果拍照，然后将通过光电开关的腰果图像进入上位机分析判断，检测有质量不合格的腰果，上位机传递信号给控制器立即触发电磁阀，从气嘴剔除掉不合格的腰果，质量合格的腰果则流向下一工序。After the cashew nuts come to the production line, the cashews flow into the vibration sorting device. After passing through the vibration sorting device, the cashews are arranged in sequence and flow out of the vibrating plate. The cashews enter the detection conveyor belt. When the cashews pass through the photoelectric switch under the camera, the photoelectric switch transmits the signal to the controller. The sensor triggers the camera switch to take pictures of the cashew nuts, and then the image of the cashew nuts passed through the photoelectric switch enters the upper computer for analysis and judgment, and detects cashew nuts with unqualified quality. Cashew nuts, qualified cashew nuts flow to the next process.
进一步的，所述的检测输送装置包括安装在检测台上的输送带以及带动输送带转动的输送电机，输送电机由输送机控制器控制，输送机控制器连接电源，所述振动排序装置的腰果出口置于输送带上，腰果在振动排序装置内振动排序后，输送到输送带上。Further, the detection and conveying device includes a conveyor belt installed on the detection platform and a conveying motor that drives the conveyor belt to rotate, the conveying motor is controlled by a conveyor controller, and the conveyor controller is connected to a power supply, and the cashew nuts of the vibration sorting device The outlet is placed on the conveyor belt. After the cashew nuts are vibrated and sorted in the vibration sorting device, they are transported to the conveyor belt.
进一步的，所述视觉检测系统包括相机、光源以及用于触发相机和光源的光电开关，所述的检测台上设有相机支架，所述的相机和光源均安装在相机支架上，所述的光电开关安装在检测台的侧面且光电开关的安装位置在相机之前，更靠近于振动排序装置，用于检测腰果是否通过，以用来触发相机拍照。Further, the visual inspection system includes a camera, a light source, and a photoelectric switch for triggering the camera and the light source. The detection table is provided with a camera bracket, and the camera and the light source are installed on the camera bracket. The photoelectric switch is installed on the side of the detection table and the installation position of the photoelectric switch is before the camera, closer to the vibration sorting device, and is used to detect whether the cashew nuts pass through, so as to trigger the camera to take pictures.
进一步的，所述不良果品吹出装置包括安装在视觉检测系统后端的检测台侧面的气嘴，所述的气嘴管道连接空压机，所述的空压机与气嘴之间的管道上设有电磁阀，所述的电磁阀电连接IO控制器。Further, the defective fruit blowing device includes an air nozzle installed on the side of the detection table at the rear end of the visual inspection system, the pipe of the air nozzle is connected to the air compressor, and the pipeline between the air compressor and the air nozzle is provided with an air nozzle. There is a solenoid valve, and the solenoid valve is electrically connected to the IO controller.
进一步的，所述振动排序装置为振动盘。Further, the vibration sorting device is a vibrating plate.
进一步的，所述检测台上设有方向控制板，所述的振动排序装置的腰果出口置于方向控制板之间。Further, the detection table is provided with a direction control board, and the cashew nut outlet of the vibration sorting device is placed between the direction control boards.
进一步的，所述方向控制板为两个，成收敛的喇叭口状对称设置。Further, there are two directional control panels, which are arranged symmetrically in a converging bell-mouth shape.
进一步的，所述相机、光源以及光电开关均通讯连接IO控制器。Further, the camera, light source and photoelectric switch are all communicatively connected to the IO controller.
进一步的，所述的检测台的末端设有好果框，所述的不良果品吹出装置的对向设置有坏果框。Further, a good fruit frame is provided at the end of the detection platform, and a bad fruit frame is provided opposite to the bad fruit blowing device.
本发明所述的一种腰果分拣方法，包括以下步骤：A kind of cashew sorting method of the present invention comprises the following steps:
S1、当腰果由振动排序装置经过检测台的视觉检测系统点位时，光电开关检测到物品存在信号，控制系统随即发布拍照指令，相机对腰果进行拍照；S1. When the cashew nuts pass through the visual detection system point of the inspection table by the vibration sorting device, the photoelectric switch detects the presence signal of the item, and the control system immediately issues a photographing command, and the camera takes pictures of the cashew nuts;
S2、对步骤S1所得的照片进行图像处理S2, carry out image processing to the photo obtained in step S1
（1）解析图像：将图像扫描成像素点，每个像素点具有一个明确的位置和色彩数值，并以矩阵形式进行存放；(1) Analyze the image: scan the image into pixels, each pixel has a clear position and color value, and store it in the form of a matrix;
（2）图像前处理：把原始的彩色图像转换为灰度图像，再采用中值滤波法对灰度图像进行去噪处理，再将图像通过反锐化掩模进行模糊预处理，以达到提高图像中高频成分、增强图像轮廓的目的；(2) Image pre-processing: convert the original color image into a grayscale image, then use the median filter method to denoise the grayscale image, and then perform blurring preprocessing on the image through an unsharp mask to achieve improved image quality. The purpose of high-frequency components in the image and enhancing the outline of the image;
（3）基于Prewitt算子的边缘检测：结合横向算子与竖向算子，对进行前处理的图像进行边缘识别，得出腰果数值；(3) Edge detection based on Prewitt operator: combine the horizontal operator and vertical operator to perform edge recognition on the pre-processed image to obtain the value of cashew nuts;
（4）好坏果检测方法：满足好果的条件，基于BP神经网络的腰果识别，通过识别弧度是否为封闭的月牙形状，若与月牙形状匹配成功，再判读封闭的月牙形状上是否有黑色斑点或斑块，若再次判定没有黑色斑点，则表示同时满足上述两种情况，判定为好果，否则判断为坏果；(4) Good or bad fruit detection method: meet the conditions of good fruit, cashew nut recognition based on BP neural network, by identifying whether the arc is a closed crescent shape, if it matches the crescent shape successfully, then judge whether there is black on the closed crescent shape Spots or plaques, if it is judged again that there are no black spots, it means that the above two conditions are met at the same time, and it is judged as a good fruit, otherwise it is judged as a bad fruit;
S3、根据上述判断，若为坏果，控制系统发送指令给电磁阀，空气电磁阀打开，将坏果吹至坏果篮里面，若为好果则不动作，好果继续带动到好果框里。S3. According to the above judgment, if it is a bad fruit, the control system sends an instruction to the solenoid valve, and the air solenoid valve opens to blow the bad fruit into the bad fruit basket. inside.
与现有技术相比，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
可以对腰果进行拍照，后照片传递到控制系统，由控制系统来区分是好果还是坏果，然后再进行区分开来，自动化程度高，节省了大量的人力物力，且分辨精度高。The cashew nuts can be photographed, and then the photos are transmitted to the control system, which can distinguish whether it is a good fruit or a bad fruit, and then distinguish it. The degree of automation is high, a lot of manpower and material resources are saved, and the resolution accuracy is high.
附图说明Description of drawings
图1 为实施例一的系统框架图。Fig. 1 is a system frame diagram of the first embodiment.
其中，图中标记：Among them, marked in the figure:
1、检测台，2、电源，3、上位机，4、IO控制器，5、输送带，6、相机，7、光源，8、光电开关，9、相机支架，10、气嘴，11、空压机，12、振动盘，13、方向控制板，14、好果框，15、坏果框,16、电磁阀，17、输送机控制器。1. Detection platform, 2. Power supply, 3. Host computer, 4. IO controller, 5. Conveyor belt, 6. Camera, 7. Light source, 8. Photoelectric switch, 9. Camera bracket, 10. Air nozzle, 11. Air compressor, 12. Vibration plate, 13. Direction control panel, 14. Good fruit box, 15. Bad fruit box, 16. Solenoid valve, 17. Conveyor controller.
具体实施方式Detailed ways
为了更好的了解本发明的技术方案，下面结合具体实施例、说明书附图对本发明作进一步说明。In order to better understand the technical solutions of the present invention, the present invention will be further described below in conjunction with specific embodiments and accompanying drawings.
实施例一：Embodiment one:
如图1所示，本实施例所述的一种腰果分拣装备，包括检测台1、振动排序装置、检测输送装置、视觉检测系统和不良果品吹出装置，所述的振动排序装置安装在检测输送装置的一端，所述视觉检测系统安装在检测输送装置的上侧，所述不良果品吹出装置安装在检测台的侧面，还包括控制所述检测输送装置、视觉检测系统和不良果品吹出装置的控制系统，以及为检测输送装置、视觉检测系统和不良果品吹出装置提供电能的电源2，所述控制系统包括上位机3和与上位机3通讯连接的IO控制器4。As shown in Figure 1, a kind of cashew sorting equipment described in this embodiment includes a detection table 1, a vibration sorting device, a detection and conveying device, a visual detection system and a defective fruit blowing device, and the vibration sorting device is installed in the detection One end of the conveying device, the visual detection system is installed on the upper side of the detection conveying device, and the defective fruit blowing device is installed on the side of the detection table, and also includes a device for controlling the detection conveying device, the visual detection system and the defective fruit blowing device. A control system, and a power supply 2 that provides electric energy for the detection conveying device, the visual inspection system and the defective fruit blowing device, the control system includes a host computer 3 and an IO controller 4 that is connected to the host computer 3 in communication.
进一步的，所述的检测输送装置包括安装在检测台1上的输送带5以及带动输送带5转动的输送电机，输送电机由输送机控制器17控制，输送机控制器17连接电源2，由电源2为其供电，所述振动排序装置的腰果出口置于输送带5上，腰果在振动排序装置内振动排序后，输送到输送带5上。Further, the detection and conveying device includes a conveyor belt 5 installed on the detection platform 1 and a conveying motor that drives the conveyor belt 5 to rotate, the conveying motor is controlled by a conveyor controller 17, and the conveyor controller 17 is connected to the power supply 2. The power supply 2 supplies power to it, and the cashew nut outlet of the vibration sorting device is placed on the conveyor belt 5, and the cashew nuts are transported to the conveyor belt 5 after being vibrated and sorted in the vibration sorting device.
进一步的，所述视觉检测系统包括相机6、光源7以及用于触发相机6和光源7的光电开关8，所述的检测台1上设有相机支架9，所述的相机6和光源7均安装在相机支架9上，所述的光电开关8安装在检测台1的侧面且光电开关8的安装位置在相机6之前，更靠近于振动排序装置，用于检测腰果是否通过，以用来触发相机拍照。Further, the visual inspection system includes a camera 6, a light source 7, and a photoelectric switch 8 for triggering the camera 6 and the light source 7. The detection table 1 is provided with a camera bracket 9, and the camera 6 and the light source 7 are both Installed on the camera bracket 9, the photoelectric switch 8 is installed on the side of the detection table 1 and the installation position of the photoelectric switch 8 is before the camera 6, closer to the vibration sorting device, for detecting whether the cashew nuts pass through, so as to trigger The camera takes pictures.
进一步的，所述不良果品吹出装置包括安装在视觉检测系统后端的检测台1侧面的气嘴10，所述的气嘴10管道连接空压机11，所述的空压机11与气嘴10之间的管道上设有电磁阀16，所述的电磁阀16电连接IO控制器4。Further, the defective fruit blowing device includes an air nozzle 10 installed on the side of the detection platform 1 at the rear end of the visual inspection system, and the air nozzle 10 is connected to the air compressor 11 by pipelines, and the air compressor 11 and the air nozzle 10 are connected to each other. A solenoid valve 16 is provided on the pipeline between them, and the solenoid valve 16 is electrically connected to the IO controller 4 .
进一步的，所述振动排序装置为振动盘12，腰果在振动盘内经过振动排序后，输送到输送带5上，在输送带5的带动下，进行下一步的分拣。Further, the vibrating sorting device is a vibrating plate 12, after the cashew nuts are vibrated and sorted in the vibrating plate, they are transported to the conveyor belt 5, driven by the conveyor belt 5, the next step of sorting is carried out.
进一步的，所述检测台1上设有方向控制板13，所述的振动排序装置的腰果出口置于方向控制板13之间，方向控制板13可以使得腰果能够成行输送到输送带5样，便于对腰果进行单个拍照，分拣等。Further, the detection platform 1 is provided with a direction control plate 13, the cashew nut outlet of the vibration sorting device is placed between the direction control plates 13, the direction control plate 13 can make the cashew nuts be transported to the conveyor belt in rows, It is convenient to take individual photos and sort cashew nuts.
进一步的，所述方向控制板13为两个，成收敛的喇叭口状对称设置，能使腰果成行输送。Further, there are two direction control plates 13, which are arranged symmetrically in a converging bell-mouth shape, so that the cashew nuts can be transported in rows.
进一步的，所述相机6、光源7以及光电开关8均通讯连接IO控制器4，由IO控制器4进行控制。Further, the camera 6 , the light source 7 and the photoelectric switch 8 are all communicated with the IO controller 4 and controlled by the IO controller 4 .
进一步的，所述的检测台1的末端设有好果框14，检错为好果的腰果会一直在输送带5上，由输送带5掉落到好果框14内，所述的不良果品吹出装置的对向设置有坏果框15，经检测为坏果的腰果有气嘴10吹出输送带5掉落到坏果框15内。Further, the end of the detection platform 1 is provided with a good fruit frame 14, and the cashew nuts detected as good fruit will always be on the conveyor belt 5, and will fall into the good fruit frame 14 by the conveyor belt 5. The opposite of the fruit blowing device is provided with a bad fruit frame 15, and the cashew nuts that are detected as bad fruit have an air nozzle 10 to blow out the conveyor belt 5 and drop into the bad fruit frame 15.
生产线腰果来料后，腰果流入振动排序装置，经过振动排序装置后腰果按顺序排列流出震动盘，腰果进入检测传送带，当腰果通过相机下方的光电开关后，光电开关将信号传递给控制器，控制器触发拍照开关对腰果拍照，然后将通过光电开关的腰果图像进入上位机分析判断，检测有质量不合格的腰果，上位机传递信号给控制器立即触发电磁阀，从气嘴剔除掉不合格的腰果，质量合格的腰果则流向下一工序。After the cashew nuts come to the production line, the cashews flow into the vibration sorting device. After passing through the vibration sorting device, the cashews are arranged in sequence and flow out of the vibrating plate. The cashews enter the detection conveyor belt. When the cashews pass through the photoelectric switch under the camera, the photoelectric switch transmits the signal to the controller. The sensor triggers the camera switch to take pictures of the cashew nuts, and then the image of the cashew nuts passed through the photoelectric switch enters the upper computer for analysis and judgment, and detects cashew nuts with unqualified quality. Cashew nuts, qualified cashew nuts flow to the next process.
其中：一种腰果分拣方法，包括以下步骤：Wherein: a kind of cashew sorting method, comprises the following steps:
S1、当腰果由振动排序装置经过检测台的视觉检测系统点位时，光电开关检测到物品存在信号，控制系统随即发布拍照指令，相机对腰果进行拍照；S1. When the cashew nuts pass through the visual detection system point of the inspection table by the vibration sorting device, the photoelectric switch detects the presence signal of the item, and the control system immediately issues a photographing command, and the camera takes pictures of the cashew nuts;
S2、对步骤S1所得的照片进行图像处理S2, carry out image processing to the photo obtained in step S1
（1）解析图像：将图像扫描成像素点，每个像素点具有一个明确的位置和色彩数值，并以矩阵形式进行存放；(1) Analyze the image: scan the image into pixels, each pixel has a clear position and color value, and store it in the form of a matrix;
（2）图像前处理：把原始的彩色图像转换为灰度图像，再采用中值滤波法对灰度图像进行去噪处理，再将图像通过反锐化掩模进行模糊预处理，以达到提高图像中高频成分、增强图像轮廓的目的；(2) Image pre-processing: convert the original color image into a grayscale image, then use the median filter method to denoise the grayscale image, and then perform blurring preprocessing on the image through an unsharp mask to achieve improved image quality. The purpose of high-frequency components in the image and enhancing the outline of the image;
（3）基于Prewitt算子的边缘检测：结合横向算子与竖向算子，对进行前处理的图像进行边缘识别，得出腰果数值；(3) Edge detection based on Prewitt operator: combine the horizontal operator and vertical operator to perform edge recognition on the pre-processed image to obtain the value of cashew nuts;
（4）好坏果检测方法：满足好果的条件，基于BP神经网络的腰果识别，通过识别弧度是否为封闭的月牙形状，若与月牙形状匹配成功，再判读封闭的月牙形状上是否有黑色斑点或斑块，若再次判定没有黑色斑点，则表示同时满足上述两种情况，判定为好果，否则判断为坏果；(4) Good or bad fruit detection method: meet the conditions of good fruit, cashew nut recognition based on BP neural network, by identifying whether the arc is a closed crescent shape, if it matches the crescent shape successfully, then judge whether there is black on the closed crescent shape Spots or plaques, if it is judged again that there are no black spots, it means that the above two conditions are met at the same time, and it is judged as a good fruit, otherwise it is judged as a bad fruit;
S3、根据上述判断，若为坏果，控制系统发送指令给电磁阀，空气电磁阀打开，将坏果吹至坏果篮里面，若为好果则不动作，好果继续带动到好果框里。S3. According to the above judgment, if it is a bad fruit, the control system sends an instruction to the solenoid valve, and the air solenoid valve opens to blow the bad fruit into the bad fruit basket. inside.
以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本申请中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离所述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请中公开的(但不限于)具有类似功能。The above description is only a preferred embodiment of the present application and an illustration of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, but should also cover the technical solutions made by the above-mentioned technical features without departing from the inventive concept. Other technical solutions formed by any combination of or equivalent features thereof. For example, the features described above have similar functions to those disclosed (but not limited to) in this application.
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