CN205032397U - Kiwi fruit detects grading plant - Google Patents

Abstract

The utility model discloses a kiwi fruit detection and grading device, which belongs to the technical field of fruit processing machinery. It includes a frame, an inclined conveying mechanism, a controller, a grading fruit unloading mechanism, a fruit size detection mechanism and a fruit internal sugar content detection mechanism. Inclined conveyor connection. The utility model adopts a modular design concept, integrates an inclined conveying platform, a detection device, a grading and unloading device and a control system, and realizes the mechanization and automation of fruit detection and grading. The utility model has reasonable structure, convenient operation, high working reliability, can complete the online detection and classification of fruits, integrates the functions of conveying, detection and fruit unloading, and can greatly reduce the damage rate of fruit detection.

Description

A kiwifruit detection and grading device

technical field

The utility model belongs to the field of agricultural machinery and relates to a fruit detection device, in particular to a kiwi fruit detection and grading device.

Background technique

Fruit and vegetable sorting is a labor-intensive job, and labor costs are increasing in many countries due to aging populations and a growing shortage of agricultural labor. Fruit and vegetable sorting is currently one of the most time-consuming and laborious links in the fruit and vegetable production chain. The quality of the sorting operation directly affects the market sales price of the product and affects the farmers' planting income. In recent years, with the rapid development of image processing technology and computer technology, automatic detection and grading of fruits using machine vision technology has been widely used. Foreign countries began to study fruit grading systems based on computer vision technology in the 1990s, and now there are a large number of practical products, such as the OscARTM high-speed fruit grading production line in the United States, which is used for grading and grading of apples, oranges and other fruits. Quality testing, while domestic research in this area started relatively late. At present, kiwi fruit still mainly rely on manual sorting, which is labor-intensive, time-consuming and costly.

At the same time, most of the fruit sorting machines in the market in our country are limited to the detection of appearance size and weight. With the improvement of living standards, consumers no longer only pay attention to the appearance of fruits when buying fruits, but pay more attention to their taste. For example, Yantai Red Fuji in my country and crisp pears in Yangshan County, Anhui, etc. are all sold by taste. It has established its own brand and opened up the international market. Therefore, with the rapid development of spectral detection technology, it has become a trend to use near-infrared spectroscopy to detect the sugar content of fruits.

At present, due to the regional characteristics of kiwifruit, the equipment for simultaneous detection and grading of the appearance and internal quality of kiwifruit after harvest in China is still blank in China. gain a greater competitive advantage. Aiming at the characteristics of thin-skinned fruits such as kiwi, the utility model develops an inclined conveyor belt type fruit classifier, which can complete the fruit transportation and separation work with only one conveyor belt. The transportation mechanism is designed to be inclined, and the reasonable inclination angle is determined through the study of the physical characteristics of kiwifruit, which can not only ensure the smooth transportation of the fruit, but also assist the grading actuator to achieve fruit separation. It effectively avoids the mutual friction or collision between the fruit surface and the mechanical device, and greatly reduces the damage rate of kiwi and other fruits during the detection process.

Contents of the invention

In order to overcome the deficiencies of the existing grading methods and grading devices, the utility model provides a small mobile non-destructive detection and grading device for kiwifruit. The device uses machine vision technology to collect and process kiwifruit images in real time to complete the judgment of kiwifruit size and grade At the same time, based on the near-infrared spectrum technology, the acquisition of the spectral absorption rate of kiwi fruit was completed, and the detection of its internal sugar content was realized. Finally, according to the grade judgment result, the separation execution part was controlled to take corresponding actions, and finally the grading of kiwi fruit was realized. It solves the problems of high labor intensity, low efficiency and high cost of manual sorting, and realizes the mechanization, automation and intelligence of kiwifruit sorting operations.

The technical scheme adopted by the utility model to solve the technical problems is: a kiwi fruit detection and grading device, including a frame, an inclined conveying mechanism is installed on the upper side of the frame, and a controller is installed on the lower side of the frame; the inclined conveying mechanism A detection box is installed on the right side of the upper side, and a grading and unloading mechanism is installed on the side; the detection box is equipped with a fruit size detection mechanism and a fruit internal sugar detection mechanism, and the controller is respectively connected with the fruit size detection mechanism and the fruit internal sugar detection mechanism. , Grading unloading mechanism, inclined conveyor mechanism connection.

The inclined conveying mechanism is composed of a motor, an inclined conveying belt, a retaining bar, a baffle plate and an angle adjustment rod mechanism; the inclined conveying belt is operated by a motor, and the inclination angle of the inclined conveying belt is adjusted by an angle adjusting mechanism, Conveyor belt bars are bonded to the inclined conveyor belt, and baffles are installed on the side.

Described fruit size detecting mechanism is made up of the first photoelectric sensor, ultrasonic ranging sensor and camera, and described camera is installed on the fixed support of camera, and described optical camera fixed support, first photoelectric sensor and ultrasonic ranging sensor are installed on fixed support superior.

The internal sugar content detection mechanism of the fruit is composed of a linear guide rail slide, a stepping motor, a spectrometer, a tungsten halogen light source, the second photoelectric sensor, an optical fiber probe, and an optical fiber; the linear guide slide is vertically installed on a fixed bracket, The stepper motor is connected with the slide table at the top of the slide table, the optical fiber probe is fixed on the slide block to adjust the distance from its end face to the fruit with the movement of the slide block, the spectrometer and the tungsten halogen light source are placed for detection The top of the box is connected by optical fiber, and the second photoelectric sensor is installed on the slider.

The grading and unloading mechanism is composed of a separation baffle, a rotating electromagnet, a third photoelectric sensor, and a fruit collecting trough. The rotating electromagnet is based on the result of the grade judgment in the detection box and the position of the fruit by the third photoelectric sensor. Respectively control the corresponding separation baffle to open.

The angle adjustment rod mechanism is composed of a fixed plate, an angle adjustment rod, and a fixed plate. The upper end of the angle adjustment rod is connected to the fixed plate, and the lower end passes through the fixed plate and is fixed by a nut; the fixed plate is installed on the side of the inclined conveyor belt. The baffle is connected; the fixed plate is connected with the frame.

Described camera utilizes Microsoft Microsoft camera to carry out image collection.

Compared with the prior art, the utility model has the following beneficial effects:

The device adopts a single-chip microcomputer for overall control, uses a Microsoft camera for image collection, and computer image processing technology to determine the size of kiwifruit; at the same time, it also uses Avantis spectrometer to collect spectral information, and the computer predicts the sugar content of kiwifruit through mathematical models. The two working processes are carried out successively. The sensor performs accurate detection and feedback on the working process. The kiwi fruit conveying speed is realized by frequency modulation of the motor. The integration of the cooperation of the separation plate has realized the mechanization and automation of kiwifruit fruit detection and grading. The kiwifruit detection and grading device realizes the standardized sorting of kiwifruit, provides preconditions for subsequent packaging and sales, and lays the foundation for developing the international market.

Description of drawings

Fig. 1 is the overall structure schematic diagram of a kind of kiwifruit detection and grading device of the present utility model;

Fig. 2 is a schematic diagram of the enlarged structure of the detection mechanism of a kind of kiwi fruit detection and grading device of the present invention;

Fig. 3 is the magnified structure diagram of the grading and unloading mechanism of a kind of kiwi fruit detection and grading device of the present invention;

Fig. 4 is the enlarged schematic diagram of the angle adjustment mechanism of a kind of kiwi fruit detection and classification device of the present invention;

Fig. 5 is a working flow diagram of a kiwi fruit detection and grading device of the present invention.

detailed description

Fig. 1 has provided the overall structure schematic diagram of a kind of kiwifruit detection and grading device of the present utility model from the angle of front view, and the top of described frame 1 is equipped with inclined conveying mechanism 31, and controller 8 is installed below; A detection box 33 is installed on the upper right side of the conveying mechanism 31, and a grading and unloading mechanism 4 is installed on the side; a fruit size detection mechanism 2 and a fruit internal sugar detection mechanism 3 are arranged in the detection box 33, and the controller 8 is connected with the fruit respectively. The size detection mechanism 2, the sugar content detection mechanism 3 inside the fruit, the grading and unloading mechanism 4, and the inclined conveying mechanism 31 are connected.

1 and 2, the inclined conveyor mechanism 31 is composed of a motor 7, an inclined conveyor belt 6, a bar 5, a baffle plate 9 and an angle adjustment rod mechanism 32; the inclined conveyor belt 6 is run by the motor 7 , the inclination angle of the inclined conveyor belt 6 is regulated by the angle adjustment mechanism 32, and the inclined conveyor belt 6 is bonded with a conveyor belt stop bar 5, and a baffle plate 9 is installed on the side.

Referring to Fig. 2, described fruit size detection mechanism 2 is made up of photoelectric sensor 14, ultrasonic ranging sensor 16 and camera 26, and described camera 26 is installed on the camera fixed support 17, described optical camera fixed support 17, electric sensor 14 and The ultrasonic ranging sensor 16 is installed on the fixed bracket 15 . When the photoelectric sensor 14 detects the position information of the kiwi fruit, the control system controls the camera 26 to collect fruit image information, and at the same time processes the image in real time with the help of a program written by matlab to obtain the size and grade information of the kiwi fruit. Described camera utilizes Microsoft Microsoft camera to carry out image collection.

Referring to Fig. 2, described fruit internal sugar detection mechanism is made up of linear guide rail slide table 22, stepper motor 21, spectrometer 18, tungsten halogen light source 19, optical fiber probe 25, optical fiber 20; Described linear guide rail slide table 22 is vertically installed on On the fixed bracket 15, the stepper motor 21 is connected with the slide table at the top of the slide table, and the optical fiber probe 25 is fixed on the slide block 23 to adjust the distance from its end face to the fruit as the slide block moves. 18 and the halogen tungsten light source 19 are placed on the top of the detection box 33 and connected through the optical fiber 20. When the first photoelectric sensor 14 detected the position information of the kiwi, the control system controlled the ultrasonic ranging sensor to start adjusting the distance from its section to the kiwi. The distance between the optical fiber probe and the kiwi fruit is indirectly adjusted to make it reach the optimal distance required by the experiment we set. Then the kiwi continued to run, and when the second photoelectric sensor 24 detected the position information of the kiwi, the spectrometer was started to collect data, and the computer processed the data according to the built model to obtain the sugar level information.

Referring to Fig. 3, described classification unloading mechanism 4 is made up of separating baffle plate 28, rotating electromagnet 30, the 3rd photoelectric sensor 29, collecting fruit groove 7, and described rotating electromagnet 30 judges the result according to the grade in the detection box 33, And the third photoelectric sensor 29 is sensitive to the position of the fruit, and controls the corresponding separation baffle 28 to open respectively. The three rotating magnets respectively control the opening of the corresponding separation baffles according to the grade judgment results in the detection box and the position sensing of the fruit by the photoelectric sensor, so as to realize the separation of the fruit.

Referring to Fig. 4, described angle adjustment rod mechanism 32 is made up of fixed plate 10, angle adjustment rod 11, fixed plate 12, and the upper end of described angle adjustment rod 11 is connected with fixed plate 12, and the lower end passes through fixed plate 10 and is fixed by nut; The fixed plate 12 is connected to the baffle plate 9 installed on the side of the inclined conveyor belt 6; the fixed plate 10 is connected to the frame 1. There is a groove on the fixing plate 10, which is convenient for the angle adjustment rod to pass through, and adjusts the inclination angle of the transmission mechanism through the position of the nut on the rod. Cooperate to ensure that the fruit enters each work process stably.

Fig. 5 is the working flow chart of a kind of kiwi fruit detection and classification device of the present utility model, and concrete work process is as follows:

The kiwi fruit runs on the conveyor belt. When the photoelectric sensor 14 detects the position information of the kiwi fruit, the camera 26 is controlled by the control system to collect the fruit image, and the image is processed in real time by means of a program written by matlab to obtain the kiwi fruit size grade information; The ultrasonic ranging sensor starts to adjust the distance from its cross-section to the kiwi fruit. Since the distance between the end face of the ranging sensor and the end face of the fiber optic probe remains unchanged, the distance from the fiber optic probe to the kiwi fruit is indirectly adjusted to make it reach the value we set. Then the kiwi continued to run, and when the photoelectric sensor 24 detected the position information of the kiwi, the spectrometer was started to collect data, and the computer processed the data according to the model of the built-up spectral absorptivity and the true sugar content of the kiwi, and obtained The sugar content grade information is output, and then the three rotating magnets under the three fruit collecting troughs control the opening of the corresponding separation baffles respectively according to the grade judgment results in the detection box and the position sensing of the fruit by the photoelectric sensor, so as to realize the separation of the fruit.

The device adopts a single-chip microcomputer for overall control, uses a Microsoft camera for image collection, computer image processing technology to judge the size of kiwifruit, and spectral data processing technology to judge the sugar level of kiwifruit. The computer communicates with the single-chip microcomputer through the serial port, so as to combine the image and spectral processing information with the control of the separation mechanism. The sensor performs accurate detection and feedback on the working process, and the conveying speed is realized by frequency modulation of the motor. The system is simple in mechanism, easy to control, and capable of transporting fruits; it can accurately and non-destructively detect the internal and external quality of kiwifruit; it can realize the function of fruit separation, which solves the problems of high labor intensity, low efficiency, and high cost of manual sorting, and realizes the The mechanization, automation and intelligence of sorting operations provide key technical support for kiwi fruit picking robots.

Claims (7)

1. Kiwi berry detects a grading plant, comprises frame (1), it is characterized in that: the top of described frame (1) is provided with incline conveyer structure (31), is provided with controller (8) below; Be provided with detection case (33) on the right side of described incline conveyer structure (31) top, side is provided with classification Xie Guo mechanism (4); Be provided with fruit size testing agency (2) and the inner pol testing agency (3) of fruit in described detection case (33), described controller (8) is connected with fruit size testing agency (2), the inner pol testing agency (3) of fruit, classification Xie Guo mechanism (4), incline conveyer structure (31) respectively.

2. Kiwi berry detects grading plant according to claim 1, it is characterized in that: described incline conveyer structure (31) is made up of motor (7), tilting conveyer belt (6), blend stop (5), baffle plate (9) and angle adjustment linkage (32); Described tilting conveyer belt (6) is run by motor (7), and the angle of inclination of tilting conveyer belt (6) is regulated by angle-adjusting mechanism (32), and tilting conveyer belt (6) upper bonding conveyer belt blend stop (5), baffle plate (9) is equipped with in side.

3. Kiwi berry detects grading plant according to claim 1, it is characterized in that: described fruit size testing agency (2) is made up of the first photoelectric sensor (14), ultrasonic distance-measuring sensor (16) and camera (26), described camera (26) is arranged on camera fixing support (17), and described light video camera head fixed support (17), the first photoelectric sensor (14) and ultrasonic distance-measuring sensor (16) are arranged on fixed support (15).

4. Kiwi berry detects grading plant according to claim 1, it is characterized in that: the inner pol testing agency of described fruit is made up of line slideway slide unit (22), stepper motor (21), spectrometer (18), halogen tungsten lamp light source (19), the second photoelectric sensor (24), fibre-optical probe (25), optical fiber (20); Described line slideway slide unit (22) is vertically mounted on fixed support (15), described stepper motor (21) links together with slide unit on slide unit top, described fibre-optical probe (25) to be fixed on slide block (23) with the movement of slide block to adjust the distance of its end face to fruit, described spectrometer (18) is placed in detection case (33) top with halogen tungsten lamp light source (19) and is connected by optical fiber (20), and described second photoelectric sensor (24) is arranged on slide block (23).

5. Kiwi berry detects grading plant according to claim 1, it is characterized in that: described classification Xie Guo mechanism (4) is made up of skimming baffle (28), rotary magnet (30), the 3rd photoelectric sensor (29), fruit collecting groove (27), described rotary magnet (30) is according to the grade result of determination in detection case (33), and the 3rd photoelectric sensor (29) to the location sensitive of fruit, control corresponding skimming baffle (28) respectively and open.

6. Kiwi berry detects grading plant according to claim 2, it is characterized in that: described angle adjustment linkage (32) is made up of fixed head (10), angle adjustment lever (11), fixed head (12), described angle adjustment lever (11) upper end is connected with fixed head (12), and lower end is fixed by nut through fixed head (10); Described fixed head (12) is connected with the baffle plate (9) being arranged on tilting conveyer belt (6) side; Described fixed head (10) is connected with frame (1).

7. Kiwi berry detects grading plant according to claim 3, it is characterized in that: described camera utilizes Microsoft Microsoft camera to carry out IMAQ.