CN114713512A - Grain color selector and method thereof - Google Patents
Grain color selector and method thereof Download PDFInfo
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- CN114713512A CN114713512A CN202210272135.8A CN202210272135A CN114713512A CN 114713512 A CN114713512 A CN 114713512A CN 202210272135 A CN202210272135 A CN 202210272135A CN 114713512 A CN114713512 A CN 114713512A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 235000013339 cereals Nutrition 0.000 claims abstract description 138
- 238000007664 blowing Methods 0.000 claims abstract description 50
- 239000000463 material Substances 0.000 claims description 46
- 238000002347 injection Methods 0.000 claims description 20
- 239000007924 injection Substances 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 3
- 230000008030 elimination Effects 0.000 claims 1
- 238000003379 elimination reaction Methods 0.000 claims 1
- 239000012535 impurity Substances 0.000 abstract description 10
- 239000002245 particle Substances 0.000 abstract description 10
- 238000012216 screening Methods 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 5
- 238000005507 spraying Methods 0.000 abstract description 3
- 230000002146 bilateral effect Effects 0.000 abstract description 2
- 238000010187 selection method Methods 0.000 abstract 1
- 238000000926 separation method Methods 0.000 description 9
- 230000002159 abnormal effect Effects 0.000 description 4
- 230000002950 deficient Effects 0.000 description 3
- 239000003086 colorant Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006866 deterioration 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
- B07C5/3425—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
- B07C5/363—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
- B07C5/366—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means during free fall of the articles
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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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- Sorting Of Articles (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a grain color selector and a method thereof, and relates to the technical field of color selectors. The problems that in the prior art, a set delay time is adopted for color sorting, and some impurities do not reach the spraying area within the set delay time, so that the impurities cannot be effectively removed, and the color sorting effect and precision are reduced are solved. Including frame, feed arrangement, electric device, sorting unit and receiving device, be provided with the cereal passageway in the frame, be provided with electric device in the frame of cereal passageway one side, the bilateral symmetry of cereal passageway is provided with sorting unit, and the upper end of frame is provided with feed arrangement. According to the grain color selector and the grain color selection method, the delay time of foreign particles is automatically calculated in real time by utilizing the time difference of grain flowing through two camera viewpoints, the action time delay of a blowing nozzle is avoided being manually debugged, the automation level of grain screening is improved, the reliability of grain screening is improved, and various impurities are accurately removed.
Description
Technical Field
The invention relates to the technical field of color sorters, in particular to a grain color sorter and a method thereof.
Background
The color selector is a high-tech product which utilizes the optical characteristics of materials to identify defective products and sundries with abnormal colors, defective surfaces or internal deterioration from a large amount of materials and automatically selects and rejects the defective products and the sundries, is widely applied to the field of grain processing, and obviously improves the grain quality.
The color selector comprises the working process: the materials to be subjected to color sorting are conveyed to the chute through the feeder, the chute enables the materials to be selected to uniformly and stably flow into the optical detection area, and the materials show different colors under the irradiation of the light source. The material is imaged to the CCD transmitter through the lens to detect color information of the material, the signal processing system judges whether the material has different-color particles according to set parameters and the color information of the material, when the material flows through the identification area, the CCD sensor detects whether the material is the different-color particles, the time for the material to pass through the identification area and reach the injection area is called delay time, the different-color particles reach the injection area through the set delay time, the air injection valve which acts at high speed is opened, and compressed air blows out the different-color particles to achieve the purpose of separation.
In order to ensure the accuracy of color selection, the CCD sensor in the identification area is used for detecting and judging from the front direction and the back direction, so that the judgment capability of the system on different color signals is increased, and if any one of the front sensor and the back sensor finds different color particles, the action of the execution unit is eliminated.
At present, a CCD sensor detects material particles from front and back directions by adopting the same fixed position of a material moving to an identification area, supposing that the delay time of all falling materials passing through the identification area to reach an injection area is a fixed value, and obtaining the optimal delay time through multiple tests in the process of debugging the materials to perform color sorting.
However, when one material contains different impurities, because the shapes and surface friction forces of the impurities are different, the moving states and the moving speeds of the different materials on the sliding chute are obviously different, the delay time of the materials passing through the identification area and reaching the spraying area is also different, if only one set delay time is adopted for color selection, some impurities do not reach the spraying area at the set delay time, and therefore the impurities cannot be effectively removed, and the color selection effect and the color selection precision are further reduced.
Disclosure of Invention
The invention aims to provide a grain color sorter and a method thereof, wherein a front-view camera and a rear-view camera are arranged, and two cameras of the front-view camera and the rear-view camera are utilized to realize twice recognition of grains and improve the precision and effect of abnormal grain recognition; the color sorter automatically calculates the delay time of foreign particles in real time by utilizing the time difference of grain flowing through two camera viewpoints, avoids the action time delay of a manual debugging blowing nozzle, improves the automation level of grain screening, improves the reliability of grain screening and accurately eliminates various impurities; the camera support is provided with the driving device, the driving device drives the front-view camera and the rear-view camera to change angles during utilization, the viewpoints of the front-view camera and the rear-view camera are changed, and the grain sorting machine can be suitable for grains with different diameters by matching with the change of the diameter of the working area of the sliding groove, so that the precision of the color sorting machine is guaranteed, and the problems in the background art are solved.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a cereal look selects machine, includes frame, feed arrangement, electric installation, sorting unit and receiving device, be provided with the cereal passageway in the frame, be provided with electric installation in the frame of cereal passageway one side, the bilateral symmetry of cereal passageway is provided with sorting unit, and the upper end of frame is provided with feed arrangement, and in the feed arrangement lower extreme extended to the cereal passageway, the cereal passageway was provided with receiving device on being close to the position of feed arrangement lower extreme, sorting unit includes first separation subassembly, second separation subassembly and blow gun, and the blow gun setting is in the cereal passageway between first separation subassembly and second separation subassembly, and first separation subassembly, second separation subassembly respectively with the lateral wall fixed connection of cereal passageway, be provided with the forward-looking camera in the first separation subassembly, be provided with the back-looking camera in the second separation subassembly.
Preferably, the feeding device comprises a conveyor and a sliding chute, one end of the conveyor is connected with the rack, the upper end of the sliding chute is fixedly connected with the upper end of the rack, and the lower end of the sliding chute extends into the grain channel.
Preferably, swing joint has the diameter adjustment board on the inner wall of one side of spout, and one side swing joint of diameter adjustment board has control screw, and control screw runs through the lateral wall of spout, and threaded hole has been seted up to one side of spout, and the threaded hole meshes with control screw.
Preferably, the material receiving device penetrates through the grain channel, the upper end of the material receiving device corresponds to the lower end of the chute, and grains automatically fall in the chute and are collected by the material receiving device.
Preferably, a CCD sensor and a light source are provided in both the first sorting assembly and the second sorting assembly.
Preferably, the front view camera and the rear view camera are respectively connected with the first sorting component and the second sorting component through camera brackets.
Preferably, the camera support is provided with a driving device, the driving device comprises a micro motor and a steering gear, the output end of the micro motor is fixedly connected with the steering gear, and the steering gear is respectively meshed with the front-view camera and the rear-view camera.
Preferably, the upper sides of the front-view camera and the rear-view camera are respectively provided with a sliding guide rod, the sliding guide rods are movably connected with the camera support, the left side and the right side of the front-view camera and the rear-view camera are respectively provided with a positioning rotating shaft, the positioning rotating shafts are movably connected with the camera support, the lower sides of the front-view camera and the rear-view camera are provided with insections, and the insections are meshed with the steering gear.
The invention provides a method for using a grain color selector, which comprises the following steps:
s1: after the color sorter is powered on, the color sorter operates normally, the viewpoint distance between the front-view camera and the rear-view camera is fixed and is set as S1The distance between the rear-view camera viewpoint and the eliminating point of the blowing nozzle injection area is fixed and is set as S2The grain enters the chute from the entrance conveyor.
S2: the grains pass through the front-view camera and the rear-view camera respectively from the chute, and the color sorter systemRecording the time t for each grain to pass through the front view camera point Q1 and the rear view camera point Q21And calculating the time t required by the grain sliding between the rear-view camera viewpoint Q2 and the removing point P of the nozzle injection area2The calculation formula is as follows:
V2＝V1+g×t 1 ②
the formula is used for calculating the speed V of the material passing through the sight point Q1 of the front-looking camera1The speed V of the material passing through the rear-view camera viewpoint Q2 can be calculated by using a formula 22The time t from the material passing through the rear-view camera viewpoint Q2 to the eliminating point P of the blowing nozzle injection area can be calculated by using the formula III2。
S3: according to the position of the foreign matter to be identified and the distance S between the rear-view camera view point and the removing point of the blowing nozzle injection area1Distance S between rear-view camera viewpoint and eliminating point of blowing nozzle injection area2And the time t for the foreign matter to pass through the viewpoint of the front-view camera and the viewpoint of the rear-view camera1And the time t required for sliding of foreign matters between the viewpoint of the rear-view camera and the removing point of the blowing nozzle injection area2Finally, obtain foreign matter delay time T, the blow gun blows the foreign matter on the delay time T who calculates, and the foreign matter is collected by the cereal passageway, and when not discerning the foreign matter, the blow gun is motionless, and cereal is automatic to be slided to receiving device in.
Preferably, the specific process of S3 includes the following steps:
s31: if the material is identified as a foreign body at the front-view camera viewpoint Q1, the delay time T of the action of the blowing nozzle is T1+t2The action of blowing the foreign matters into the grain channel;
s32: if the material is identified as a foreign object at the viewpoint Q2 of the rear-view camera, the delay time of the action of the blowing nozzle is t2Blowing foreign matters into the grain channel;
s33: if the material is identified as foreign matter at the front camera viewpoint Q1 and the rear camera viewpoint Q2, the delay time of the nozzle action is determined to be t according to the rear camera viewpoint Q22Blowing foreign matters into the grain channel;
s34: if the materials are identified to be normal at the front-view camera viewpoint Q1 and the rear-view camera viewpoint Q2, the blowing nozzle does not act, and the grains automatically slide to the receiving device.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a grain color sorter and a method thereof, which are provided with a front-view camera and a rear-view camera, wherein the two cameras of the front-view camera and the rear-view camera are utilized to realize twice recognition of grains, so that the precision and the effect of abnormal grain recognition are improved;
2. according to the grain color sorter and the method thereof, the color sorter utilizes the time difference that grains flow through two camera viewpoints to automatically calculate the delay time of foreign particles in real time, avoids the action time delay of a manual debugging blowing nozzle, improves the automation level of grain screening, improves the reliability of grain screening, and accurately eliminates various impurities;
3. according to the grain color sorter and the grain color sorter method, the driving device is mounted on the camera support, the driving device drives the front-view camera and the rear-view camera to change angles during utilization, the viewpoints of the front-view camera and the rear-view camera are changed, and the grain color sorter can be suitable for grains with different diameters by matching with the change of the diameter of a working area of the sliding chute, so that the precision of the color sorter is guaranteed.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a view of the chute configuration of the present invention;
FIG. 3 is a view showing a distribution structure of a sorting apparatus according to the present invention;
FIG. 4 is a schematic view of the front and rear view cameras of the present invention;
FIG. 5 is a front view camera block diagram of the present invention;
FIG. 6 is an enlarged view of the invention at A;
FIG. 7 is a flow chart of the operation of the present invention;
fig. 8 is a flowchart of determining the delay time T according to the present invention.
In the figure: 1. a frame; 11. a grain channel; 2. a feeding device; 21. a conveyor; 22. a chute; 221. a diameter adjustment plate; 222. controlling the screw; 3. an electrical device; 4. a sorting device; 41. a first sorting assembly; 411. a forward-looking camera; 4111. a sliding guide bar; 4112. positioning the rotating shaft; 4113. insection; 412. a CCD sensor; 413. a light source; 42. a second sorting assembly; 421. a rear view camera; 422. a camera support; 423. a drive device; 4231. a micro-motor; 4232. a steering gear; 43. a blowing nozzle; 5. receiving device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a grain color sorter includes a rack 1, a feeding device 2, an electrical device 3, a sorting device 4 and a receiving device 5, where the rack 1 is a housing of the grain sorter and used for fixing and connecting other components of the device, a grain channel 11 is provided on the rack 1, the electrical device 3 is provided on the rack 1 on one side of the grain channel 11, the electrical device 3 provides a power supply for normal operation of the color sorter, the sorting device 4 is symmetrically provided on two sides of the grain channel 11, the sorting device 4 is a core part of the device and used for distinguishing and separating grains, the feeding device 2 is provided on the upper end of the rack 1, the lower end of the feeding device 2 extends into the grain channel 11, the receiving device 5 is provided on a position of the grain channel 11 close to the lower end of the feeding device 2, and the receiving device 5 is used for collecting separated grains.
Referring to fig. 2, the feeding device 2 is used for conveying grains to an inlet of the color sorter, the feeding device 2 includes a conveyor 21 and a chute 22, one end of the conveyor 21 is connected to the frame 1, an upper end of the chute 22 is fixedly connected to an upper end of the frame 1, a lower end of the chute 22 extends into the grain passage 11, a diameter adjusting plate 221 is movably connected to an inner wall of one side of the chute 22, a control screw 222 is movably connected to one side of the diameter adjusting plate 221, the control screw 222 penetrates through a side wall of the chute 22, a threaded hole is formed in one side of the chute 22 and engaged with the control screw 222, a length of the control screw 222 in the chute 22 can be adjusted by rotating the control screw 222, so as to adjust a width of a working area of the chute 22, the width of the chute 22 can be adjusted according to sizes of the grains, grains with different diameters can be used for the grains, the receiving device 5 penetrates through the grain passage 11, an upper end of the receiving device 5 corresponds to a lower end of the chute 22, the grains automatically fall in the chute 22 and are collected by the receiving device 5.
Referring to fig. 3-6, the sorting apparatus 4 includes a first sorting module 41, a second sorting module 42, and a blowing nozzle 43, the blowing nozzle 43 is disposed in the grain channel 11 between the first sorting module 41 and the second sorting module 42, the first sorting module 41 and the second sorting module 42 are respectively fixedly connected to the sidewall of the grain channel 11, the first sorting module 41 is provided with a front-view camera 411, the second sorting module 42 is provided with a rear-view camera 421, the front-view camera 411 captures color information of grains for the first time, the rear-view camera 421 captures color information of grains for the second time, the blowing nozzle 43 separates grains by blowing according to the determination result of capturing color information of grains for two times, the first sorting module 41 and the second sorting module 42 are both provided with a CCD sensor 412 and a light source 413, the front-view camera 411 and the rear-view camera 421 are respectively connected to the first sorting module 41 and the second sorting module 42 through a camera support 422, the recognition areas observed by the front camera 411 and the rear camera 421 are viewpoints, the viewpoint Q1 of the front camera 411 is higher than the viewpoint Q2 of the rear camera 421, and the viewpoint Q2 of the rear camera 421 is higher than the culling point P of the blowing nozzle 43 ejection area.
The camera support 422 is provided with a driving device 423, the driving device 423 comprises a micromotor 4231 and a steering gear 4232, the output end of the micromotor 4231 is fixedly connected with the steering gear 4232, the steering gear 4232 is respectively meshed with the front-view camera 411 and the rear-view camera 421, the upper sides of the front-view camera 411 and the rear-view camera 421 are respectively provided with a sliding guide rod 4111, the sliding guide rods 4111 are movably connected with the camera support 422, the left side and the right side of the front-view camera 411 and the rear-view camera 421 are respectively provided with a positioning rotating shaft 4112, the positioning rotating shafts 4112 are movably connected with the camera support 422, the lower sides of the front-view camera 411 and the rear-view camera 421 are provided with insections 4113, the insections 4113 are meshed with the steering gear 4232, the micromotor 4231 drives the steering gear 4232 to rotate, the steering gear 4232 pushes the insections 4113 to displace, the front-view camera 411 and the rear-view camera 421 rotate around the positioning rotating shafts 4112, the viewpoint of the front-view camera 411 and the rear-view camera 421 is changed, when the grain diameter is larger, the viewpoint distance between the front camera 411 and the rear camera 421 is adjusted to be larger, when the grain diameter is smaller, the viewpoint distance between the front camera 411 and the rear camera 421 is adjusted to be smaller, the viewpoint distance between the front camera 411 and the rear camera 421 is ensured to be larger than the grain diameter, meanwhile, the viewpoint distance between the front camera 411 and the rear camera 421 is not larger than the grain diameter which is two times, the grains can be ensured to pass through the viewpoints of the front camera 411 and the rear camera 421 one by one, and in addition, no other grains can pass through the viewpoints of the rear camera 421 in the time between the viewpoint of the front camera 411 and the viewpoint of the rear camera 421, and the precision of the color sorter is ensured.
Referring to fig. 7 to 8, in order to better show the operation flow of the grain color sorter, the present embodiment provides a method for using the grain color sorter, which includes the following steps:
s1: after the color sorter is powered on, the color sorter operates normally, the width of the working section of the chute 22 is adjusted according to the diameter of grains, and the viewpoint distance S between the front-view camera 411 and the rear-view camera 421 is adjusted1The viewpoint distance is set to meet the grain diameter requirement, and the viewpoint distances of the front camera 411 and the rear camera 421 are fixed and set to be S1The distance between the viewpoint of the rear-view camera 421 and the rejection point of the nozzle 43 is fixed and set as S2The grain is fed into the chute 22 by the inlet conveyor 21.
S2: the grains pass through the front camera 411 and the rear camera 421 respectively by the chute 22, and the color selector system records the time t of each grain passing through the viewpoint Q1 of the front camera 411 and the viewpoint Q2 of the rear camera 4211And calculates the rear view camera 421 viewThe time t required for the grain to slide between point Q2 and the rejection point P of the nozzle 43 injection zone2The calculation formula is as follows:
V2＝V1+g×t 1 ②
by using the formula (I), the speed V of the material passing through the viewpoint Q1 of the front-looking camera 411 can be calculated1The speed V of the material passing through the viewpoint Q2 of the rearview camera 421 can be calculated by using a formula 22The time t from the material passing through the viewpoint Q2 of the rearview camera 421 to the eliminating point P of the injection area of the blowing nozzle 43 can be calculated by using the formula2。
S3: according to the position of the foreign matter, the distance S between the viewpoint of the rear-view camera 421 and the removing point of the injection area of the blowing nozzle 431Distance S between the viewpoint of the rear-view camera 421 and the rejection point of the blowing nozzle 43 injection area2And time t when the foreign object passes through the viewpoints of the front camera 411 and the rear camera 4211And the time t required for the foreign matter to slip between the viewpoint of the rear-view camera 421 and the removal point of the ejection area of the mouthpiece 432And finally obtaining the foreign matter delay time T, blowing the foreign matters out by the blowing nozzle 43 on the calculated delay time T, collecting the foreign matters by the grain channel 11, and automatically sliding grains into the material receiving device 5 without moving the blowing nozzle 43 when the foreign matters are not identified.
The specific process of S3 includes the steps of:
s31: delay time T of the operation of the blowing nozzle 43 if the material is recognized as a foreign matter at the viewpoint Q1 of the front camera 4111＝t1+t2An operation of blowing foreign matter into the grain passage 11;
s32: if the material is recognized as a foreign matter at the viewpoint Q2 of the rear-view camera 421, the delay time of the operation of the mouthpiece 43 is t2Blowing foreign matters into the grain passage 11;
s33: if the material is identified as a foreign object at the front view point Q1 of the front view camera 411 and the view point Q2 of the rear view camera 421, the delay time of the action of the mouthpiece 43 is determined as t according to the view point Q2 of the rear view camera 4212Blowing foreign matters into the grain passage 11;
s34: if the materials are identified to be normal at the viewpoint Q1 of the front camera 411 and the viewpoint Q2 of the rear camera 421, the blowing nozzle 43 does not act, and the grains automatically slide to the receiving device 5.
In summary, the following steps: the grain color sorter and the method thereof are provided with a front-view camera 411 and a rear-view camera 421, and two cameras of the front-view camera 411 and the rear-view camera 421 are utilized to realize twice recognition of grains and improve the precision and the effect of abnormal grain recognition; the color selector automatically calculates the delay time of foreign particles in real time by using the time difference of grain flowing through two camera viewpoints, so that the action time delay of a manual debugging blowing nozzle 43 is avoided, the automation level of grain screening is improved, the reliability of grain screening is improved, and various impurities are accurately removed; the camera support 422 is provided with the driving device 423, when the driving device 423 is used, the front camera 411 and the rear camera 421 are driven to change the angles, the viewpoints of the front camera 411 and the rear camera 421 are changed, and the driving device 423 is matched with the change of the diameter of the working area of the sliding groove 22, so that the color sorter can be suitable for grains with different diameters, and the accuracy of the color sorter is guaranteed.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (10)
1. The utility model provides a cereal look selection machine, includes frame (1), feed arrangement (2), electric installation (3), sorting unit (4) and receiving device (5), its characterized in that: the grain sorting machine is characterized in that a grain channel (11) is arranged on the rack (1), an electric device (3) is arranged on the rack (1) on one side of the grain channel (11), sorting devices (4) are symmetrically arranged on two sides of the grain channel (11), a feeding device (2) is arranged at the upper end of the rack (1), the lower end of the feeding device (2) extends into the grain channel (11), a material receiving device (5) is arranged at the position, close to the lower end of the feeding device (2), of the grain channel (11), the sorting device (4) comprises a first sorting component (41), a second sorting component (42) and a blowing nozzle (43), the blowing nozzle (43) is arranged in the grain channel (11) between the first sorting component (41) and the second sorting component (42), the first sorting component (41) and the second sorting component (42) are respectively and fixedly connected with the side wall of the grain channel (11), a forward-looking camera (411) is arranged in the first sorting component (41), a rear-view camera (421) is arranged in the second sorting component (42).
2. The grain color selector of claim 1, wherein: the feeding device (2) comprises a conveyor (21) and a sliding chute (22), one end of the conveyor (21) is connected with the rack (1), the upper end of the sliding chute (22) is fixedly connected with the upper end of the rack (1), and the lower end of the sliding chute (22) extends into the grain channel (11).
3. The grain color sorter of claim 2 wherein: the diameter adjusting device is characterized in that a diameter adjusting plate (221) is movably connected to the inner wall of one side of the sliding groove (22), a control screw rod (222) is movably connected to one side of the diameter adjusting plate (221), the control screw rod (222) penetrates through the side wall of the sliding groove (22), a threaded hole is formed in one side of the sliding groove (22), and the threaded hole is meshed with the control screw rod (222).
4. A grain color selector as claimed in claim 3 wherein: the grain receiving device (5) penetrates through the grain channel (11), the upper end of the grain receiving device (5) corresponds to the lower end of the sliding groove (22), grains automatically fall in the sliding groove (22) and are collected through the grain receiving device (5).
5. The grain color selector of claim 1, wherein: and the first sorting assembly (41) and the second sorting assembly (42) are internally provided with a CCD sensor (412) and a light source (413).
6. The grain color selector of claim 1, wherein: the front-view camera (411) and the rear-view camera (421) are respectively connected with the first sorting component (41) and the second sorting component (42) through camera supports (422).
7. The grain color selector of claim 6, wherein: the driving device (423) is installed on the camera support (422), the driving device (423) comprises a micro motor (4231) and a steering gear (4232), the output end of the micro motor (4231) is fixedly connected with the steering gear (4232), and the steering gear (4232) is meshed with the front-view camera (411) and the rear-view camera (421) respectively.
8. The grain color sorter of claim 7 wherein: the upside of foresight camera (411) and back vision camera (421) all is provided with slide guide (4111), slide guide (4111) and camera support (422) swing joint, the left and right sides of foresight camera (411) and back vision camera (421) is provided with location pivot (4112) respectively, location pivot (4112) and camera support (422) swing joint, the downside of foresight camera (411) and back vision camera (421) is provided with insection (4113), insection (4113) and steering gear (4232) meshing.
9. A method of using the grain color selector as claimed in any one of claims 1-8, wherein: the method comprises the following steps:
s1: after the color sorter is powered on, the color sorter operates normally, the viewpoint distance between the front camera (411) and the rear camera (421) is fixed, and is set as S1The distance between the viewpoint of the rear-view camera (421) and the rejection point of the injection area of the blowing nozzle (43) is fixed and is set as S2The grain is fed into the chute (22) by the inlet conveyor (21).
S2: the grains pass through the front camera (411) and the rear camera (421) respectively by the chute (22), and the color selector system records the time t when each grain passes through the viewpoint Q1 of the front camera (411) and the viewpoint Q2 of the rear camera (421)1And calculates the time t required by the grain sliding between the viewpoint Q2 of the rear-view camera (421) and the elimination point P of the injection area of the blowing nozzle (43)2The calculation formula is as follows:
V2＝V1+g×t1 ②
the formula is used for calculating the speed V of the material passing through the viewpoint Q1 of the front-looking camera (411)1The speed V of the material passing through the viewpoint Q2 of the rear-view camera (421) can be calculated by using a formula2The time t from the material passing through the viewpoint Q2 of the rearview camera (421) to the removing point P of the injection area of the blowing nozzle (43) can be calculated by using a formula2。
S3: according to the position of the foreign matter, the distance S between the viewpoint of the rear-view camera (421) and the removing point of the injection area of the blowing nozzle (43)1The distance S between the viewpoint of the rearview camera (421) and the rejection point of the injection area of the blowing nozzle (43)2And the time t when the foreign object passes through the viewpoint of the front camera (411) and the viewpoint of the rear camera (421)1And the time t required for the foreign matter to slide between the viewpoint of the rear-view camera (421) and the removal point of the injection area of the blowing nozzle (43)2And finally obtaining the foreign matter delay time T, blowing the foreign matters out by the blowing nozzle (43) in the calculated delay time T, collecting the foreign matters by the grain channel (11), and automatically sliding grains into the material receiving device (5) when the foreign matters are not identified and the blowing nozzle (43) is not moved.
10. A method of using the grain color selector of claim 9, wherein: the specific process of the step S3 includes the following steps:
s31: delay time T of the blowing nozzle (43) action if the material is identified as a foreign matter at the front-view camera (411) viewpoint Q11＝t1+t2An operation of blowing foreign matter into the grain passage (11);
s32: if the material is identified as a foreign matter at the viewpoint Q2 of the rear-view camera (421), the delay time of the action of the blowing nozzle (43) is t2Blowing foreign matters into the grain channel (11);
s33: if the material is identified as a foreign object at the front view point Q1 of the front view camera (411) and the view point Q2 of the rear view camera (421), the delay time of the action of the blowing nozzle (43) is determined to be t according to the view point Q2 of the rear view camera (421)2Blowing foreign matters into the grain channel (11);
s34: if the materials are identified to be normal at the viewpoint Q1 of the front-view camera (411) and the viewpoint Q2 of the rear-view camera (421), the blowing nozzle (43) does not act, and the grains automatically slide to the receiving device (5).
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