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公开(公告)号：US10285429B2
公开(公告)日：2019-05-14
申请号：US15152400
申请日：2016-05-11
申请人： Yang Tao , John Lin , Xin Chen , Gary E. Seibel
发明人： Yang Tao , John Lin , Xin Chen , Gary E. Seibel
摘要： A system and methods are provided for removal of undesired portions of a fruit or vegetable, such as removal of calyxes from strawberries before they are flash frozen. An automated process for high-throughput fruit or vegetable calyx removal includes a loading system, an identification system, and a removal system. The loading system is configured to transport the fruit or vegetable through the automated process. The loading system may also orient the fruits or vegetables along an axis of the fruit and or align the fruit or vegetables in a desired pattern, orientation, and/or arrangement. The identification system is configured to locate the calyx and determines calyx position data and an optimal cutting path for individual fruit. The removal system uses data received from the identification system to separate the calyx from the fruit or vegetable.
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公开(公告)号：US20160255873A1
公开(公告)日：2016-09-08
申请号：US15152400
申请日：2016-05-11
申请人： Yang Tao , John Lin , Xin Chen , Gary E. Seibel
发明人： Yang Tao , John Lin , Xin Chen , Gary E. Seibel
摘要： A system and methods are provided for removal of undesired portions of a fruit or vegetable, such as removal of calyxes from strawberries before they are flash frozen. An automated process for high-throughput fruit or vegetable calyx removal includes a loading system, an identification system, and a removal system. The loading system is configured to transport the fruit or vegetable through the automated process. The loading system may also orient the fruits or vegetables along an axis of the fruit and or align the fruit or vegetables in a desired pattern, orientation, and/or arrangement. The identification system is configured to locate the calyx and determines calyx position data and an optimal cutting path for individual fruit. The removal system uses data received from the identification system to separate the calyx from the fruit or vegetable.
摘要翻译： 提供了用于去除水果或蔬菜的不期望的部分的系统和方法，例如在快速冷冻之前从草莓中除去花萼。 用于高通量水果或蔬菜花萼去除的自动化过程包括加载系统，识别系统和去除系统。 装载系统配置为通过自动化过程运输水果或蔬菜。 装载系统还可以沿水果的轴线定向水果或蔬菜，或者以所需的图案，取向和/或布置方式对准水果或蔬菜。 识别系统被配置为定位花萼并且确定花萼位置数据和用于单个果实的最佳切割路径。 去除系统使用从识别系统接收的数据将花萼与水果或蔬菜分开。
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公开(公告)号：US09364020B2
公开(公告)日：2016-06-14
申请号：US14212181
申请日：2014-03-14
申请人： Yang Tao , John Lin , Xin Chen , Gary E. Seibel
发明人： Yang Tao , John Lin , Xin Chen , Gary E. Seibel
摘要： A process for automated high-throughput fruit or vegetable calyx removal includes a material handling system, a vision system, and a cutting system. The material handling system is capable of transporting the fruit or vegetable through the automated process. The material handling system may also orient the fruits or vegetables along an axis of the fruit and or align the fruit or vegetables in a desired pattern, orientation, and/or configuration. The vision system identifies the calyx and determines calyx position data and optimal cutting angle for individual fruit. The cutting system uses data received from the vision system to automatically remove the calyx from the fruit or vegetables.
摘要翻译： 用于自动化高通量水果或蔬菜花萼去除的方法包括物料处理系统，视觉系统和切割系统。 物料处理系统能够通过自动化过程运输水果或蔬菜。 材料处理系统还可以使水果或蔬菜沿着水果的轴线定向并且或者以所需的图案，取向和/或构造对准水果或蔬菜。 视觉系统识别花萼并确定花萼位置数据和单个水果的最佳切割角度。 切割系统使用从视觉系统接收的数据来自动从水果或蔬菜中去除花萼。
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公开(公告)号：US20140272055A1
公开(公告)日：2014-09-18
申请号：US14212181
申请日：2014-03-14
申请人： Yang Tao , John Lin , Xin Chen , Gary E. Seibel
发明人： Yang Tao , John Lin , Xin Chen , Gary E. Seibel
摘要： A process for automated high-throughput fruit or vegetable calyx removal includes a material handling system, a vision system, and a cutting system. The material handling system is capable of transporting the fruit or vegetable through the automated process. The material handling system may also orient the fruits or vegetables along an axis of the fruit and or align the fruit or vegetables in a desired pattern, orientation, and/or configuration. The vision system identifies the calyx and determines calyx position data and optimal cutting angle for individual fruit. The cutting system uses data received from the vision system to automatically remove the calyx from the fruit or vegetables.
摘要翻译： 用于自动化高通量水果或蔬菜花萼去除的方法包括物料处理系统，视觉系统和切割系统。 物料处理系统能够通过自动化过程运输水果或蔬菜。 材料处理系统还可以使水果或蔬菜沿着水果的轴线定向并且或者以所需的图案，取向和/或构造对准水果或蔬菜。 视觉系统识别花萼并确定花萼位置数据和单个水果的最佳切割角度。 切割系统使用从视觉系统接收的数据来自动从水果或蔬菜中去除花萼。
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公开(公告)号：US08351672B2
公开(公告)日：2013-01-08
申请号：US11861791
申请日：2007-09-26
申请人： Yang Tao , Xin Chen , Hansong Jing , Bin Zhu , Fenghua Jin
发明人： Yang Tao , Xin Chen , Hansong Jing , Bin Zhu , Fenghua Jin
IPC分类号： G06K9/00
CPC分类号： G01N23/12 , G01N21/94 , G01N33/02 , G06K2209/17 , G06T7/0004 , G06T7/80 , G06T2207/10028 , G06T2207/10116 , G06T2207/30128
摘要： A combined X-ray and laser 3D imaging system for food safety inspection, which uses a 3D laser subsystem to get accurate depth information, which is further combined with an x-ray image to achieve accurate physical contamination detection in poultry and other meat products. A unique calibration model is used to calibrate the x-ray and laser 3D imaging systems at the same time. And a nested multi-thread software structure is implemented to prevent data conflict and ensure fully use of system resources during the physical contamination detection of the poultry and other meat products.
摘要翻译： 用于食品安全检查的组合X射线和激光3D成像系统，其使用3D激光子系统获得准确的深度信息，其进一步与x射线图像组合以在家禽和其他肉制品中实现精确的物理污染检测。 使用独特的校准模型同时校准X射线和激光3D成像系统。 并实施了一个嵌套的多线程软件结构，以防止数据冲突，并确保在家禽和其他肉类产品的物理污染检测过程中充分利用系统资源。
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公开(公告)号：US06271520B1
公开(公告)日：2001-08-07
申请号：US09046270
申请日：1998-03-23
申请人： Yang Tao , Zhiqing Wen
发明人： Yang Tao , Zhiqing Wen
IPC分类号： G01N2318
CPC分类号： B07C5/342 , G01N21/3563 , G01N21/359 , G01N2021/8466 , Y10S250/91
摘要： A method and apparatus is provided which incorporates two separate imaging devices, one near-infrared and one mid-infrared imaging device which simultaneously capture images of the passing objects. The background information is removed and images of the objects remain. A spherical optical transform and a defect preservation transform preserve any defect levels on objects and compensate for the non-lambertian gradient reflectance on spherical objects at their curvatures and dimensions. The processed images provided by the mid-infrared camera are subtracted from the images provided by the near-infrared camera to produce an image of just defects which are analyzed to produce the separation or sorting control signals based on defect rejection decisions and user parameters to signal appropriate mechanical actions (driver commands) to separate objects with defects from those that do not contain defects, or to sort or categorize objects based on the amount, type, size, or character of the defects. At least a portion of the exterior surface of each item or object to be inspected must be raised by about 5-15° C. or more so that the cameras can provide an image of a difference in temperature between outer smooth healthy surface and the cavity at the stem-end, the stem, and calyx of an apple or a similar depression, cavity, protrusion, or the like in another object or item. In accordance with one embodiment of the present invention, heated brush rollers are used to quickly heat the exterior of apples passing along a conveyor to provide the necessary change in temperature to allow the cameras to provide an image of defects, stem-end, stem, and/or calyx.
摘要翻译： 提供了一种方法和装置，其包括两个单独的成像装置，一个近红外和一个中红外成像装置，其同时捕获通过物体的图像。 将删除背景信息，并保留对象的图像。 球面光学变换和缺陷保存变换保留物体上的任何缺陷水平，并在球体的曲率和尺寸上补偿球面物体上的非朗伯梯度反射率。 由中红外摄像机提供的处理后的图像从近红外摄像机提供的图像中减去，以产生正确缺陷的图像，这些图像被分析，以产生基于缺陷拒绝决定和用户参数的信号分离或排序控制信号 根据缺陷的数量，类型，大小或特征，对具有缺陷缺陷的对象进行适当的机械动作（驱动程序命令），或对对象进行排序或分类。 要检查的每个物品或物体的外表面的至少一部分必须提高大约5-15℃或更多，使得照相机可以提供外部平滑的健康表面和空腔之间的温度差异的图像 在另一物体或物品中的茎端，苹果的茎和萼或类似的凹陷，空腔，突起等。 根据本发明的一个实施例，加热的刷辊用于快速加热沿着输送机通过的苹果的外部，以提供必要的温度变化，以允许相机提供缺陷，茎端，茎， 和/或花萼。
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公开(公告)号：US5339963A
公开(公告)日：1994-08-23
申请号：US846236
申请日：1992-03-06
申请人： Yang Tao
发明人： Yang Tao
IPC分类号： B07C5/342
CPC分类号： B07C5/3422 , Y10S209/939
摘要： A color sorting apparatus has a singulator section, a color sorter and a conveyor which drops the sorted objects into appropriate collection bins. Objects for sorting are transported on an endless conveyor on wheels through the singulation and color sorting section. An independently adjustable speed belt rotates in the same direction as the wheels and operates to provide a view of each of four sides of the object to an imaging device. The imaging device, such as a camera, supplies red, green and blue signals to an image processor which performs a color transformation and obtains a single composite hue value for each object or piece of fruit to be sorted. Based on a comparison of the hue value to user programmed grading criteria, signals are provided to the conveyor so that the objects are ultimately deposited in appropriate sorting bins.
摘要翻译： 一种颜色分选装置具有一个分割器部分，一个分色器和一个输送机，将分类的物品放入合适的收集箱中。 用于分类的物体通过单色和颜色分选部分在轮子上的环形输送机上运输。 独立可调节的速度带沿与车轮相同的方向旋转，并且操作以将物体的四个侧面中的每一侧的视图提供给成像装置。 诸如相机的成像装置将红色，绿色和蓝色信号提供给执行颜色变换的图像处理器，并且获得要分类的每个对象或一片水果的单个复合色调值。 基于将色调值与用户编程的分级标准进行比较，将信号提供给输送机，使得物体最终沉积在适当的分选箱中。
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公开(公告)号：US06610953B1
公开(公告)日：2003-08-26
申请号：US09350640
申请日：1999-07-09
申请人： Yang Tao , Zhiqing Wen
发明人： Yang Tao , Zhiqing Wen
IPC分类号： B07C500
CPC分类号： B07C5/342 , G01N21/3563 , G01N21/359
摘要： A method and apparatus is provided which addresses the drawbacks of the prior art and which incorporates two separate imaging devices, one near-infrared and one mid-infrared imaging device which simultaneously capture images of the passing objects. The background information is removed and images of the objects remain. A spherical optical transform and a defect preservation transform preserve any defect levels on objects and compensate for the non-lambertian gradient reflectants on spherical objects at their curvatures and dimensions. The processed images provided by the mid-infrared camera are subtracted from the images provided by the near-infrared camera to produce an image of just defects which are analyzed to produce the separation or sorting control signals based on defect rejection decisions and user parameters to signal appropriate mechanical actions (driver commands) to separate objects with defects from those that do not contain defects, or to sort or categorize objects based on the amount, type, size, or character of the defects. At least a portion of the exterior surface of each item or object to be inspected must be raised by about 5-15° C. or more so that the cameras can provide an image of a difference in temperature between outer smooth healthy surface and the cavity at the stem-end, the stem, and calyx of an apple or a similar depression, cavity, protrusion, or the like in another object or item. In accordance with one embodiment of the present invention, heated brush rollers are used to quickly heat the exterior of apples passing along a conveyor to provide the necessary change in temperature to allow the cameras to provide an image of defects, stem-end, stem, and/or calyx.
摘要翻译： 提供了解决现有技术的缺陷的方法和装置，其包括两个单独的成像装置，一个近红外和一个中红外成像装置，其同时捕获通过物体的图像。 将删除背景信息，并保留对象的图像。 球面光学变换和缺陷保存变换保留物体上的任何缺陷水平，并在其曲率和尺寸上补偿球面物体上的非朗伯梯度反射体。 由中红外摄像机提供的处理后的图像从近红外摄像机提供的图像中减去，以产生正确缺陷的图像，这些图像被分析，以产生基于缺陷拒绝决定和用户参数的信号分离或排序控制信号 根据缺陷的数量，类型，大小或特征，对具有缺陷缺陷的对象进行适当的机械动作（驱动程序命令），或对对象进行排序或分类。 要检查的每个物品或物体的外表面的至少一部分必须提高大约5-15℃或更多，使得照相机可以提供外部平滑的健康表面和空腔之间的温度差异的图像 在另一物体或物品中的茎端，苹果的茎和萼或类似的凹陷，空腔，突起等。 根据本发明的一个实施例，加热的刷辊用于快速加热沿着输送机通过的苹果的外部，以提供必要的温度变化，以允许相机提供缺陷，茎端，茎， 和/或花萼。
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公开(公告)号：US06396938B1
公开(公告)日：2002-05-28
申请号：US09258725
申请日：1999-02-26
申请人： Yang Tao , Joel Walker
发明人： Yang Tao , Joel Walker
IPC分类号： G06K900
CPC分类号： G06K9/2018 , A01K45/00
摘要： The invention addresses the above referenced need in the art. In particular, the invention provides an improved method for automatic chick sexing. Under regular lighting, the color intensity of down and feather of baby chicks are essentially the same and it is difficult to separate the feathers in the image. By using UV light, the optical system significantly enhanced the feathers by suppressing the downs in images. It produced clear feather signals for subsequent identification and allocation of feathers in the image. The feather image segments could be obtained through thresholding with any value from 200 to 230 on the 255 maximum intensity scale. Important features of the invention include a video camera, special lighting, an image processing system and a computer for analysis. The digital video camera captures a clear image of chick wings using selected light wavelengths including long UV wavelengths) and particularly wavelengths from 250 nanometers to 450 nanometers. Special lighting architecture provides maximum illumination enhancement and feature extraction for the camera and the pattern recognition software. The digital image processing system processes signals from the camera and it makes instantaneous image analysis. The computer system hosts the digital imaging system and it executes the decisions made by the digital image processing system.
摘要翻译： 本发明解决了本领域的上述需要。 特别地，本发明提供了一种用于自动小鸡性别的改进方法。 在常规照明下，小鸡羽绒和羽毛的颜色强度基本相同，难以分离图像中的羽毛。 通过使用紫外光，光学系统通过抑制图像的下降来显着增强羽毛。 它产生清晰的羽毛信号，用于随后识别和分配图像中的羽毛。 羽毛图像段可以通过255度最大强度标度上的任意值从200到230的阈值获得。 本发明的重要特征包括摄像机，特殊照明，图像处理系统和用于分析的计算机。 数字摄像机使用选定的光波长（包括长UV波长）捕获清晰的鸡翅图像，特别是250纳米到450纳米的波长。 特殊照明架构为摄像机和模式识别软件提供最大的照明增强和特征提取。 数字图像处理系统处理来自相机的信号，并进行瞬时图像分析。 计算机系统托管数字成像系统，并执行由数字图像处理系统做出的决定。
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10.发明授权
公开(公告)号：US5960098A
公开(公告)日：1999-09-28
申请号：US970420
申请日：1997-11-14
申请人： Yang Tao
发明人： Yang Tao
CPC分类号： B07C5/3422
摘要： Image processing system using cameras and image processing techniques to identify undesirable objects on roller conveyor lines. The cameras above the conveyor capture images of the passing objects. The roller background information is removed and images of the objects remain. To analyze each individual object accurately, the adjacent objects are isolated and small noisy residue fragments are removed. A spherical optical transform and a defect preservation transform preserve any defect levels on objects even below the roller background and compensate for the non-lambertian gradient reflectance on spherical objects at their curvatures and dimensions. Defect segments are then extracted from the resulting transformed images. The size, level, and pattern of the defect segments indicate the degree of defects in the object. The extracted features are fed into a recognition process and a decision making system for grade rejection decisions. The locations in coordinates of the defects generated by a defect allocation function are combined with defect rejection decisions and user parameters to signal appropriate mechanical actions such as to separate objects with defects from those that are defect-free.
摘要翻译： 使用相机和图像处理技术的图像处理系统来识别滚筒输送机线上的不期望的物体。 传送带上方的摄像机捕获通过物体的图像。 删除滚轮背景信息，并保留对象的图像。 为了精确地分析每个单独的对象，相邻的对象是孤立的，并且去除小的噪声残留碎片。 球面光学变换和缺陷保存变换保留了甚至低于滚筒背景的物体上的任何缺陷水平，并补偿球形物体在其曲率和尺寸上的非朗伯梯度反射率。 然后从所得到的变换图像中提取缺陷片段。 缺陷段的大小，级别和模式表示对象中的缺陷程度。 提取的特征被馈送到识别过程和用于等级拒绝决定的决策系统。 由缺陷分配功能产生的缺陷的坐标中的位置与缺陷拒绝决定和用户参数组合以发出适当的机械动作，例如将具有缺陷的缺陷对象与无缺陷的对象分开。
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