Automatic cherry sorting robot system and method

Abstract

The invention provides an automatic cherry sorting robot system and method. The system comprises a cherry conveying unit, an image acquisition unit, a sorting execution unit and a processing control unit, wherein the cherry conveying unit comprises a main track conveyor, a first auxiliary track conveyor and a second auxiliary track conveyor, wherein the image acquisition unit comprises a first visible near infrared light source, a second visible near infrared light source, a first visible light near infrared camera and a second visible light source near infrared camera, the sorting execution unit comprises a sorting mechanical arm and a tail end executor, and the processing control unit comprises an upper computer, a mechanical arm microcontroller and a transmission circuit. According to the robot sorting system, the damage rate of cherries in the cherry sorting process can be reduced, the grading standard and the sorting efficiency of the cherries are improved, and the economic benefit of the cherry industry is increased.

Description

technical field [0001] The invention relates to the technical field of sorting robots. Specifically, it relates to a related technology of a cherry automatic sorting robot system and method. Background technique [0002] As a precious fruit, cherries have the characteristics of thin skin, soft texture, easy damage, and difficult storage. Although the invisible damage under the skin cannot be detected by the naked eye, it will accelerate the deterioration of cherries and seriously shorten the storage time of cherries. Minimize post-harvest contact damage and handling time. At present, in my country's cherry grading system, the cherry grade judgment and the sorting of defective fruit mainly use manual evaluation methods, relying on manual cherry grade evaluation methods, which have obvious defects: first, the lack of objective quantitative evaluation standards, the evaluation process is vulnerable to The interference of subjective factors causes considerable errors; the secon...

AI Technical Summary

Problems solved by technology

At present, in my country's cherry grading system, the cherry grade judgment and the sorting of defective fruit mainly use manual evaluation methods, relying on manual cherry grade evaluation methods, which have obvious defects: first, the lack of objective quantitative evaluation standards, the evaluation process is vulnerable to The interference of subjective factors causes considerable errors; the second is that the efficiency is low and it is difficult to meet the requirements of industrial production

This utility model provides an auxiliary sorting device for cherries, but the auxiliary sorting device is likely to cause secondary damage to the cherry sorting process, and the sorting efficiency needs to be improved

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