Fruit sorting apparatus and fruit sorting method

Description

1 / 44 “FRUIT CLASSIFICATION APPARATUS AND FRUIT CLASSIFICATION METHOD” Field of Invention

[001] The present invention relates to the technical field of fruit classification and, specifically, to an apparatus and method for classifying / sorting fruit. Background of the Invention

[002] Fruit sorting devices are widely used in the fruit sorting field. Fruit cups are fixed in a conveyor mechanism, and the fruit cups are driven by the conveyor mechanism to pass sequentially through different detection units, so as to detect visual, weight, internal quality, and other data of the fruit. As the detection units are arranged sequentially in the conveyor mechanism, a plurality of fruit cups passes sequentially through the multiple detection units under the drive of the conveyor mechanism. After the detection unit detects the data, the data is transmitted to a control unit, and the control unit finally integrates the data. For a single detection unit, data from a plurality of fruit cups is detected.To identify data from different fruit cups, barcodes are usually affixed to the fruit cups, and data integration is performed by reading the barcodes to obtain a multiple classification. However, this method is complicated to operate, and if the fruit cup is lost between the two detection units, this method will cause data integration disorder in subsequent detection units. In other words, the current fruit sorting device is subject to data disorder during the fruit sorting process, resulting in low accuracy of the final classification. Petition 870250107199, dated 11 / 24 / 2025, page 13 / 116 2 / 44 Description of the Invention

[003] The present invention provides a fruit sorting apparatus and method that can combine a plurality of detection information with fruit cups after receiving the detection information from the fruit cups detected by a detection unit and reduce the clutter of subsequent data as much as possible, thereby improving the accuracy of fruit sorting.

[004] The embodiments of the present invention are implemented as follows.

[005] Some embodiments of the present invention provide a fruit sorting apparatus for sorting fruit. The fruit sorting apparatus may include: a control unit, a transport assembly, a detection assembly, a fruit cup, a plurality of fixing assemblies and a plurality of detection units; The fruit cup can be configured to hold the fruit; The mounting assembly can be configured to secure the fruit cup; The detection assembly can be arranged at one input end of the transport assembly, and the detection assembly can be connected to the control unit and configured to detect a positioning signal when the clamping assembly moves to the input end and send the positioning signal with an initial time to the control unit; The plurality of fastening sets can be mounted sequentially on the transport assembly and trigger the plurality of fruit cups to pass sequentially through the plurality of detection units under the action of the transport assembly; a plurality of detection units can be connected to Petition 870250107199, dated 11 / 24 / 2025, p. 14 / 116 3 / 44 control unit, and the detection unit can be configured to collect fruit cup detection information once at each predefined time interval and send the detection information with timing information to the control unit; and the control unit is configured to be connected to the detection unit and the detection assembly and is configured to receive a plurality of detection information and match the detection information with the fruit cup positioning signal based on the operating speed of the transport assembly, the initial time of the positioning signal, the distance between the detection unit and the detection assembly, and the timing information of the detection information.

[006] In carrying out the present invention, the fruit is placed in the fruit cup, the fruit cup is fixed to the fixing assembly, and, under the action of the transport assembly, the fixing assembly drives the fruit cup to pass sequentially through a plurality of sensing units arranged in an extension direction of the transport assembly. A position where the input end and the fruit cup are placed in the fixing assembly can be considered as a starting point of the movement of the fruit cup in the transport assembly. The acquisition of the positioning signal of the fixing assembly moving towards the input end can be considered as the acquisition of a starting point of the fixing assembly driving the fruit cup to move in the transport assembly.The detection information corresponding to the positioning signal of the fruit cup, detected by the detection unit, can be combined according to the initial time, operating speed, and distance between the detection unit and the detection assembly. In the embodiment of the present invention, based on the initial time, operating speed, distance between the detection unit and the detection assembly, and the time information, it is possible to establish a... Petition 870250107199, dated 11 / 24 / 2025, p. 15 / 116 4 / 44 correspondence between fruit cup and detection information, establishing a correspondence between a plurality of detection information and a plurality of fruit cups, in order to avoid the influence of the loss of fruit cups on subsequent classification and to reduce as much as possible the problem of subsequent data disorder, thus improving the accuracy of fruit classification.

[007] In an optional embodiment of the present invention, the control unit may be further configured to calculate a movement time of the clamping assembly that carries the fruit cup to move from the detection assembly to the detection unit according to the operating speed and the distance between the detection unit and the detection assembly, calculate a final (termination) time of the clamping assembly moving to the detection unit according to the initial time of the positioning signal and the movement time, and match the detection information between the plurality of detection information that have the same final time.

[008] In carrying out the present invention, according to the initial time, the operating speed, the distance between the detection unit and the detection assembly and the time information, it is possible to establish a correspondence between the fruit cup and the detection information, to establish a correspondence between a plurality of detection information and a plurality of fruit cups, in order to avoid the influence of the loss of fruit cups on the subsequent classification and to reduce as much as possible the problem of subsequent data disorder, thus improving the accuracy of fruit classification.

[009] In an optional embodiment of the present invention, if there is detection information corresponding to the final time between the plurality of detection information, the detection information can be Petition 870250107199, dated 11 / 24 / 2025, p. 16 / 116 5 / 44 recorded in fruit cup detection data corresponding to the positioning signal.

[010] The detection unit collects a detection information at each predefined time interval and sends the detection information with time information to the control unit. The control unit combines detection information that has the same end time among a plurality of detection information. If there are detection information that have the same end time, the detection information will be the fruit cup detection data and the detection information will be recorded in the fruit cup detection data.

[011] In an optional embodiment of the present invention, if there is no detection information corresponding to the final time between the plurality of detection information, the fruit cup detection data corresponding to the positioning signal is discarded.

[012] If there is no detection information corresponding to the final time between the plurality of detection information, the fruit cup may have been lost in the process of moving to the detection unit, or the fruit cup was not lost, but the detection unit did not detect the fruit cup detection information, which indicates that there is no fruit cup detection information between the plurality of detection information, thus the fruit cup detection data is discarded and the next classification job is not performed.

[013] In an optional embodiment of the present invention, the transport assembly may include a drive chain and a drive wheel, the drive chain may be in drive connection with the drive wheel and the plurality of fastening assemblies may be mounted sequentially on the drive chain.

[014] A plurality of fastening sets can be Petition 870250107199, dated 11 / 24 / 2025, p. 17 / 116 6 / 44 uniformly spaced and mounted on the drive chain, and under the drive of the drive wheel, the drive chain can drive the fruit cups fixed in the fixing assemblies to pass through a plurality of detection units sequentially. The transmission performed by the drive wheel and the drive chain can increase the stability of the transport assembly in the transmission process and reduce the problem of slippage of the transmission assembly in the transmission process.

[015] In an optional embodiment of the present invention, the transmission chain may include a first transmission chain and a second transmission chain, one end of the first transmission chain that is distant from the input end may be arranged coaxially with one end of the second transmission chain, the second transmission chain may include a first chain and a second chain, and the first chain and the second chain may be arranged in parallel and spaced to form a gap.

[016] The first drive chain and the second drive chain are arranged coaxially, so that the first drive chain and the second drive chain can be driven simultaneously by the same drive wheel, and the first drive chain and the second drive chain can move synchronously. The second drive chain includes a first chain and a second chain, so that the second drive chain achieves transmission in a double chain mode. A gap is formed between the first chain and the second chain, so that the fruit cup placed in the fixing assembly can be exposed on the outside, and the detection unit below the fruit cup can conveniently detect information. Petition 870250107199, dated 11 / 24 / 2025, p. 18 / 116 7 / 44

[017] In an optional embodiment of the present invention, the detection unit includes a quality module and the quality module is disposed below the gap.

[018] The quality module is positioned below a gap formed by the first and second streams. The quality module can be configured primarily to receive a spectrum from a light source after passing through the fruit cup, and the light source can be positioned above the fruit cup. Receiving the spectrum from the bottom of the fruit cup allows the fruit to conform well to the soft surface of the fruit cup, blocking most of the non-transmitted light, thus reducing the influence of non-transmitted light on the transmitted spectrum of the fruit. If the quality module is positioned above or on a side surface of the fruit cup, more natural light and diffuse reflection light enter the quality module, and the detection accuracy of the quality module is affected.

[019] In an optional embodiment of the present invention, a fruit cup bottom is provided with a detection hole and the detection hole is arranged correspondingly to the gap.

[020] To improve the accuracy of the quality module in receiving the spectrum, the detection hole is placed at the bottom of the fruit cup, so that light transmission can be increased, and the phenomenon of the intensity of the spectrum received by the quality module being weakened due to thicker fruit cups is avoided.

[021] In an optional embodiment of the present invention, the transmission chain may further include a third transmission chain, and one end of the third transmission chain may be arranged coaxially with one end of the second transmission chain and which is distant from the first transmission chain.

[022] The third transmission stream can also be a Petition 870250107199, dated 11 / 24 / 2025, page 19 / 116 8 / 44 single current, and the main purpose of providing the second transmission current is to receive the spectrum below the fruit cup. As the dual current mode is more expensive than the single current mode, only the dual current mode is used for transmission in quality module detection.

[023] In an optional embodiment of the present invention, the detection unit may further include a vision module and a weighing module, and the vision module and the weighing module may be located below the first transmission chain.

[024] The vision module can be configured primarily to collect image information from fruits, and the weighing module can be configured primarily to weigh the fruits.

[025] In an optional embodiment of the present invention, the fruit sorting apparatus may further include a sorting module and the sorting module may be disposed below the third transmission chain.

[026] The classification module can be configured primarily to obtain general fruit data after integrating data from the quality module, the vision module and the weighing module, and then classify the fruit qualities according to the integrated general data.

[027] In an optional embodiment of the present invention, the fastening assembly may include a mounting plate and a stop, the mounting plate may be mounted on the transport assembly, the stop may be connected to the mounting plate and the stop may rest against the fruit cup, so that the fruit cup moves under the drive of the transport assembly.

[028] The mounting plate can be mounted on the second drive chain and the stop can be configured primarily to rest against the fruit cup, causing the fruit cup to move over the second drive chain. Petition 870250107199, dated 11 / 24 / 2025, page 20 / 116 9 / 44

[029] In an optional embodiment of the present invention, the stop may have a stop surface and the stop surface may rest against the fruit cup.

[030] During the transition of the fruit cup from the first transmission chain to the second transmission chain, the stop surface gradually comes into contact with the fruit cup, thus pushing the fruit cup to move over the second transmission chain.

[031] In an optional embodiment of the present invention, a shape of the stop surface can be adapted to that of the fruit cup.

[032] The shape of the stop surface is adapted to the shape of the fruit cup, which can ensure that the stop surface and the fruit cup fit together perfectly, improving the transmission stability of the fruit cup during the transmission process and reducing the slippage of the fruit cup due to local contact between the stop surface and the fruit cup.

[033] In an optional embodiment of the present invention, the fastening assembly may include a bottom plate and a deflector plate, the bottom plate may be mounted on the transport assembly, the deflector plate may be connected to the bottom plate, the deflector plate and the bottom plates of two adjacent fastening assemblies may form a fastening cavity and the fruit cup may be mounted in the fastening cavity.

[034] In the process of transporting the fruit cups by the first transmission chain or the third transmission chain, the bottom plate is configured primarily to support the fruit cups, the deflector plates of the first two adjacent fastening members limit the fruit cups from the front and back of the fruit cups, and the fruit cups can be secured to run on the first transmission chain or the third transmission chain. Petition 870250107199, dated 11 / 24 / 2025, page 21 / 116 10 / 44

[035] In an optional embodiment of the present invention, the detection assembly may include a detection switch and a detection tray, the detection tray may be arranged coaxially with the transport assembly, a plurality of detection ports may be arranged in the detection tray, the number of detection ports may be the same as the number of the clamping assemblies, and the detection switch may detect a positioning signal indicating that the clamping assembly moves to the input end under a condition that the detection port moves to a position corresponding to the detection switch.

[036] The detection key (switch) can be a photoelectric switch and, when the detection gate rotates to a detection gate, the signal sent by the photoelectric switch can be emitted from the detection gate. When the detection tray rotates to a space between the two detection gates, the photoelectric switch can receive a feedback signal. Therefore, it can be determined whether a detection gate passes through the detection key and whether the detection gate moves to the detection key, thus determining whether the clamping assembly moves to the input end.

[037] Some other embodiments of the present invention provide a fruit sorting method applied to a fruit sorting apparatus, wherein the fruit sorting apparatus may include a transport assembly, fruit cups, a plurality of fixing assemblies and a plurality of detection units, the plurality of fixing assemblies is fixed / mounted sequentially on the transport assembly, the plurality of detection units is arranged corresponding to the transport assembly and the fruit sorting method may include the following steps: acquiring a positioning signal with timing information when the fixing assembly moves to an input end; Petition 870250107199, dated 11 / 24 / 2025, p. 22 / 116 11 / 44 acquire an operating speed of the transport assembly; to acquire detection information that includes timing data and is collected by the detection unit at each predefined time interval; to acquire a distance between the detection assembly and the detection unit; and to match the detection information corresponding to the fruit cup positioning signal based on the operating speed of the transport assembly, the timing information of the positioning signal, the distance between the detection unit and the detection assembly, and the timing information of the detection information.

[038] Based on the initial time, operating speed, distance between the detection unit and the detection set, and time information, it is possible to establish a correspondence between the fruit cup and the detection information, establish a 'one-to-one' correspondence between a plurality of detection information and a plurality of fruit cups, in order to avoid the influence of the loss of fruit cups on subsequent classification and to minimize the problem of disorder in subsequent data, thus improving the accuracy of fruit classification.

[039] In an optional embodiment of the present invention, the step of matching the detection information corresponding to the positioning signal based on the operating speed of the transport assembly, the timing information of the positioning signal, the distance between the detection unit and the detection assembly, and the timing information of the detection information, may include: Calculate the movement time of the clamping assembly, triggering the fruit cup to move from the detection assembly to the unit. Petition 870250107199, dated 11 / 24 / 2025, p. 23 / 116 12 / 44 detection according to the operating speed and the distance between the detection unit and the detection assembly; Calculate the final time for the fruit cup, activated by the clamping assembly, to move from the detection assembly to the detection unit according to the timing information of the positioning signal and the movement time; and match the detection information from the plurality of detection information that have the same final time (termination).

[040] In carrying out the present invention, according to the initial time, the operating speed, the distance between the detection unit and the detection assembly and the time information, it is possible to establish a correspondence between the fruit cup and the detection information, to establish a correspondence between a plurality of detection information and a plurality of fruit cups, in order to avoid the influence of the loss of fruit cups on the subsequent classification and to reduce as much as possible the problem of subsequent data disorder, thus improving the accuracy of the fruit classification.

[041] In an optional embodiment of the present invention, the step of matching detection information between a plurality of detection information that has the same end time may include: - to determine if there is detection information among the plurality of detection information that share the same end time; and - If detection information exists, record the detection information that has the same end time in the detection data of the fruit cup corresponding to the positioning signal.

[042] The detection unit collects a detection information at each predefined time interval and sends the detection information with Petition 870250107199, dated 11 / 24 / 2025, p. 24 / 116 13 / 44 time information for the control unit. The control unit combines detection information that has the same end time among a plurality of detection information. If there is detection information with the same end time, the detection information will be the fruit cup detection data and the detection information will be recorded in the fruit cup detection data.

[043] In an optional embodiment of the present invention, the step of matching detection information between a plurality of detection information that has the same end time may include: - Discard the fruit cup detection data corresponding to the positioning signal if there is no detection information.

[044] If there is no detection information corresponding to the final time between the plurality of detection information, the fruit cup may have been lost in the process of moving to the detection unit, or the fruit cup was not lost, but the detection unit did not detect the fruit cup detection information, which indicates that there is no fruit cup detection information between the plurality of detection information, thus the fruit cup detection data is discarded and the next classification job is not performed. Brief Description of the Figures

[045] In order to illustrate more clearly the technical solutions of the exemplary embodiments of the present invention, the figures required in the embodiments will be briefly described below. It should be understood that the following figures illustrate only some exemplary embodiments of the present invention and, therefore, should not be considered as limitations of the scope of the invention, and for those skilled in the art, other related figures can be obtained in accordance with these figures without creative effort. Petition 870250107199, dated 11 / 24 / 2025, page 25 / 116 14 / 44

[046] Figure 1 is a block diagram of a fruit sorting apparatus provided by an embodiment of the present invention.

[047] Figure 2 is a schematic diagram of a structure of a fruit sorting apparatus provided by an embodiment of the present invention from a first perspective.

[048] Figure 3 is a schematic diagram of a structure of a fruit sorting apparatus provided by an embodiment of the present invention from a second perspective.

[049] Figure 4 is a schematic diagram of the positions of a fruit cup, a quality module and a light source provided by an embodiment of the present invention.

[050] Figure 5 is a schematic diagram of a fruit cup structure of a fruit sorting apparatus provided by an embodiment of the present invention.

[051] Figure 6 is a schematic diagram of a structure of a first fastening member of a fruit sorting apparatus provided by an embodiment of the present invention.

[052] Figure 7 is a schematic diagram of a structure of a first fixing member of a fruit sorting apparatus provided by an embodiment of the present invention for fixing a fruit cup.

[053] Figure 8 is a schematic diagram of a structure of a second fastening member of a fruit sorting apparatus provided by an embodiment of the present invention.

[054] Figure 9 is a schematic diagram of a structure of a second fastening member of a fruit sorting apparatus provided by an embodiment of the present invention for securing a fruit cup.

[055] Figure 10 is a schematic diagram of a structure of a detection assembly of a fruit sorting device supplied Petition 870250107199, dated 11 / 24 / 2025, page 26 / 116 15 / 44 by an embodiment of the present invention.

[056] Figure 11 is a flowchart of a fruit classification method provided by another embodiment of the present invention.

[057] Figure 12 is a flowchart of the substeps of step S500 of the fruit classification method provided by an embodiment of the present invention.

[058] Figure 13 is a flowchart of substeps of step S530 of the fruit classification method provided by an embodiment of the present invention.

[059] Reference numbering: 100: fruit sorting apparatus; 110: control unit; 120: transport assembly; 122: drive wheel; 124: transmission chain; 1242: first transmission chain; 1244: second transmission chain; 1245: first chain; 1246: second chain; 1248: third transmission chain; 130: fruit cup; 132: detection orifice; 140: detection unit; 142: quality module; 144: vision module; 146: weighing module; 148: sorting module; 150: fixing assembly; 152: first fixing member; 1521: bottom plate; 1523: deflector plate; 154: second fixing element; 1542: mounting (fixing) plate; 1544: stop; 1546: stop surface; 1548: connection plate; 160: detection assembly; 162: detection switch; 164: detection tray; 166: detection door; and 170: light source. Description of Embodiments of the Invention

[060] In order to make clearer the objectives, technical solutions and advantages of the embodiments of the present invention, the technical solutions are described below in a clear and complete manner in exemplary embodiments of the present invention with reference to the figures attached to the embodiments of the present invention. It is evident that the embodiments described are only some, and not all, embodiments of the present invention. The Petition 870250107199, dated 11 / 24 / 2025, page 27 / 116 16 / 44 sets of embodiments of the present invention, as generally described and illustrated in the figures of this document, can be arranged and designed in a wide variety of different configurations.

[061] Therefore, the following detailed description of the embodiment of the present invention provided in the accompanying figures is not intended to limit the scope of the present invention as claimed, but is merely representative of selected embodiments of the present invention. All other embodiments obtained by persons of ordinary skill in the field, based upon the embodiments of the present invention, without creative effort, shall fall within the scope of protection of the present invention.

[062] It should be noted that similar reference numbers and letters indicate similar items in the following figures and therefore, once an item is defined in one of the figures, no further definition or explanation is needed in the following figures.

[063] In describing the present invention, it should be noted that an orientation or position relationship indicated by the terms “upper”, “lower”, “inner”, “outer” or similar terms is an orientation or position relationship based on the accompanying figures, or an orientation or position relationship in which the product of the present invention is normally placed when in use. These terms are used merely to facilitate and simplify the description of the present invention, rather than indicating or implying that a device or element mentioned must have a specific orientation or be constructed and operated in a specific orientation, and therefore the terms cannot be interpreted as a limitation of the present invention.

[064] Furthermore, the terms “first”, “second” and the like are intended merely for a differentiated description and should not be interpreted as an indication or implication of relative importance.

[065] It should be noted that the characteristics in the achievements of Petition 870250107199, dated 11 / 24 / 2025, p. 28 / 116 17 / 44 of the present invention can be combined with each other without conflict.

[066] The fruit sorting apparatus and method provided by embodiments of the present invention can combine a plurality of detection information with fruit cups after receiving detection information from the fruit cups detected by the detection units and reduce the clutter of subsequent data as much as possible, thereby improving the accuracy of fruit sorting.

[067] An embodiment of the present invention will now be described with reference to Figures 1 and 2, this embodiment provides a fruit sorting apparatus 100. The fruit sorting apparatus 100 provided in this embodiment can be configured primarily to sort fruits and, after receiving detection information from a fruit cup 130 detected by a detection unit 140, the fruit sorting apparatus 100 provided in this embodiment can combine a plurality of detection information with the fruit cup 130, so as to reduce as much as possible the problem of subsequent data clutter, thus improving the accuracy of fruit sorting.

[068] In this embodiment, the fruit sorting apparatus 100 may include: a control unit 110, a transport assembly 120, a detection assembly 160, a fruit cup 130, a plurality of fixing assemblies 150 and a plurality of detection units 140, wherein the fruit cup 130 may be configured to accommodate fruits and the fixing assembly 150 may be configured to fix the fruit cup 130.

[069] The sensing assembly 160 can be disposed at one input end of the transport assembly 120, and the sensing assembly 160 can be connected to the control unit 110 and is configured to detect a positioning signal when the clamping assembly 150 moves to the input end and sends the positioning signal with a time Petition 870250107199, dated 11 / 24 / 2025, p. 29 / 116 18 / 44 initial for control unit 110. The plurality of fastening sets 150 can be sequentially mounted on the transport assembly 120 and trigger the plurality of fruit cups 130 to pass sequentially through the plurality of detection units 140 under the action of the transport assembly 120. The plurality of detection units 140 can be connected to the control unit 110, and the detection unit 140 can be configured to collect detection information from the fruit cup 130 once at each predefined time interval and send the detection information with the time information to the control unit 110.

[070] The control unit 110 can be configured to be connected to the detection unit 140 and the detection assembly 160 and is configured to receive a plurality of detection information and match the detection information corresponding to the positioning signal of the fruit cup 130 according to an operating speed of the transport assembly 120, the initial time of the positioning signal, a distance between the detection unit 140 and the detection assembly 160 and time information of the detection information.

[071] In this embodiment, the fruit is placed in the fruit cup 130, the fruit cup 130 can be fixed in the fixing assembly 150, and, under the action of the transport assembly 120, the fixing assembly 150 can drive the fruit cup 130 to pass sequentially through a plurality of sensing units 140 arranged in an extension direction of the transport assembly 120. A position where the fruit cup 130 is placed at the input end by the fixing assembly 150 can be considered a starting point of the fruit cup 130 moving in the transport assembly 120. The acquisition of the positioning signal of the fixing assembly 150 moving to the input end can be considered as the acquisition of a starting point of the fixing assembly 150 driving the fruit cup 130 to move. Petition 870250107199, dated 11 / 24 / 2025, p. 30 / 116 19 / 44 in the transport assembly 120. The detection information corresponding to the positioning signal of the fruit cup 130 and detected in the detection unit 140 can be combined according to the initial time, operating speed, and distance between the detection unit 140 and the detection assembly 160. In this embodiment, according to the initial time, operating speed, distance between the detection unit 140 and the detection assembly 160, and the time information, it is possible to establish a correspondence between the fruit cup 130 and the detection information, establishing a 'one-to-one' correspondence between a plurality of detection information and a plurality of fruit cups 130, so as to avoid the influence of the loss of fruit cups 130 on subsequent classification and to reduce as much as possible the problem of subsequent data disorder, thus improving the accuracy of fruit classification.

[072] It is easily understood that a plurality of detection units 140 is provided, and the control unit 110 processes the detection information detected by the same detection unit 140 in the same way after receiving the detection information from the same detection unit 140, so as to perform a multiple classification of fruits.

[073] The operating speed can be preset, or the control unit 110 can obtain the operating speed directly from the transport assembly 120. In general, in order to facilitate the collection of detection information by the detection unit 140, the transport assembly 120 usually moves at a constant speed, i.e., the operating speed is a constant value. When the entire fruit sorting apparatus 100 is started, the control unit 110 can control the transport assembly 120 to transport the fruit cup 130 at the operating speed according to the start instructions. The control unit 110 can also directly detect the operating speed of the transport assembly 120. Petition 870250107199, dated 11 / 24 / 2025, page 31 / 116 20 / 44 after the fruit sorting apparatus 100 is started. The plurality of clamping sets 150 are uniformly spaced and arranged in the transport assembly 120, a time interval between two adjacent clamping sets 150 passing through the detection unit 140 can be calculated according to the operating speed of the transport assembly 120 and the distance between the two adjacent clamping sets 150, and the interval time can be set to a predefined time, i.e., the detection unit 140 collects detection information once when each clamping set 150 moves to the detection unit 140.

[074] For example, the operating speed is 20 mm / s, the space between two adjacent 150 clamping sets is 40 mm, and the interval time calculated according to the operating speed and the distance between two adjacent 150 clamping sets is 2 s. For a single 140 detection unit, detection information is acquired every 2 s.

[075] Of course, in order to improve the detection effect of the detection unit 140, the preset time may be less than the interval time, provided that the interval time is an integer multiple of the preset time, i.e., the preset time may be half, one third and the like of the interval time. That is, the interval time may be 1 s, 0.5 s and the like.

[076] The plurality of fastening sets 150 is uniformly arranged in the transport set 120, and the distance between the detection set 160 and the detection unit 140 can be calculated according to the number of fastening sets 150 between the detection set 160 and the detection unit 140.

[077] To facilitate understanding, the sensing unit 140 closest to the sensing assembly 160 is specifically described as an example. For example, when the fixing assembly 150 moves to the Petition 870250107199, dated 11 / 24 / 2025, p. 32 / 116 21 / 44 detection set 160, the current fixing sets 150 are numbered and the numbering sequence of the plurality of fixing sets 150 is numbered as No. 1, No. 2, No. 3, No. 4, No. 5, No. 6 and so on, according to the sequence that passes through the detection set 160. When calculating the distance between the detection set 160 and the detection unit 140, the current detection set 160 detects the positioning signal of a fixing set 150 and registers the fixing set 150 currently in the detection set 160 as No. 6. When the current fixing set 150 numbered as No. 3 moves to the detection unit 140, there are 3 intervals between the detection set 160 and the detection unit 140, and the distance between the detection set 160 and the detection unit 140 is 3 times 40 mm to obtain 120 mm.

[078] In this embodiment, the positioning signal with the initial time information can refer to a point in time when the detection assembly 160 detects the positioning signal from the fixing assembly 150 and records the detected positioning signal, and the point in time when the positioning signal is detected is the initial time of the positioning signal.

[079] For example, when the start of the fruit sorting apparatus 100 is at time 0, the detection assembly 160 only detects a positioning signal and the initial time of the positioning signal is 0. The positioning signal with the initial time information is: 0 s-signal 1. As the fixing assemblies 150 are uniformly arranged in the transport assembly 120, the positioning signals with the initial time detected by the detection assembly are: 0 s-signal 1, 2 s-signal 2, 4 s-signal 3, 6 s-signal 4 and so on.

[080] Detection information with time information may mean that detection unit 140 simultaneously records the point of Petition 870250107199, dated 11 / 24 / 2025, p. 33 / 116 22 / 44 time when the detection information is detected when detecting the detection information of the fruit cup 130, then the time point when the detection information is detected is the time information of the detection information. For ease of understanding, the detection unit 140 closest to the detection set 160 is specifically described as an example, for example, in the process of acquiring the detection information once at each predefined time interval, the detection unit 140 records the detection information and records the moment when the detection information is received and sends the detection information to the control unit 110. The detection information received by the control unit is: 0 s - information 1, 2 s - information 2, 4 s - information 3, 6 s - information 4 and so on.

[081] In this embodiment, the control unit 110 can be further configured to calculate a movement time of the fixing assembly 150 actuating the fruit cup 130 to move it from the detection assembly 160 to the detection unit 140 according to the operating speed and the distance between the detection unit 140 and the detection assembly 160, calculating a final time of the fixing assembly 150 that is moving to the detection unit 140 according to the initial time of the positioning signal and the movement time, and matching the detection information between the plurality of detection information that have the same final time.

[082] In this embodiment, after the operating speed of the transport assembly 120 is obtained, the movement time required for the clamping assembly 150 to move from the input end to the detection unit 140 can be calculated according to the operating speed and the distance between the detection unit 140 and the detection assembly 160, the final time for the clamping assembly 150 to move to the detection unit 140 can be calculated according to the initial time obtained by the assembly. Petition 870250107199, dated 11 / 24 / 2025, p. 34 / 116 23 / 44 fixing 150 at the input end, the final time can be obtained by adding the movement time to the initial time, and the detection information whose information has the same final time can be combined among a plurality of detection information according to the final time, where the detection information is the detection information of the fruit cup 130 detected by the detection unit 140 when the fixing assembly 150 moves to the detection unit 140.

[083] In this embodiment, if there is detection information corresponding to the final time between the plurality of detection information, the detection information can be recorded in the detection data of the fruit cup 130 corresponding to the positioning signal.

[084] Detection unit 140 can collect detection information at each predefined time interval and send the detection information with the time information to control unit 110. Control unit 110 matches the detection information among the plurality of detection information that have the same end time. If there is detection information having the same end time, the detection information is the fruit cup detection data 130 and the detection information is recorded in the fruit cup detection data 130.

[085] In this embodiment, if there is no detection information that corresponds to the final time between the plurality of detection information, the fruit cup detection data 130 corresponding to the positioning signal are discarded.

[086] If there is no detection information that matches the final time between the plurality of detection information, fruit cup 130 may have been lost in the process of moving to detection unit 140, or fruit cup 130 was not lost, but detection unit 140 did not detect the detection information for fruit cup 130. Petition 870250107199, dated 11 / 24 / 2025, p. 35 / 116 24 / 44 indicates that there is no detection information for fruit cup 130 among the plurality of detection information; therefore, the detection data for fruit cup 130 is discarded, and the next classification task is not performed.

[087] It is easily understood that, in this embodiment, a plurality of detection units 140 can be provided and the control unit 110 performs the matching according to the above method after receiving the detection data from the same detection unit 140.

[088] In order to facilitate understanding of the process of matching detection information with the fruit cup 130, any fruit cup 130 that is fixed in the fixing assembly 150 and passes through the detection unit 140 closest to the detection assembly 160 under the drive of the transport assembly 120 is taken as an example for specific description. After the fruit sorting apparatus 100 is started, the detection unit 140 detects a plurality of detection information with time information, which are: 0 s-information 1, 2 s-information 2, 4 s-information 3, 6 s-information 4, 8 s-information 5, 10 s-information 6, 12 s-information 7, 14 s-information 8 and so on.

[089] When the corresponding fixing assembly 150 is applied to the detection assembly 160, the detection assembly 160 detects that the positioning signal with initial time information is signal 6 s - signal 4. The movement time can be calculated as 6 s according to the operating speed of 20 mm / sea and the distance between the detection unit 140 and the detection assembly 160 of 120 mm. Then, the time information is calculated as 12 s according to the initial time of 6 s plus the movement time of 6 s detected by the detection assembly 160. Then, if there is detection information with time information of 12 s, a new match is made between the detection information and the information of Petition 870250107199, dated 11 / 24 / 2025, p. 36 / 116 25 / 44 time detected by detection unit 140. If it is discovered from the matching that there is detection information 12 s-information 7, information 7 is the detection information of fruit cup 130, and information 7 is recorded in the detection data of fruit cup 130.

[090] Similarly, when the fruit cup 130 passes through the other detection units 140, the calculation process is the same as before. Since the positions of the different detection units 140 are different from those of the different detection sets 160, the calculated movement time is different and the corresponding detection information above can be consulted.

[091] Referring to Figures 2 and 3, in this embodiment, the transport assembly 120 may include a transmission chain 124 and a drive wheel 122, and the transmission chain 124 may be in transmission connection with the drive wheel 122 and the plurality of fastening assemblies 150 may be mounted sequentially on the transmission chain 124.

[092] In this embodiment, the plurality of fastening sets 150 can be uniformly spaced and mounted on the transmission chain 124 and, under the drive of the drive wheel 122, the transmission chain 124 can drive the fruit cups 130 fixed in the fastening sets 150 to pass through a plurality of detection units 140 in a sequential manner. The transmission carried out by the drive wheel 122 and the transmission chain 124 can increase the stability of the transport assembly 120 in the transmission process and reduce the problem of slippage of the transmission assembly 120 in the transmission process.

[093] In this embodiment, the transmission chain 124 may include a first transmission chain 1242 and a second transmission chain 1244, one end which is of the first transmission chain 1242 and which is distant from the input end may be arranged Petition 870250107199, dated 11 / 24 / 2025, page 37 / 116 26 / 44 coaxially with one end of the second transmission chain 1244, the second transmission chain 1244 may include a first chain 1245 and a second chain 1246, and the first chain 1245 and the second chain 1246 may be arranged in parallel and spaced to form a gap.

[094] In this embodiment, the first transmission chain 1242 and the second transmission chain 1244 are arranged coaxially, so that the first transmission chain 1242 and the second transmission chain 1244 can be driven simultaneously by the same drive wheel 122, the first transmission chain 1242 and the second transmission chain 1244 can move synchronously and the different fruit sorting functions can be achieved.

[095] The second transmission chain 1244 includes a first chain 1245 and a second chain 1246, the second transmission chain 1244 achieves transmission in a double chain mode and a gap is formed between the first chain 1245 and the second chain 1246, so that the fruit cup 130 placed in the fixing assembly 150 can be exposed on the outside, and the detection unit 140 below the fruit cup can conveniently detect the information.

[096] In this embodiment, the first transmission chain 1242 can achieve transmission by a single current mode, and the second transmission chain 1244 can achieve transmission by a double current mode, and the fastening assembly 150 of the first transmission chain 1242 is different from the fastening assembly 150 of the second transmission chain 1244 because the first transmission chain 1242 and the second transmission chain 1244 are in different structures.

[097] Referring to Figure 4, in this embodiment, the detection unit 140 may include a quality module 142, and the quality module 142 may be disposed below the gap. Petition 870250107199, dated 11 / 24 / 2025, p. 38 / 116 27 / 44

[098] In this embodiment, quality module 142 is disposed below a gap formed by the first stream 1245 and the second stream 1246. Quality module 142 can be configured primarily to receive a spectrum from a light source 170 after passing through the fruit cup 130, and the light source 170 can be disposed above the fruit cup 130. Receiving the spectrum from the bottom of the fruit cup 130 allows the fruit to conform well to the soft surface in the fruit cup 130, blocking most of the non-transmitted light, thus reducing the influence of non-transmitted light on the transmitted spectrum of the fruit. If quality module 142 is disposed above or on a side surface of the fruit cup 130, more natural light and diffuse reflection light enter quality module 142, so the detection accuracy of quality module 142 is negatively affected.

[099] Secondly, when receiving the spectrum from the bottom of the 130 fruit cup, any size fruit can be illuminated from the middle of the fruit. This approach has good compatibility with both large and small fruits, and can be compatible with fruits of various sizes. With the top or side receiving method, large fruits will be lit at the bottom of the fruit, while small fruits will be lit at the top of the fruit. The compatibility of this method is poor. Various sizes of 130 fruit cups need to be designed for fruits with large size differences. Some smaller fruits may even sink directly into the 130 fruit cup, and even if the 130 fruit cup is changed to a smaller size, the light leakage is too great to detect them.

[0100] Referring to Figure 5, in this embodiment, the bottom of the fruit cup 130 can be provided with a detection hole 132, and the detection hole 132 can be arranged corresponding to the gap. The corresponding arrangement can be considered as the projection of the detection hole 132 in the vertical direction coinciding with the gap. In order to improve accuracy Petition 870250107199, dated 11 / 24 / 2025, p. 39 / 116 28 / 44 of the quality module 142 for spectrum reception, the detection hole 132 is arranged at the bottom of the fruit cup 130, so that light transmission can be increased, and the phenomenon that the intensity of the spectrum received by the quality module 142 is weakened due to thicker fruit cups 130 is avoided.

[0101] In order to improve the quality of the spectrum received by the quality module 142, the detection hole 132 is arranged as far as possible in the center of the fruit cup 130, so that the spectrum can pass through the detection hole 132 as far as possible.

[0102] Furthermore, the diameter of the detection hole 132 should not be too large. If the diameter of the detection hole 132 is too large and the diameter of the fruit is small, the fruit may fall out of the detection hole 132. Therefore, the diameter of the detection hole 132 is adapted to the diameter of the fruit.

[0103] Similarly, the distance between the first current 1245 and the second current 1246 must not be too small or too large. If the distance between 1245 and the second current 1246 is too small, the light source may not pass completely through the gap.

[0104] In this embodiment, the transmission chain 124 may further include a third transmission chain 1248, and one end of the third transmission chain 1248 may be arranged coaxially with one end that is of the second transmission chain 1244 and that is distant from the first transmission chain 1242.

[0105] In this embodiment, the first transmission current 1242, the second transmission current 1244 and the third transmission current Petition 870250107199, dated 11 / 24 / 2025, page 40 / 116 29 / 44 1248 can be arranged sequentially, the input end can be arranged at an end that is of the first transmission chain 1242 and that is distant from the second transmission chain 1244 and the fruit cup 130 can be arranged at the input end and then be transmitted over the first transmission chain 1242, second transmission chain 1244 and third transmission chain 1248 in a sequential manner.

[0106] The third transmission stream 1248 can also be a single stream, and a primary objective of providing the second transmission stream 1244 is to receive the spectrum below the fruit cup 130. Since the dual-stream mode is more expensive than the single-stream mode, in this embodiment, the dual-stream mode is used only for transmission in the quality module detection 142.

[0107] It is easily understood that, in this embodiment, the structures of the first transmission chain 1242 and the third transmission chain 1248 can be the same.

[0108] In this embodiment, the first transmission chain 1242 is coaxially connected to the second transmission chain 1244, one end of the second transmission chain 1244, which is distant from the first transmission chain 1242, is coaxially connected to the third transmission chain 1248, the driving wheel 122 is in transmission connection with the first transmission chain 1242, the driving wheel 122 drives the first transmission chain 1242 to rotate, and the first transmission chain 1242 drives the second transmission chain 1244 to rotate through a transmission shaft connected to the second transmission chain 1244. Similarly, the second transmission chain 1244 drives the third transmission chain 1248 to rotate through a transmission shaft connected to the third transmission chain 1248, so as to achieve synchronous rotation of the first transmission chain 1242, of Petition 870250107199, dated 11 / 24 / 2025, page 41 / 116 30 / 44 second transmission chain 1244 and third transmission chain 1248.

[0109] In this embodiment, the detection unit 140 may further include a vision module 144 and a weighing module 146, wherein the vision module 144 and the weighing module 146 may be arranged below the first transmission chain 1242; and the fruit sorting apparatus 100 may further include a sorting module 148, wherein the sorting module 148 may be arranged below the third transmission chain 1248.

[0110] The vision module 144 can be configured primarily to collect image information of the fruit, the weighing module 146 can be configured primarily to weigh the fruit, and the classification module 148 can be configured primarily to obtain the overall fruit data after integrating the data from the quality module 142, the vision module 144, and the weighing module 146, and then classify the fruit qualities according to the integrated overall data.

[0111] Referring to Figures 6 and 7, in this embodiment, the structures of the first transmission chain 1242 and the third transmission chain 1248 are the same. The structure of the second transmission chain 1244 is different from the structures of the first transmission chain 1242 and the third transmission chain 1248. The structure of the fastening assembly 150 in the first transmission chain 1242 is the same as the structure of the fastening assembly 150 in the third transmission chain 1248, and the fastening assembly 150 in the second transmission chain 1244 is in a different structure. In order to distinguish two different fastening assemblies 150, the fastening assemblies 150 in the first transmission chain 1242 and in the third transmission chain 1248 are defined as a first fastening member 152, and the fastening assembly 150 in the second transmission chain Petition 870250107199, dated 11 / 24 / 2025, page 42 / 116 31 / 44 1244 is defined as a second fastening member 154.

[0112] In this embodiment, the fastening assembly 150 may include a bottom plate 1521 and a deflector plate 1523, the bottom plate 1521 may be mounted on the transport assembly 120, the deflector plate 1523 may be connected to the bottom plate 1521, and the deflector plate 1523 and the bottom plates 1521 of two adjacent fastening assemblies 150 may form a fastening cavity, and the fruit cup 130 may be mounted in the fastening cavity.

[0113] In this embodiment, the first fastening member 152 includes a bottom plate 1521 and a deflector plate 1523, the bottom plate 1521 is mounted on the first transmission chain 1242 or the third transmission chain 1248 and the fruit cup 130 is placed in the fastening cavity. In the process of transporting the fruit cups 130 by the first transmission chain 1242 or the third transmission chain 1248, the bottom plate 1521 is configured primarily to support the fruit cups 130 and the deflector plates 1523 of two adjacent first fastening members 152 limit the fruit cups 130 from the front and back of the fruit cups 130, so that the fruit cups 130 can be transported by the first transmission chain 1242 or the third transmission chain 1248.

[0114] In order to improve the limiting effect of the deflector plate 1523 on the fruit cup 130, the deflector plate 1523 can be arranged perpendicular to the lower plate 1521.

[0115] Certainly, in other embodiments of the present invention, the deflector plate 1523 may be arranged at other angles included with the lower plate 1521, provided that the fruit cup 130 may be constrained.

[0116] Referring to Figures 8 and 9, in this embodiment, the fastening assembly 150 may include a mounting plate 1542 and a stop 1544, the mounting plate 1542 may be mounted on the transport assembly 120, the stop 1544 may be connected to the mounting plate 1542 and the stop 1544 Petition 870250107199, dated 11 / 24 / 2025, page 43 / 116 32 / 44 can touch the fruit cup 130, so that the fruit cup 130 moves under the drive of the transport assembly 120.

[0117] In this embodiment, the second fastening member 154 includes a mounting plate 1542 and a stop 1544, the mounting plate 1542 is mounted on the second drive chain 1244 and the stop 1544 is configured primarily to rest on the fruit cup 130, so as to cause the fruit cup 130 to move on the second drive chain 1244.

[0118] It should be noted that, in this embodiment, the first chain 1245 and the second chain 1246 of the second transmission chain 1244 are both provided with the second fastening members 154, and the second fastening members 154 in the first chain 1245 are arranged in a 'one-to-one' correspondence with the second fastening members 154 in the second chain 1246. That is, the second fastening member 154 of the first chain 1245 and the second fastening member 154 of the second chain 1246 in the same position cooperate to fix the fruit cup 130.

[0119] That is, the two second fixing members 154 in the same position fix the fruit cup 130 from different positions of the fruit cup 130 and push the fruit cup 130 to move in the second transmission chain 1244.

[0120] The distance between the first fastening members 152 on the first transmission chain 1242 can be the same as the distance between the second fastening members 154 on the second transmission chain 1244. When the first fastening member 152 moves to the transmission shaft of the first transmission chain 1242 and the second transmission chain 1244, the second fastening member 154 on the second transmission chain 1244 only rotates from below the second transmission chain 1244 to above the second transmission chain 1244, during rotation at the same speed, the first fastening member 152 gradually rotates below the Petition 870250107199, dated 11 / 24 / 2025, page 44 / 116 33 / 44 first transmission chain 1242, and the stop 1544 of the second fastening member 154 gradually comes into contact with the fruit cup 130, so that the fruit cup 130 can make the transition from the first transmission chain 1242 to the second transmission chain 1244.

[0121] In this embodiment, the gaps between the first transmission chain 1242 and the second transmission chain 1244 and between the third transmission chain 1248 and the second transmission chain can be adjusted accordingly, so as to avoid interference between the first fixing member 152 and the second fixing member 154 when the fruit cup 130 transitions from the first transmission chain 1242 to the second transmission chain 1244 and from the second transmission chain 1244 to the third transmission chain 1248.

[0122] In this embodiment, the stop 1544 may have a stop surface 1546, and the stop surface 1546 may abut the fruit cup 130. During the transition of the fruit cup 130 from the first transmission chain 1242 to the second transmission chain 1244, the stop surface 1546 gradually abuts the fruit cup 130, thus pushing the fruit cup 130 to move in the second transmission chain 1244.

[0123] In this embodiment, a stop surface shape 1546 can be adapted to that of the fruit cup 130, which can ensure that the stop surface 1546 and the fruit cup 130 can fit together perfectly, improving the transmission stability of the fruit cup 130 during the transmission process and reducing the slippage of the fruit cup 130 due to local contact between the stop surface 1546 and the fruit cup 130.

[0124] For example, when the fruit cup 130 has a circular shape, the stop surface 1546 also has a circular shape. When the fruit cup 130 has a rectangular shape, the stop surface 1546 Petition 870250107199, dated 11 / 24 / 2025, page 45 / 116 34 / 44 also has a rectangular shape, provided that the 1546 stop surface can fit perfectly into the 130 fruit cup.

[0125] In this embodiment, in order to increase the contact area between the entire second fastening member 154 and the bottom of the fruit cup 130, the second fastening member 154 may further include a connecting plate 1548, and the connecting plate 1548 may be mounted on the second transmission chain 1244 and spaced from the mounting plate 1542.

[0126] In this embodiment, when the fruit cup 130 is on the first transmission chain 1242, two adjacent first fastening members 152 hold the fruit cup 130, when the fruit cup 130 moves to the transmission shafts of the first transmission chain 1242 and the second transmission chain 1244, the deflector plate 1523 of the first fastening member 152 that is on the first transmission chain 1242 and that secures the front of the fruit cup 130 gradually moves below the first transmission chain 1242, so as to be separated from the fruit cup 130, and the stop surface 1546 of the second transmission chain 1244 moves to engage the fruit cup 130, so as to push the fruit cup 130 to transmit on the second transmission chain 1244.When the fruit cup 130 moves to the transmission shafts of the second transmission chain 1244 and the third transmission chain 1248, similarly, the first fastening member 152 on the third transmission chain 1248 is transmitted to a connection between the second transmission chain 1244 and the second transmission chain 1244, and the fruit cup 130 is limited by the front of the fruit cup 130, so that the fruit cup 130 is prevented from separating from the third transmission chain 1248. In the continuous transmission process, the second fastening member 154 of the second transmission chain 1244 gradually rotates below the second transmission chain 1244, and the other first fastening member 152 of the third chain. Petition 870250107199, dated 11 / 24 / 2025, page 46 / 116 35 / 44 transmission 1248 rotates above the third transmission chain 1248, so as to secure the fruit cup 130.

[0127] Referring to Figure 10, in the embodiment, the detection assembly 160 may include a detection switch 162 and a detection tray 164, the detection tray 164 may be arranged coaxially with the transport assembly 120, a plurality of detection ports 166 may be arranged in the detection tray 164, the number of detection ports 166 may be the same as the number of clamping assemblies 150, and the detection switch 162 may detect a positioning signal indicating that the clamping assembly 150 moves to the input end under the condition that the detection port 166 moves to a position corresponding to the detection switch 162.

[0128] In this embodiment, since the transport assembly 120 includes a first transmission chain 1242, a second transmission chain 1244 and a third transmission chain 1248, and the detection assembly 160 is arranged on the first transmission chain 1242, the number of detection ports 166 must be the same as the number of first fastening members 152 of the first transmission chain 1242. The detection tray 164 is arranged coaxially with one end that is from the first transmission chain 1242 and the other that is distant from the second transmission chain 1244.

[0129] The detection switch 162 may be a photoelectric switch, and when the detection gate 166 rotates to a position corresponding to the detection gate 166, the signal sent by the photoelectric switch may be emitted by the detection gate 166. When the detection tray 164 rotates to a space between two detection gates 166, the photoelectric switch receives a feedback signal. Therefore, it is possible to determine if any detection gate 166 passes through the detection switch. Petition 870250107199, dated 11 / 24 / 2025, p. 47 / 116 36 / 44 162 and, based on the result, if the detection port 166 moves to the detection switch 162, it is possible to determine if the fastening assembly 150 moves to the input end.

[0130] The operating principle of the fruit sorting apparatus 100 provided by this exemplary embodiment is as follows: In this embodiment, after obtaining the operating speed of the transport assembly 120, the movement time required for the clamping assembly 150 to move from the input end to the detection unit 140 can be calculated according to the operating speed and the distance between the detection unit 140 and the detection assembly 160, the final time for the clamping assembly 150 to move to the detection unit 140 can be calculated according to the initial time obtained by the clamping assembly 150 at the input end, the final time can be obtained by adding the movement time to the initial time, and the detection information whose time information is the same as the final time can be combined among several detection information according to the final time,where the detection information is the detection information of the fruit cup 130 detected by the detection unit 140 when the fixing assembly 150 moves to the detection unit 140.

[0131] In summary, according to the fruit sorting apparatus 100 provided in this embodiment, the fruit is placed in the fruit cup 130, the fruit cup 130 is fixed in the fixing assembly 150 and, under the action of the transport assembly 120, the fixing assembly 150 causes the fruit cup 130 to pass sequentially through a plurality of detection units 140 arranged in an extension direction of the transport assembly 120. A position where the input end and the fruit cup 130 are placed in the fixing assembly 150 can be considered as a starting point of the fruit cup 130 moving in the transport assembly 120. The acquisition of the signal of Petition 870250107199, dated 11 / 24 / 2025, p. 48 / 116 37 / 44 Positioning of the clamping assembly 150 moving towards the input end can be considered as acquiring an initial point of the clamping assembly 150 triggering the fruit cup 130 to move in the transport assembly 120. The detection information corresponding to the positioning signal of the fruit cup 130 and detected in the detection unit 140 can be combined according to the initial time, operating speed, and distance between the detection unit 140 and the detection assembly 160.In this embodiment, based on the initial time, operating speed, distance between detection unit 140 and detection set 160, and time information, it is possible to establish a correspondence between the fruit cup 130 and the detection information, establishing a 'one-to-one' correspondence between a plurality of detection information and a plurality of fruit cups 130, in order to avoid the influence of the loss of fruit cups 130 on subsequent classification and to reduce as much as possible the problem of subsequent data disorder, thus improving the accuracy of fruit classification.

[0132] Another embodiment of the present invention will be described, and this embodiment provides a method for classifying fruit. The fruit classification method provided in this embodiment can combine a plurality of detection information with the fruit cups 130 after receiving the detection information from the fruit cups 130 detected by the detection units 140, so as to reduce the problem of subsequent data disorder as much as possible, thereby improving the accuracy of fruit classification.

[0133] For a brief description, reference may be made to previous embodiments of the fruit sorting apparatus of the present invention for matters not mentioned in this exemplary embodiment.

[0134] The specific steps of the fruit classification method Petition 870250107199, dated 11 / 24 / 2025, page 49 / 116 38 / 44 are as follows.

[0135] Referring to Figure 11, step S100: acquire a positioning signal with an initial time when the clamping assembly 150 moves to an input end.

[0136] In this embodiment, the positioning signal with the initial time information can refer to a point in time when the detection assembly 160 detects the positioning signal from the fixing assembly 150 and records the detected positioning signal, and the point in time when the positioning signal is detected is the initial time of the positioning signal.

[0137] Step S200: acquire an operating speed of a 120 transport set.

[0138] In this embodiment, the operating speed can be preset, or the control unit 110 can obtain the operating speed directly from the conveyor assembly 120. When the entire fruit sorting apparatus 100 is started, the control unit 110 can control the conveyor assembly 120 to transport the fruit cup 130 at the operating speed according to the start instructions. The control unit 110 can also directly detect the operating speed of the conveyor assembly 120 after the fruit sorting apparatus 100 is started.

[0139] S300 Step: Acquisition of detection information containing time information and collected by detection unit 140 at each predefined time interval.

[0140] In this embodiment, the detection information containing time information may mean that the detection unit 140 simultaneously records the moment (time point) when the detection information is detected when detecting the detection information from the fruit cup 130, then the time point (moment) when the information of Petition 870250107199, dated 11 / 24 / 2025, pp. 50 / 116 39 / 44 detections are the timing information of the detection information.

[0141] The plurality of attachment sets 150 is spaced and arranged in the transport set 120, a time interval between two adjacent attachment sets 150 that pass through the detection unit 140 can be calculated according to the operating speed of the transport set 120 and the distance between the two adjacent attachment sets 150, and the interval time can be set to a predefined time, i.e., the detection unit 140 collects detection information once when each attachment set 150 moves to the detection unit 140.

[0142] Step S400: acquire a distance between detection set 160 and detection unit 140.

[0143] In this embodiment, the plurality of fastening sets 150 is uniformly spaced and arranged in the transport set 120, the distance between the fastening sets 150 is constant and the distance between the detection set 160 and the detection unit 140 can be calculated according to the number of fastening sets 150 between the detection set 160 and the detection unit 140.

[0144] Step S500: combine the detection information corresponding to the fruit cup positioning signal 130 based on the operating speed of the transport assembly 120, the timing information of the positioning signal, the distance between the detection unit 140 and the detection assembly 160, and the timing information of the detection information.

[0145] In this embodiment, according to the initial time, the operating speed, the distance between the detection unit 140 and the detection assembly 160 and the time information, it is possible to establish a correspondence between the fruit cup 130 and the detection information, Petition 870250107199, dated 11 / 24 / 2025, p. 51 / 116 40 / 44 establish a 'one-to-one' correspondence between a plurality of detection information and a plurality of 130 fruit cups, in order to avoid the influence of the loss of 130 fruit cups on subsequent classification and reduce as much as possible the problem of subsequent data disorder, thus improving the accuracy of fruit classification.

[0146] Referring to Figure 12, step S500 may include step S510, step S520 and step S530.

[0147] Step S510: calculate a movement time of the clamping assembly 150 that causes the fruit cup 130 to move from the detection assembly 160 to the detection unit 140 according to the operating speed and the distance between the detection unit 140 and the detection assembly 160.

[0148] In this embodiment, after the operating speed of the transport assembly 120 is acquired, the movement time required for the fastening assembly 150 to move from the input end to the detection unit 140 can be calculated according to the operating speed and the distance between the detection point unit 140 and the detection assembly 160.

[0149] Step S520: calculate a final time for the fruit cup 130 driven by the clamping assembly 150 to move from the detection assembly 160 to the detection unit 140 according to the timing information from the positioning signal and the movement time.

[0150] The final time for the clamping assembly 150 to move to the detection unit 140 can be calculated based on the initial time obtained by the clamping assembly 150 at the input end, and the final time can be obtained by adding the movement time to the initial time.

[0151] Step S530: Match detection information between multiple detection information that have the same end time. Petition 870250107199, dated 11 / 24 / 2025, p. 52 / 116 41 / 44

[0152] The detection information among the plurality of detection information that have the same end time can be combined according to the end time, whose detection information has the same end time as the detection information of the fruit cup 130 detected by the detection unit 140 when the fixing assembly 150 moves to the detection unit 140.

[0153] Referring to Figure 13, step S530 may include step S532, step S534 and step S536.

[0154] Step S532: judge whether there is detection information among the plurality of detection information that have the same end time.

[0155] In this embodiment, detection unit 140 can collect a detection information at each predefined time interval and send the detection information containing time information to control unit 110, control unit 110 matches the detection information among the plurality of detection information that have the same end time.

[0156] Step S534: if detection information exists, record the detection information that has the same end time in the fruit cup detection data 130 corresponding to the positioning signal.

[0157] If there is detection information with the same end time, the detection information is the fruit cup 130 detection data and the detection information is recorded in the fruit cup 130 detection data.

[0158] Step S536: Discard the fruit cup 130 detection data corresponding to the positioning signal if there is no detection information.

[0159] If there is no matching detection information Petition 870250107199, dated 11 / 24 / 2025, p. 53 / 116 42 / 44 at the final time between the plurality of detection information, fruit cup 130 may have been lost in the process of movement by detection unit 140, or fruit cup 130 was not lost, but detection unit 140 did not detect the detection information of fruit cup 130, which indicates that there is no detection information of fruit cup 130 among the plurality of detection information, thus the detection data of fruit cup 130 will be discarded and the next classification work will not be performed.

[0160] For example: the distance between the vision module 144 and the detection assembly 160 is X sets of fixtures 150, the distance between the weighing module 146 and the detection assembly 160 is Y sets of fixtures 150, the distance between the quality module 142 and the detection assembly 160 is Z sets of fixtures 150, and the distance between the sorting module and the detection assembly is M sets of fixtures 150.

[0161] For each movement of the detection assembly 160 to the fixing assembly 150, the detection assembly 160 detects a positioning signal and transmits the positioning signal to the control unit 110, and the control unit 110 can obtain detection data from the vision module 144, the weighing module 146 and the quality module 142.

[0162] When the positioning signal is N, the data emitted by the vision module 144 is An, the data emitted by the weighing module 146 is Bn and the output emitted by the quality module 142 is Cn.

[0163] After the fruit classification method provided by this embodiment is used for integration, the positioning signal of a given set of fixtures 150 is N, the data corresponding to the vision module 144, the weighing module 146 and the quality module 142 must be An+X, Bn+Y and Cn+Z respectively. The three data are integrated into Dn and sent to the classification module 148, and the classification module 148 performs the classification according to Dn. Petition 870250107199, dated 11 / 24 / 2025, page 54 / 116 43 / 44

[0164] The above descriptions are merely specific implementations of the present invention, but are not intended to limit the scope of protection of the present invention. Any variation or substitution readily discovered by one skilled in the art within the technical scope disclosed in the present invention shall fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims. Industrial Applicability

[0165] The present invention discloses an apparatus and method for classifying fruit and relates to the technical field of fruit classification. The fruit classification apparatus includes: a control unit, a transport assembly, a detection assembly, a fruit cup, a plurality of fixing assemblies and a plurality of detection units, wherein the control unit is configured to receive a plurality of pieces of detection information, and to match the corresponding detection information to a positioning signal of a fruit cup according to an operating speed of the transport assembly, an initial time of a positioning signal, a distance between the detection unit and the detection assembly and timing information of the detection information.In this implementation, based on the initial time, operating speed, distance between the detection unit and the detection set, and time information, it is possible to establish a correspondence between the fruit cup and the detection information, establishing a 'one-to-one' correspondence between a plurality of pieces of detection information and a plurality of fruit cups, in order to avoid the influence of the loss of fruit cups on subsequent classification and to minimize the problem of disorder in subsequent data, thus improving the accuracy in fruit classification.

[0166] Furthermore, it must be understood that the apparatus and the method Petition 870250107199, dated 11 / 24 / 2025, p. 55 / 116 The 44 / 44 fruit sorting apparatus of the present invention is reproducible and can be applied to a variety of industrial applications. For example, the fruit sorting apparatus of the present invention can be applied in the field of fruit sorting / division. Petition 870250107199, dated 11 / 24 / 2025, page 56 / 116

Claims

1 / 7 Claims 1. FRUIT SORTING APPARATUS (100), for sorting fruit, the fruit sorting apparatus (100) comprising: a control unit (110), a transport assembly (120), a detection assembly (160), a fruit cup (130), a plurality of fixing assemblies (150) and a plurality of detection units (140), wherein; - the fruit cup (130) is configured to accommodate a fruit; - the fixing assembly (150) is configured to fix the fruit cup (130); - the detection assembly (160) is disposed at one input end of the transport assembly (120), and the detection assembly (160) is connected to the control unit (110) and is configured to detect a positioning signal when the clamping assemblies (150) move to the input end and send the positioning signal which takes an initial time to the control unit (110);- the plurality of fastening sets (150) is mounted sequentially on the transport set (120) and triggers a plurality of fruit cups (130) to pass sequentially through the plurality of detection units (140) under an action of the transport set (120); - the plurality of detection units (140) is connected to the control unit (110), and the detection units (140) are configured to collect detection information from the fruit cup (130) once at each predefined time interval, and the detection information with time information is sent to the control unit (110);and - the control unit (110) is configured to be connected to the detection units (140) and the detection assembly (160), and is configured to receive a plurality of detection information and to match the corresponding detection information with the positioning signal of the fruit cup (130) based on the operating speed of the transport assembly (120), the initial time of the positioning signal, the distance between the detection units (140) and the detection assembly (160), and the timing information of the detection information;characterized in that each of the fastening assemblies (150) comprises a bottom plate (1521) and a deflector plate (1523), wherein the bottom plate (1521) is mounted on the transport assembly (120), the deflector plate (1523) is connected to the bottom plate (1521), the deflector plates (1523) and the bottom plates (1521) of two adjacent fastening assemblies (150) form a fastening cavity, and the fruit cup (130) is mounted in the fastening cavity.; 2. APPARATUS (100), according to claim 1, characterized in that the control unit (110) is additionally configured to calculate a movement time of the fixing assemblies (150) that carry the fruit cup (130) to move from the detection assembly (160) to the detection units (140) based on the operating speed and the distance between the detection units (140) and the detection assembly (160), calculate a final time of the fixing assemblies (150) that move to the detection units (140) based on the initial time of the positioning signal and the movement time, and match the detection information whose time information has the same final termination time.

3. APPARATUS (100), according to claim 2, characterized in that when there is detection information corresponding to the final time between the plurality of detection information, the detection information corresponding to the positioning signal is recorded in the fruit cup detection data (130).

4. APPARATUS (100), according to claim 2, Petition 870250107199, dated 11 / 24 / 2025, p. 58 / 116 3 / 7 characterized in that when there is no detection information corresponding to the final time between the plurality of detection information, the fruit cup detection data (130) corresponding to the positioning signal are discarded.

5. APPARATUS (100), according to any one of claims 1 to 4, characterized by the transport assembly (120) comprising a transmission chain (124) and a drive wheel (122), wherein the transmission chain (124) is in transmission connection with the drive wheel (122) and the plurality of fastening assemblies (150) being sequentially mounted on the transmission chain (124).

6. APPARATUS (100), according to claim 5, characterized in that the transmission chain (124) comprises a first transmission chain (1242) and a second transmission chain (1244), wherein one end of the first transmission chain (1242) that is distant from the input end is arranged coaxially with one end of the second transmission chain (1244), and the second transmission chain (1244) comprises a first chain (1245) and a second chain (1246), and the first chain (1245) and the second chain (1246) are arranged in parallel and spaced to form a gap.

7. APPARATUS (100), according to claim 6, characterized in that the detection units (140) comprise a quality module (142), and the quality module (142) is disposed below the gap.

8. APPARATUS (100), according to claim 7, characterized in that the bottom of the fruit cup (130) is provided with a detection hole (132) and the detection hole (132) is arranged in a manner corresponding to the gap.

9. APPARATUS (100), according to any one of claims 6 to 8, characterized in that the transmission chain (124) Petition 870250107199, dated 11 / 24 / 2025, p. 59 / 116 4 / 7 further comprises a third transmission chain (1248) and in that the end of the third transmission chain (1248) is arranged coaxially with one end which is of the second transmission chain (1244) and which is distant from the first transmission chain (1242).

10. APPARATUS (100), according to claim 9, characterized in that the detection units (140) further comprise a vision module (144) and a weighing module (146), and the vision module (144) and the weighing module (146) are disposed below the first transmission chain (1242).

11. APPARATUS (100), according to claim 10, characterized in that the fruit sorting apparatus (100) further comprises a sorting module (148), and the sorting module (148) is disposed below the third transmission chain (1248).

12. APPARATUS (100), according to any one of claims 1 to 11, characterized in that each of the fastening assemblies (150) comprises a mounting plate (1542) and a stop (1544), wherein the mounting plate (1542) is mounted on the transport assembly (120), the stop (1544) is connected to the mounting plate (1542), and the stop (1544) rests on the fruit cup (130), so that the fruit cup (130) moves under the drive of the transport assembly (120).

13. APPARATUS (100), according to claim 12, characterized in that the stop (1544) has a stop surface (1546), the stop surface (1546) being held against the fruit cup (130).

14. APPARATUS (100), according to claim 13, characterized in that the shape of the stop surface (1546) is adapted to the shape of the fruit cup (130).

15. APPARATUS (100), according to any one of claims 1 to 14, characterized by the detection assembly (160) Petition 870250107199, dated 11 / 24 / 2025, p. 60 / 116 5 / 7 comprising a detection switch (162) and a detection tray (164), wherein the detection tray (164) is arranged coaxially with the transport assembly (120), a plurality of detection ports (166) are arranged in the detection tray (164), the number of detection ports (166) is equal to that of the fixing assemblies (150) and the detection switch (162) detects a positioning signal indicating that the fixing assemblies (150) move to the input end on the condition that the detection ports (166) move to a position corresponding to the detection switch (162).

16. FRUIT CLASSIFICATION METHOD, applied to a fruit classification apparatus (100) as defined in claim 1, wherein the fruit classification apparatus (100) comprises a transport assembly (120), a fruit cup (130), a detection assembly (160), a plurality of fixing assemblies (150) and a plurality of detection units (140), the plurality of fixing assemblies (150) being sequentially mounted on the transport assembly (120), the plurality of detection units (140) being arranged correspondingly on the transport assembly (120), the detection assembly (160) being disposed of at an input end of the transport assembly (120), wherein the fruit classification method is characterized by comprising the following steps: - acquiring (S100) a positioning signal with timing information when the fixing assemblies (150) move to the input end;- acquire (S200) an operating speed of the transport assembly (120); - acquire (S300) detection information containing time information and collected by the detection units (140) at each predefined time interval; Petition 870250107199, dated 11 / 24 / 2025, p. 61 / 116 6 / 7 - acquire (S400) a distance between the detection assembly (160) and the detection units (140); and - match (S500) the detection information corresponding to the positioning signal of the fruit cup (130) based on the operating speed of the transport assembly (120), the time information of the positioning signal, the distance between the detection units (140) and the detection assembly (160), and the time information of the detection information.

17. FRUIT CLASSIFICATION METHOD, according to claim 16, characterized by the step (S500) of matching the detection information corresponding to the positioning signal based on the operating speed of the transport assembly (120), the time information of the positioning signal, the distance between the detection units (140) and the detection assembly (160) and the time information of the detection information, comprising: - calculating (S510) a movement time of the fixing assemblies (150) that cause the fruit cup (130) to move from the detection assembly (160) to the detection units (140), according to the operating speed and the distance between the detection units (140) and the detection assembly (160);- calculate (S520) a final time of the fruit cup (130) activated by the fixing sets (150) to move them from the detection set (160) to the detection units (140), according to the time information of the positioning signal and the movement time; and - make (S530) the correspondence between the detection information of the plurality of detection information that have the same final time.; 18. FRUIT CLASSIFICATION METHOD, according to claim 17, characterized by the step (S530) of matching detection information between a plurality of detection information that has the same end time; including: judging (S532) whether, among the plurality of detection information, there are detection information that have the same end time; when there are detection information that have the same end time, recording (S534) the detection information that has the same end time in the detection data of the fruit cup (130) corresponding to the positioning signal.

19. FRUIT CLASSIFICATION METHOD, according to claim 18, characterized by the step (S530) of matching detection information between a plurality of detection information that have the same final time, comprising: - discarding (S536) the fruit cup detection data (130) corresponding to the positioning signal when there is no detection information. Petition 870250107199, dated 11 / 24 / 2025, p. 63 / 116

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