An automatic fruit sorting device based on diffuse reflection and diffuse transmission

Abstract

The invention discloses an automatic fruit sorting device based on diffuse reflection and diffuse transmission. The device comprises a conveyor, a drop port, a first steel ring, a steel bar, an iron ring, a gear, a bracket, a second steel ring, a chute, a carton, a first stepper motor, a sorting machine, a PLC controller, a servo motor and a support frame. The device detects fruits by combining diffuse reflection and diffuse transmission, identifies the spectrum information of fruits more comprehensively, imports the fruit absorption spectrum into an established fruit sugar and acidity prediction model, obtains the fruit sugar and acidity content, and then detects the size of fruits according to image recognition to classify the fruits. Compared with the traditional method of sorting fruits by only adopting diffuse reflection or diffuse transmission or fruit size, the device detects fruits more comprehensively and perfectly.

Description

Technical Field

[0001] The invention relates to the field of fruit sorting, and in particular to an automatic fruit sorting device based on diffuse reflection and diffuse transmission. Background Art

[0002] With the development of society, people no longer focus solely on external qualities such as appearance, shape, size, and color when purchasing fruits, but also use the internal quality of fruits as a reference standard, such as sugar content, acidity, vitamin content and other indicators. Before the fruit is put on the market, the quality of the fruit can be tested to identify the size of the fruit, whether it is rotten, etc. At present, some developed countries abroad sort the fruit immediately according to the internal and external quality after picking. Compared with the traditional chemical destructive detection method, which has the disadvantages of high cost, complex operation process, long consumption time, and secondary pollution, near-infrared spectroscopy technology has been widely recognized for its safety, efficiency, speed, accuracy, low cost, and wide application range, which is also in line with the concept of developing green agriculture. As a new technology that can detect the internal quality of fruits without destroying fruits, near-infrared spectroscopy non-destructive testing technology has been invested in the post-production processing and processing of agricultural products, and related devices have been in research and development and functional upgrades.

[0003] In the prior art, the main near-infrared spectroscopy nondestructive testing technology used is either based on diffuse reflection principle alone or based on diffuse transmission principle alone. Both methods can only obtain the spectral information of half of the fruit, and cannot collect all the spectral information of the fruit, resulting in incomplete identified information. Summary of the invention

[0004] In order to solve the above problems, the purpose of the present invention is to provide an automatic fruit sorting device based on diffuse reflection and diffuse transmission, which uses a combination of diffuse reflection and diffuse transmission to detect fruits, more comprehensively identify the spectral information of fruits, and import the fruit absorption spectrum into the established fruit sugar and acidity prediction model to obtain the fruit sugar and acidity content, and then grade the fruits according to their sizes.

[0005] In order to achieve the above object, the present invention provides an automatic fruit sorting device based on diffuse reflection and diffuse transmission, which is implemented as follows:

[0006] The invention discloses an automatic fruit sorting device based on diffuse reflection and diffuse transmission, comprising a conveyor, a drop port, a first steel ring, steel bars, an iron ring, gears, a bracket, a second steel ring, a chute, a carton, a first stepper motor, a sorting machine, a PLC controller, a servo motor, and a support frame. The right end of the conveyor is provided with a drop port, the conveyor transports the fruits to be inspected to the drop port, and the fruits enter the first steel ring from the drop port. The servo motor is installed below the iron ring, the support frame is installed in the iron ring, and the center of the support frame is connected with the rotating shaft of the servo motor. The PLC controller is installed beside the servo motor, and the servo motor is controlled by the PLC controller to rotate, so that the servo motor drives the support frame to rotate, and then drives the iron ring to rotate. A plurality of steel bars are installed at equal intervals on the edge of the iron ring, each steel bar is installed with a first steel ring for transferring fruits at the drop port, and the sorting machine is installed on the right side of the iron ring. The first stepper motor and chute are installed on the right side of the sorting machine. A gear is installed on the rotating shaft of the first stepper motor. The bracket is connected between the second steel ring and the gear. The PLC controller controls the rotation of the first stepper motor, and the first stepper motor drives the gear to rotate. The gear drives the bracket to rotate, and then drives the second steel ring to rotate. A carton is placed obliquely below each chute. The servo motor drives the iron ring to rotate and move the first steel ring to the bottom of the sliding port. The sliding port slides the fruit transmitted by the conveyor onto the first steel ring. As the servo motor rotates, the fruit to be tested is transferred to the sorting machine. After being graded by the sorting machine, the first stepper motor drives the second steel ring to the bottom of the first steel ring in the sorting machine to receive the detected fruit in the first steel ring. Then it continues to rotate to transfer the fruit to the top of the chute, and places the fruit on the corresponding chute according to the graded type of the chute, and slides into the carton on the chute.

[0007] The sliding opening of the present invention includes a first metal aluminum plate, a metal frame, a hinge, a movable frame, a first telescopic motor, and a first infrared receiver. Two identical first metal aluminum plates are installed in the metal frame. The first metal aluminum plate and the metal frame are connected by a hinge. A movable frame is provided on the two first metal aluminum plates, and the common end of the movable frame is connected to the telescopic rod of the first telescopic motor. The PLC controller controls the first telescopic motor to stretch or compress the movable frame to realize the opening and closing of the first metal aluminum plate, thereby controlling the apple to slide from the sliding opening to the first steel ring. The first infrared receiver is installed on the edge of the metal frame to detect whether the first steel ring reaches below the sliding opening.

[0008] The movable frame of the present invention includes metal aluminum bars and bolts, and is composed of four metal aluminum bars combined into a "V"-shaped structure. Two metal aluminum bars are connected by bolts, one end of the two metal aluminum bars is connected to the first metal aluminum plate, and the connection between the other two metal aluminum bars is connected to the telescopic rod of the first telescopic motor.

[0009] The first steel ring of the present invention comprises a first steering gear, a first half gear, a first infrared transmitter, a steel bar, and a second half gear. The first steering gear is installed on the steel bar, the first half gear is installed on the rotating shaft of the first steering gear, the second half gear is installed beside the first half gear, and the first half gear is meshed with the second half gear. Two identical steel bars are arranged on the first half gear and the second half gear, and the steel bars are arranged in a concave shape. The first infrared transmitter is installed on the steel bar. The first steering gear is controlled by a PLC controller to rotate, thereby driving the first half gear to rotate. The first half gear is driven by the second half gear. The first steering gear rotates forward to move the two steel bars to the middle, so that the two steel bars form a circular circle. When the first steel ring rotates to the bottom of the sliding opening, the infrared light emitted by the first infrared transmitter is received by the first infrared receiver, and the PLC controller controls the first telescopic motor to open the first metal aluminum plate to slide the fruit to be tested onto the first steel ring. When the first steel ring drives the fruit to enter the sorting machine and the detection is completed, the PLC controller controls the first steering gear to reverse, so that the two steel bars are separated, and the fruit falls from the two steel bars into the second steel ring.

[0010] The sorting machine of the present invention comprises a laser transmitter, a convex lens, a first concave mirror, a first optical fiber probe, a reflector, an optical fiber, an optical fiber spectrometer, a high-definition camera, a second concave mirror, a second optical fiber probe, a spectroscope, and a plano-convex lens. The first optical fiber probe, the second optical fiber probe and the optical fiber spectrometer are connected through optical fibers. The convex lens is installed between the laser transmitter and the plano-convex lens. The spectroscope is installed below the plano-convex lens. A reflector is installed in the horizontal direction of the spectroscope. The first concave mirror and the second concave mirror are installed opposite to each other. The first optical fiber probe is installed below the first concave mirror, and the second optical fiber probe is installed below the second concave mirror. The high-definition camera is installed obliquely below the reflector. The high-definition camera is used to detect the size of fruits. When the servo motor rotates the fruits on the first steel ring into the sorting machine, the laser beam emitted by the laser transmitter is expanded by the convex lens, and then collimated by the plano-convex lens. The laser beam is divided into two light beams by the spectroscope, one of which is directly irradiated onto the fruit to be tested after passing through the spectroscope, and the other is reflected onto the fruit by the reflector and irradiated onto the fruit. The two laser beams are diffusely reflected and diffusely transmitted in the fruit. The light after diffuse reflection is reflected to the first concave mirror, and is collected to the first optical fiber probe in the first concave mirror. The first optical fiber probe transmits the received light to the optical fiber spectrometer through the optical fiber for analysis. The light after diffuse transmission is reflected to the second concave mirror, and is collected to the second optical fiber probe in the second concave mirror. The second optical fiber probe transmits the received light to the optical fiber spectrometer through the optical fiber for analysis. The optical fiber spectrometer transmits the analysis result to the PC end. The fruit absorption spectrum is introduced into the established fruit sugar and acidity prediction model on the PC end to obtain the fruit sugar and acidity content. The image of the fruit collected by the high-definition camera is sent to the PLC controller, and then transmitted to the PC end for image recognition to identify the size of the fruit. The PC end divides the fruit grade according to the size, sugar and acidity of the fruit. The PC end feeds back the graded information to the PLC controller. The PLC controller controls the first stepper motor to drive the second steel ring to put the sorted fruit into the corresponding chute.

[0011] The bracket of the present invention comprises a first metal aluminum bar, a second steering gear, a second metal aluminum bar, a second steel ring, and a second infrared receiver. The first metal aluminum bar is installed between the second steering gear and the gear, the second metal aluminum bar is installed between the rotating shaft of the second steering gear and the second steel ring, and the second infrared receiver is installed below the second metal aluminum bar. When the PLC controller controls the first stepper motor to rotate the bracket to the top of the corresponding grading chute, the PLC controller controls the second steering gear to rotate forward, so that the second metal aluminum bar rotates obliquely downward, and the fruit in the second steel ring is transferred to the grading chute, and the fruit slides into the carton in the chute for packing.

[0012] The number of the chutes of the present invention is determined according to the number of grades that the user needs to grade. A chute is set for each grade, and a second infrared transmitter is arranged obliquely above each chute. The second infrared transmitter is connected to a PLC controller. After the PC classifies the fruits, the information is fed back to the PLC controller. The PLC controller controls the second red transmitter on the corresponding graded chute to emit infrared light, and the second red transmitters on other graded chute do not emit infrared light. When the second infrared receiver receives the infrared light, it indicates that the fruit should be placed in the chute at that location.

[0013] A feeder is also provided next to the conveyor of the present invention, which is used to grab fruits and place them on the conveyor belt of the conveyor, wherein the feeder includes a first support plate, a sliding plate, a second telescopic motor, an air suction machine, a second stepping motor, a spur gear, a second support plate, a second metal aluminum plate, a metal aluminum tube, and a rubber ring. The first support plate and the second support plate are installed on the conveyor, the sliding plate is installed on the top of the first support plate and the second support plate, the air suction machine and the second stepping motor are installed above the sliding plate, the spur gear is installed on the rotating shaft of the second stepping motor, the rotation of the second stepping motor is controlled by a PLC controller, the second stepping motor drives the spur gear to rotate, and the rotation of the spur gear drives the sliding plate to slide on the first support plate and the second support plate, the bottom of the second telescopic motor is installed below the sliding plate, the second metal aluminum plate is installed on the telescopic rod of the telescopic motor, the metal aluminum tube is installed below the second metal aluminum plate, and each metal aluminum tube is below A rubber ring is provided on the side to prevent the fruit from being damaged when it is sucked up. When the fruit needs to be grabbed and placed on the conveyor, the PLC controller controls the second stepper motor to rotate forward to move the sliding plate to the fruit stacking place outside the conveyor. Then the PLC controller controls the second telescopic motor to extend the telescopic rod to push the second metal aluminum plate down, so that the rubber ring is close to the fruit. Then the PLC controller controls the vacuum machine to inhale, and the fruit is sucked on the rubber ring under the action of pressure. Then the PLC controller controls the second telescopic motor to retract the telescopic rod to lift the fruit. Then the PLC controller controls the second stepper motor to reverse and move the sliding plate above the conveyor. The PLC controller controls the second telescopic motor to extend the telescopic rod to extend the fruit onto the conveyor. The PLC controller controls the vacuum machine to turn off, so that the vacuum machine deflates, and the fruit falls from the rubber ring to the conveyor, thus completing the grabbing of the fruit.

[0014] The second support plate of the present invention has a rack at the top, and the spur gear passes through the sliding plate and meshes with the rack. The spur gear is driven by the second stepping motor to rotate, and the spur gear rolls on the rack, thereby realizing the movement of the sliding plate above the second support plate.

[0015] The top end of the first support plate of the present invention is provided with a slide rail, which facilitates the sliding plate to move above the first support plate.

[0016] A groove is provided at one end of the sliding plate of the present invention, and small rollers are provided on both sides of the groove. When the groove is just on the first supporting plate, the sliding plate can move more smoothly with the assistance of the small rollers. A through hole is provided at the other end of the sliding plate to facilitate the spur gear to pass through the sliding plate and engage with the rack.

[0017] The vacuum pump and the metal aluminum tube are connected by a plastic tube in parallel, so that the vacuum pump can absorb the air in the metal aluminum tube through the plastic tube and then suck up the fruit.

[0018] Since the present invention uses a conveyor to transport the fruits to be tested to the sliding port and slide them into the first steel ring, and as the iron ring rotates, the fruits are placed in the sorting machine for grading and sorting, and finally placed in the corresponding graded chute under the transportation of the second steel ring, and enter the carton in the chute for packing, the following beneficial effects can be obtained:

[0019] The present invention detects fruits by combining diffuse reflection and diffuse transmission, more comprehensively identifies the spectral information of fruits, and imports the fruit absorption spectrum into the established fruit sugar and acidity prediction model to obtain the fruit sugar and acidity content, and then grades the fruits according to the size of the fruits detected by image recognition. Compared with the traditional method of sorting fruits only by diffuse reflection or diffuse transmission or fruit size, the present invention is more comprehensive and complete in detecting fruits. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of an automatic fruit sorting device based on diffuse reflection and diffuse transmission of the present invention;

[0021] Figure 2 It is a structural schematic diagram of a sliding port of an automatic fruit sorting device based on diffuse reflection and diffuse transmission of the present invention;

[0022] Figure 3 It is a structural schematic diagram of a movable frame of an automatic fruit sorting device based on diffuse reflection and diffuse transmission of the present invention;

[0023] Figure 4 This is a structural schematic diagram of a first steel ring of an automatic fruit sorting device based on diffuse reflection and diffuse transmission according to the present invention;

[0024] Figure 5 It is a structural schematic diagram of a sorting machine of an automatic fruit sorting device based on diffuse reflection and diffuse transmission of the present invention;

[0025] Figure 6 It is a structural schematic diagram of a support of an automatic fruit sorting device based on diffuse reflection and diffuse transmission of the present invention;

[0026] Figure 7This is a schematic diagram of the installation structure of the second red emitter of an automatic fruit sorting device based on diffuse reflection and diffuse transmission of the present invention;

[0027] Figure 8 This is a working principle diagram of an automatic fruit sorting device based on diffuse reflection and diffuse transmission of the present invention;

[0028] Fig. 9 It is a structural schematic diagram of a feeding machine of an automatic fruit sorting device based on diffuse reflection and diffuse transmission of the present invention;

[0029] Fig.10 This is a schematic diagram of rack installation of an automatic fruit sorting device based on diffuse reflection and diffuse transmission of the present invention;

[0030] Fig.11 It is a structural schematic diagram of a slide rail of an automatic fruit sorting device based on diffuse reflection and diffuse transmission according to the present invention;

[0031] Fig.12 It is a structural schematic diagram of a sliding plate of an automatic fruit sorting device based on diffuse reflection and diffuse transmission of the present invention;

[0032] Fig.13 The present invention is a schematic diagram of the installation of a plastic tube of an automatic fruit sorting device based on diffuse reflection and diffuse transmission.

[0033] Description of main component symbols.

[0034]

[0035] DETAILED DESCRIPTION

[0036] The present invention will be further described in detail below in conjunction with the embodiments and with reference to the accompanying drawings.

[0037] See also Figures 1 to 8 The figure shows an automatic fruit sorting device based on diffuse reflection and diffuse transmission in the present invention, which includes a conveyor 1, a slide port 2, a first steel ring 3, a steel bar 4, an iron ring 5, a gear 6, a bracket 7, a second steel ring 8, a chute 9, a carton 10, a first stepper motor 11, a sorting machine 12, a PLC controller 13, a servo motor 14, and a support frame 15.

[0038] like Figure 1As shown, the conveyor 1 is provided with a drop port 2 at the right end, and the conveyor 1 transports the fruits to be inspected to the drop port 2, and enters the first steel ring 3 from the drop port 2. The servo motor 14 is installed below the iron ring 5, and the support frame 15 is installed in the iron ring 5, and the center of the support frame 15 is connected with the rotating shaft of the servo motor 14. The PLC controller 13 is installed next to the servo motor 14, and the servo motor 14 is controlled by the PLC controller 13 to rotate, so that the servo motor 14 drives the support frame 15 to rotate, and then drives the iron ring 5 to rotate. A plurality of steel bars 4 are installed at equal intervals on the edge of the iron ring 5, and each steel bar 4 is installed with a first steel ring 3 for transferring the fruits at the drop port 2. A sorting machine 12 is installed on the right side of the iron ring 5, and a first stepping motor 11 and a chute 9 are installed on the right side of the sorting machine 12. A gear 6 is installed on the rotating shaft of the first stepping motor 11, and a bracket 7 is connected Between the second steel ring 8 and the gear 6, the PLC controller 13 controls the first stepper motor 11 to rotate, the first stepper motor 11 drives the gear 6 to rotate, the gear 6 drives the bracket 7 to rotate, and then drives the second steel ring 8 to rotate, a carton 10 is placed obliquely below each chute 9, the servo motor 14 drives the iron ring 5 to rotate, and the first steel ring 3 is moved to the bottom of the sliding port 2, and the sliding port 2 slides the fruit transmitted by the conveyor 1 onto the first steel ring 3, and as the servo motor 14 rotates, the fruit to be tested is transferred to the sorting machine 12, and after being graded by the sorting machine 12, the first stepper motor 11 drives the second steel ring 8 to the bottom of the first steel ring 3 in the sorting machine 12, receives the detected fruit in the first steel ring 3, and then continues to rotate, transfers the fruit to the top of the chute 9, and places the fruit on the corresponding chute 9 according to the graded type of the chute 9, and slides into the carton 10 on the chute 9. The PLC controller 13 is connected to the high-definition camera 36, ​​the conveyor 1, the servo motor 14, the first stepper motor 11, the first telescopic motor 20, the first servo gear 24, the second servo gear 42, and the PC respectively. The support frame 15 is connected to the iron ring 5 in a "cross" structure, and the middle is concave, so that the servo motor 14 can drive the support frame 15 to rotate, and then drive the iron ring 5 to rotate.

[0039] The conveyor 1 adopts a conveyor belt transmission mode, that is, a conveyor belt is installed above the conveyor 1 to transport the fruits.

[0040] like Figure 2As shown, the sliding opening 2 includes a first metal aluminum plate 16, a metal frame 17, a hinge 18, a movable frame 19, a first telescopic motor 20, and a first infrared receiver 21. The first telescopic motor 20 is connected to the PLC controller 13, and the first infrared receiver 21 is connected to the PLC controller 13. Two identical first metal aluminum plates 16 are installed in the metal frame 17. The first metal aluminum plate 16 and the metal frame 17 are connected by a hinge 18. The two first metal aluminum plates 16 are provided with a movable frame 19, and the common end of the movable frame 19 is connected to the telescopic rod of the first telescopic motor 20, which is controlled by the PLC controller 13. The first telescopic motor 20 is controlled to stretch or compress the movable frame 19 to realize the opening and closing of the first metal aluminum plate 16, and then the apple is controlled to slide from the sliding port 2 to the first steel ring 3. The first infrared receiver 21 is installed on the side of the metal frame 17, and is used to detect whether the first steel ring 3 reaches the bottom of the sliding port 2. When the first infrared receiver 21 receives the infrared light emitted by the first infrared transmitter 26 on the first steel ring 3, it indicates that the first steel ring 3 has reached the bottom of the sliding port 2. At this time, the PLC controller 13 controls the first telescopic motor 20 to push the movable frame 19 to open the first metal aluminum plate 16, so that the fruit slides onto the first steel ring 3.

[0041] like Figure 3 As shown, the movable frame 19 includes metal aluminum bars 22 and bolts 23. Four metal aluminum bars 22 are combined into a "V"-shaped structure. Two metal aluminum bars 22 are connected by bolts 23, and then the two metal aluminum bars 22 can be connected together by matching corresponding nuts. One end of the two metal aluminum bars 22 is connected to the first metal aluminum plate 16, and the connection between the other two metal aluminum bars 22 is connected to the telescopic rod of the first telescopic motor 20.

[0042] like Figure 4As shown, the first steel ring 3 includes a first steering gear 24, a first half gear 25, a first infrared transmitter 26, a steel bar 27, and a second half gear 28. The first steering gear 24 is installed on the steel bar 4, the first half gear 25 is installed on the rotating shaft of the first steering gear 24, the second half gear 28 is installed next to the first half gear 25, and the first half gear 25 is meshed with the second half gear 28. Two identical steel bars 27 are provided on the first half gear 25 and the second half gear 28, and the steel bars 27 are set to be concave. The first infrared transmitter 26 is installed on the steel bar 27. The PLC controller 13 is connected to the first steering gear 24, and the PLC controller 13 controls the first steering gear 24 to rotate, thereby driving the first half gear 25 to rotate. The first half gear 25 is the second half gear 2 8 transmission, the first steering gear 24 rotates forward, moves the two steel bars 27 to the middle, and makes the two steel bars 27 become a circular circle. When the first steel ring 3 rotates to below the sliding opening 2, the infrared light emitted by the first infrared transmitter 26 is received by the first infrared receiver 21, and the PLC controller 13 controls the first telescopic motor 20 to open the first metal aluminum plate 16, and slides the fruit to be tested onto the first steel ring 3. When the first steel ring 3 drives the fruit to enter the sorting machine 12 and is tested, the PLC controller 13 controls the first steering gear 24 to reverse, separates the two steel bars 27, and drops the fruit from the two steel bars 27 into the second steel ring 8. The second steel ring 8 places the tested fruit into the corresponding grading chute 9 along with the first stepping motor 11, and then packs it.

[0043] like Figure 5As shown, the sorting machine 12 includes a laser transmitter 29, a convex lens 30, a first concave mirror 31, a first optical fiber probe 32, a reflector 33, an optical fiber 34, an optical fiber spectrometer 35, a high-definition camera 36, ​​a second concave mirror 37, a second optical fiber probe 38, a beam splitter 39, and a plano-convex lens 40. The first optical fiber probe 32, the second optical fiber probe 38 and the optical fiber spectrometer 35 are connected through the optical fiber 34. The convex lens 30 is installed between the laser transmitter 29 and the plano-convex lens 40, the beam splitter 39 is installed below the plano-convex lens 40, and the reflector 33 is installed in the horizontal direction of the beam splitter 39. The first concave mirror 31 and the second The concave mirror 37 is installed opposite, the first optical fiber probe 32 is installed below the first concave mirror 31, the second optical fiber probe 38 is installed below the second concave mirror 37, the high-definition camera 36 is installed obliquely below the reflector 33, the high-definition camera 36 is connected to the PLC controller 13, and the high-definition camera 36 is used to detect the size of the fruit. When the servo motor 14 rotates the fruit on the first steel ring 3 into the sorting machine 12, the laser beam emitted by the laser transmitter 29 is expanded by the convex lens 30, and then collimated by the plano-convex lens 40, and the laser beam is divided into two light beams by the beam splitter 39, one of which is directly The first optical fiber probe 32 is used to irradiate the fruit to be tested, and the other optical fiber is reflected to the fruit by the reflector 33. The two laser beams irradiated to the fruit are diffusely reflected and diffusely transmitted in the fruit. The light after diffuse reflection is reflected to the first concave mirror 31, and is collected to the first optical fiber probe 32 in the first concave mirror 31. The first optical fiber probe 32 transmits the received light to the optical fiber spectrometer 35 through the optical fiber 34 for analysis. The light after diffuse transmission is reflected to the second concave mirror 37, and is collected to the second optical fiber probe 38 in the second concave mirror 37. The second optical fiber probe 38 transmits the received light to the optical fiber spectrometer 35 through the optical fiber 34 for analysis. The optical fiber spectrometer 35 transmits the analysis results to the PC end, where the fruit absorption spectrum is introduced into the established fruit sugar and acidity prediction model to obtain the fruit sugar and acidity content, and then the image of the fruit collected by the high-definition camera 36 is sent to the PLC controller 13, and then transmitted to the PC end for image recognition to identify the size of the fruit. The PC end divides the fruit into grades according to the size, sugar and acidity of the fruit. The PC end feeds back the graded information to the PLC controller 13, and the PLC controller 13 controls the first stepper motor 11 to drive the second steel ring 8 to put the sorted fruit into the corresponding chute 9. The wavelength range of the laser beam emitted by the laser transmitter 29 is 350 to 1150 nm. The laser beam emitted by the laser transmitter 29 is divided into two laser beams by the beam splitter 39, so that the two laser beams can ensure the same frequency, which is convenient for the optical fiber spectrometer 35 to analyze the received spectrum.

[0044] like Figure 6As shown, the bracket 7 includes a first metal aluminum bar 41, a second steering gear 42, a second metal aluminum bar 43, and a second infrared receiver 44. The second steering gear 42 is connected to the PLC controller 13. The first metal aluminum bar 41 is installed between the second steering gear 42 and the gear 6. The second metal aluminum bar 43 is installed between the rotating shaft of the second steering gear 42 and the second steel ring 8. The second infrared receiver 44 is installed below the second metal aluminum bar 43. When the PLC controller 13 controls the first stepper motor 11 to rotate the bracket 7 to the top of the corresponding grading chute 9, the PLC controller 13 controls the second steering gear 42 to rotate forward, so that the second metal aluminum bar 43 is inclined. The second steel ring 8 rotates downward to transfer the fruits in the second steel ring 8 to the grading chute 9, and slides into the carton 10 in the chute 9 for packing. When the second steel ring 8 rotates to above the corresponding grading chute 9, the second infrared receiver 44 receives the infrared light emitted by the infrared transmitter on the corresponding chute 9. At this time, the PLC controller 13 controls the second steering gear 42 to rotate forward to put the graded fruits of the second steel ring 8 into the chute 9. Then the PLC controller 13 controls the second steering gear 42 to reverse and retract the second steel ring 8 to the previous horizontal position, waiting for the next transportation of fruits. The second steel ring 8 is welded into a circle with steel bars 27 to facilitate the transportation of fruits after inspection.

[0045] like Figure 7 As shown, the number of the chutes 9 is determined according to the number of grades that the user needs to grade. A chute 9 is set for each grade, and a second red transmitter 45 is provided obliquely above each chute 9. The second infrared transmitter is connected to the PLC controller 13. When the PC classifies the fruit, the information is fed back to the PLC controller 13. The PLC controller 13 controls the second red transmitter 45 on the corresponding grading chute 9 to emit infrared light, and the second red transmitter 45 on other grading chutes 9 does not emit infrared light. When the second infrared receiver 44 receives infrared light, it indicates that the fruit should be placed in the chute 9 at that location.

[0046] Sponges or rubber rings are installed on the inner rings of the first steel ring 3 and the second steel ring 8 to cushion the falling fruits, prevent the fruits from sliding into the first steel ring 3 at the sliding mouth 2 and being damaged, and prevent the fruits from being placed in the second steel ring 8 by the first steel ring 3 and being damaged.

[0047] like Fig. 9As shown, a feeder is also provided next to the conveyor for grabbing fruits and placing them on the conveyor belt of the conveyor, wherein the feeder includes a first support plate 46, a sliding plate 47, a second telescopic motor 48, an air suction machine 49, a second stepping motor 50, a spur gear 51, a second support plate 52, a second metal aluminum plate 53, a metal aluminum tube 54, and a rubber ring 55. The first support plate 46 and the second support plate 52 are installed on the conveyor, the sliding plate 47 is installed on the top of the first support plate 46 and the second support plate 52, and the air suction machine 49 and the first support plate 46 are installed on the conveyor. The second stepper motor 50 is installed above the sliding plate 47, and the spur gear 51 is installed on the rotating shaft of the second stepper motor 50. The second stepper motor 50 is controlled by the PLC controller 13 to rotate, and the second stepper motor 50 drives the spur gear 51 to rotate. The rotation of the spur gear 51 pushes the sliding plate 47 to slide on the first support plate 46 and the second support plate 52. The bottom of the second telescopic motor 48 is installed below the sliding plate 47, the second metal aluminum plate 53 is installed on the telescopic rod of the telescopic motor, and the metal aluminum tube 54 is installed on the second metal aluminum plate 5 3, a rubber ring 55 is provided under each metal aluminum tube 54 to prevent the fruit from being damaged when being sucked up. When the fruit needs to be grabbed and placed on the conveyor, the PLC controller 13 controls the second stepping motor 50 to rotate forward to move the sliding plate 47 to the fruit stacking position outside the conveyor. Then the PLC controller 13 controls the second telescopic motor 48 to extend the telescopic rod to push the second metal aluminum plate 53 downward so that the rubber ring 55 is close to the fruit. Then the PLC controller 13 controls the suction machine 49 to suck air. Under the action of pressure, the second stepping motor 50 rotates forward to move the sliding plate 47 to the fruit stacking position outside the conveyor. Then the PLC controller 13 controls the second telescopic motor 48 to extend the telescopic rod to push the second metal aluminum plate 53 downward so that the rubber ring 55 is close to the fruit. Then the PLC controller 13 controls the suction machine 49 to suck air. The fruit is sucked onto the rubber ring 55, and then the PLC controller 13 controls the second telescopic motor 48 to retract the telescopic rod to lift the fruit. The PLC controller 13 then controls the second stepping motor 50 to reverse and move the sliding plate 47 to the top of the conveyor. The PLC controller 13 controls the second telescopic motor 48 to extend the telescopic rod to extend the fruit onto the conveyor. The PLC controller 13 controls the air suction machine 49 to close, so that the air suction machine 49 deflates and the fruit falls from the rubber ring 55 onto the conveyor, thus completing the grabbing of the fruit.

[0048] like Fig.10 As shown, a rack 56 is provided at the top of the second support plate 52, and a spur gear 51 passes through the sliding plate 47 and meshes with the rack 56. The spur gear 51 is driven to rotate by the second stepper motor 50, and the spur gear 51 rolls on the rack 56, thereby realizing the movement of the sliding plate 47 above the second support plate 52.

[0049] like Fig.11 As shown, a slide rail 57 is provided on the top of the first support plate 46 to facilitate the sliding plate 47 to move above the first support plate 46 .

[0050] like Fig.12As shown, a groove 58 is provided at one end of the sliding plate 47, and small rollers 59 are provided on both sides of the groove 58. When the groove 58 is just on the first support plate 46, the sliding plate 47 can move more smoothly with the assistance of the small rollers 59. A through hole 60 is provided at the other end of the sliding plate 47 to facilitate the spur gear 51 to pass through the sliding plate 47 and engage with the rack 56.

[0051] like Fig.13 As shown, the vacuum pump 49 and the metal aluminum tube 54 are connected by a plastic tube 61 and are connected in parallel, so that the vacuum pump 49 can absorb the air in the metal aluminum tube 54 through the plastic tube 61 and then suck up the fruit.

[0052] The working principle and working process of the present invention are as follows:

[0053] like Figure 8As shown, the PLC controller 13 controls the second stepper motor 50 to rotate forward to move the sliding plate 47 to the fruit stacking place outside the conveyor, and then the PLC controller 13 controls the second telescopic motor 48 to extend the telescopic rod to push the second metal aluminum plate 53 downward so that the rubber ring 55 is close to the fruit, and then the PLC controller 13 controls the suction machine 49 to inhale, and the fruit is sucked onto the rubber ring 55 under the action of pressure, and then the PLC controller 13 controls the second telescopic motor 48 to retract the telescopic rod to lift the fruit, and then the PLC controller 13 controls the second stepper motor 50 to reverse and move the sliding plate 47 to the top of the conveyor, and the PLC controller 13 controls the second telescopic motor 48 to extend the telescopic rod to extend the fruit onto the conveyor, and the PLC controller The device 13 controls the suction machine 49 to close, so that the suction machine 49 deflates, allowing the fruit to fall from the rubber ring 55 onto the conveyor, and the PLC controller 13 controls the conveyor 1 to transfer the fruit to be tested to the sliding port 2, and then controls the servo motor 14 to rotate, and rotates the first steel ring 3 to the bottom of the sliding port 2. When the first infrared receiver 21 receives the infrared light emitted by the first infrared transmitter 26 on the first steel ring 3, the collected information is transmitted to the PLC controller 13, indicating that the first steel ring 3 has reached the bottom of the sliding port 2. At this time, the PLC controller 13 controls the first telescopic motor 20 to push the movable frame 19 to open the first metal aluminum plate 16, so that the fruit slides onto the first steel ring 3, and the PLC controller 13 controls the servo motor 14 to continue rotating, and the first steel ring 3 The fruit to be tested on the surface is transferred to the sorting machine 12, the laser beam emitted by the laser transmitter 29 is expanded by the convex lens 30, and then collimated by the plano-convex lens 40, and the laser beam is divided into two light beams by the beam splitter 39, one of which is directly irradiated onto the fruit to be tested after passing through the beam splitter 39, and the other light beam is reflected onto the fruit by the reflector 33, and the two laser beams irradiated onto the fruit are diffusely reflected and diffusely transmitted in the fruit, and the light beams after diffuse reflection are reflected to the first concave mirror 31, and are collected to the first optical fiber probe 32 in the first concave mirror 31, and the first optical fiber probe 32 transmits the received light to the optical fiber spectrometer 35 through the optical fiber 34 for analysis, and the light beams after diffuse transmission are reflected to the second concave mirror 37, and are collected in the second concave mirror 37 The light is transmitted to the second optical fiber probe 38 through the optical fiber 34 to the optical fiber spectrometer 35 for analysis. The optical fiber spectrometer 35 transmits the analysis result to the PC. The fruit absorption spectrum is introduced into the established fruit sugar and acidity prediction model on the PC to obtain the fruit sugar and acidity content. The image of the fruit collected by the high-definition camera 36 is sent to the PLC controller 13, and then transmitted to the PC for image recognition to identify the size of the fruit. The PC classifies the fruit according to the size, sugar and acidity of the fruit. The PC feeds back the classified information to the PLC controller 13. The PLC controller 13 controls the first stepper motor 11 to drive the second steel ring 8 to rotate to the bottom of the first steel ring 3.The PLC controller 13 controls the first steering gear 24 to reverse, so that the two steel bars 27 are separated, and the fruit falls from the two steel bars 27 into the second steel ring 8. When the second steel ring 8 rotates to the top of the corresponding grading chute 9, the second infrared receiver 44 receives the infrared light emitted by the infrared transmitter on the corresponding chute 9. At this time, the PLC controller 13 controls the second steering gear 42 to rotate forward to put the graded fruit of the second steel ring 8 into the chute 9. Then the PLC controller 13 controls the second steering gear 42 to reverse, and retract the second steel ring 8 to the previous horizontal position, waiting for the next fruit transportation. The second steel ring 8 is welded into a round shape with steel bars 27, which is convenient for transporting the detected fruit.

Claims

1. An automatic fruit sorting device based on diffuse reflection and diffuse transmission, characterized in that: It includes a conveyor, a sliding port, a first steel ring, steel bars, an iron ring, a gear, a bracket, a second steel ring, a chute, a carton, a first stepper motor, a sorting machine, a PLC controller, a servo motor, and a support frame. A sliding port is provided at the right end of the conveyor. The conveyor transports the fruits to be inspected to the sliding port and enters the first steel ring from the sliding port. The servo motor is installed under the iron ring, and the support frame is installed in the iron ring. The center of the support frame is connected to the rotating shaft of the servo motor. The PLC controller is installed next to the servo motor. The PLC controller controls the rotation of the servo motor, so that the servo motor drives the support frame to rotate, and then drives the iron ring to rotate. Multiple steel bars are installed on the edge of the iron ring at equal intervals. A first steel ring is installed on each steel bar to transfer the fruits at the sliding port. A sorting machine is installed on the right side of the iron ring, and a first stepper motor and a slide are installed on the right side of the sorting machine. A gear is installed on the rotating shaft of the first stepper motor, and a bracket is connected between the second steel ring and the gear. The sorting machine includes a laser transmitter, a convex lens, a first concave mirror, a first optical fiber probe, a reflector, an optical fiber, an optical fiber spectrometer, a high-definition camera, a second concave mirror, a second optical fiber probe, a spectroscope, and a plano-convex lens. The first optical fiber probe, the second optical fiber probe, and the optical fiber spectrometer are connected through optical fibers. The convex lens is installed between the laser transmitter and the plano-convex lens, the spectroscope is installed below the plano-convex lens, a reflector is installed in the horizontal direction of the spectroscope, the first concave mirror and the second concave mirror are installed opposite each other, the first optical fiber probe is installed below the first concave mirror, and the second optical fiber probe is installed below the second concave mirror. Below the mirror, a high-definition camera is installed obliquely below the reflector. The high-definition camera is used to detect the size of the fruit. When the servo motor rotates the fruit on the first steel ring into the sorting machine, the laser beam emitted by the laser transmitter is expanded by a convex lens, and then collimated by a plano-convex lens. The laser beam is divided into two light beams by a beam splitter. One of the light beams is directly irradiated onto the fruit to be tested after passing through the beam splitter, and the other light beam is reflected onto the fruit by a reflector. The two laser beams irradiated onto the fruit are diffusely reflected and diffusely transmitted in the fruit. The light beams after diffuse reflection are reflected into the first concave mirror, and then collected into the first optical fiber probe in the first concave mirror. The first optical fiber probe transmits the received light to the optical fiber spectrometer through the optical fiber for analysis. The light beams after diffuse transmission are reflected to In the second concave mirror, the light is collected into the second optical fiber probe in the second concave mirror. The second optical fiber probe transmits the received light to the optical fiber spectrometer through the optical fiber for analysis. The optical fiber spectrometer transmits the analysis result to the PC. The fruit absorption spectrum is introduced into the established fruit sugar and acidity prediction model on the PC to obtain the fruit sugar and acidity content. The image of the fruit collected by the high-definition camera is sent to the PLC controller, and then transmitted to the PC for image recognition to identify the size of the fruit. The PC classifies the fruit according to the size, sugar and acidity of the fruit. The PC feeds back the classified information to the PLC controller. The PLC controller controls the first stepper motor to drive the second steel ring to put the sorted fruit into the corresponding chute. The first steel ring includes a first steering gear, a first half gear, a first infrared transmitter, a steel bar, and a second half gear. The first steering gear is installed on the steel bar, the first half gear is installed on the rotating shaft of the first steering gear, the second half gear is installed next to the first half gear, and the first half gear is meshed with the second half gear. Two identical steel bars are arranged on the first half gear and the second half gear, and the steel bars are arranged in a concave shape. The first infrared transmitter is installed on the steel bar, and the first steering gear is controlled by the PLC controller to rotate, thereby driving the first half gear to rotate. The first half gear is driven by the second half gear. The first steering gear rotates forward to move the two steel bars to the middle, so that the two steel bars form a circular circle. When the first steel ring rotates to the bottom of the sliding mouth, the infrared light emitted by the first infrared transmitter is received by the first infrared receiver, and the PLC controller controls the first telescopic motor to open the first metal aluminum plate to slide the fruit to be tested onto the first steel ring. When the first steel ring drives the fruit into the sorting machine and the detection is completed, the PLC controller controls the first steering gear to reverse, so that the two steel bars are separated, and the fruit falls from the two steel bars into the second steel ring. The bracket includes a first metal aluminum bar, a second steering gear, a second metal aluminum bar, a second steel ring, and a second infrared receiver. The first metal aluminum bar is installed between the second steering gear and the gear, the second metal aluminum bar is installed between the rotating shaft of the second steering gear and the second steel ring, and the second infrared receiver is installed below the second metal aluminum bar. When the PLC controller controls the first stepper motor to rotate the bracket to the top of the corresponding grading chute, the PLC controller controls the second steering gear to rotate forward, so that the second metal aluminum bar rotates obliquely downward, and the fruit in the second steel ring is transferred to the grading chute, and the fruit slides into the carton in the chute for packing; A feeder is also provided next to the conveyor for grabbing fruits and placing them on the conveyor belt of the conveyor. The feeder includes a first support plate, a sliding plate, a second telescopic motor, an air suction machine, a second stepping motor, a spur gear, a second support plate, a second metal aluminum plate, a metal aluminum tube, and a rubber ring. The first support plate and the second support plate are installed on the conveyor, the sliding plate is installed on the top of the first support plate and the second support plate, the air suction machine and the second stepping motor are installed above the sliding plate, the spur gear is installed on the rotating shaft of the second stepping motor, the rotation of the second stepping motor is controlled by the PLC controller, the second stepping motor drives the spur gear to rotate, and the rotation of the spur gear drives the sliding plate to slide on the first support plate and the second support plate, the bottom of the second telescopic motor is installed below the sliding plate, the second metal aluminum plate is installed on the telescopic rod of the telescopic motor, the metal aluminum tube is installed below the second metal aluminum plate, and a rubber ring is provided below each metal aluminum tube.

2. The automatic fruit sorting device based on diffuse reflection and diffuse transmission according to claim 1 is characterized in that: The PLC controller controls the first stepper motor to rotate, the first stepper motor drives the gear to rotate, the gear drives the bracket to rotate, and then drives the second steel ring to rotate. A carton is placed obliquely below each chute. The servo motor drives the iron ring to rotate and move the first steel ring to the bottom of the sliding port. The sliding port slides the fruit transmitted by the conveyor onto the first steel ring. As the servo motor rotates, the fruit to be tested is transferred to the sorting machine. After being graded by the sorting machine, the first stepper motor drives the second steel ring to the bottom of the first steel ring in the sorting machine to receive the tested fruit in the first steel ring, and then continues to rotate to transfer the fruit to the top of the chute, and places the fruit on the corresponding chute according to the graded type of the chute, and slides into the carton on the chute.

3. The automatic fruit sorting device based on diffuse reflection and diffuse transmission according to claim 2 is characterized in that: The sliding opening includes a first metal aluminum plate, a metal frame, a hinge, a movable frame, a first telescopic motor, and a first infrared receiver. Two identical first metal aluminum plates are installed in the metal frame. The first metal aluminum plate and the metal frame are connected by a hinge. A movable frame is provided on the two first metal aluminum plates, and the common end of the movable frame is connected to the telescopic rod of the first telescopic motor. The PLC controller controls the first telescopic motor to stretch or compress the movable frame to realize the opening and closing of the first metal aluminum plate, thereby controlling the apple to slide from the sliding opening to the first steel ring. The first infrared receiver is installed on the edge of the metal frame to detect whether the first steel ring reaches below the sliding opening.

4. The automatic fruit sorting device based on diffuse reflection and diffuse transmission according to claim 3 is characterized in that: The movable frame includes metal aluminum and bolts, and is composed of four metal aluminum bars combined into a "V"-shaped structure. Two metal aluminum bars are connected by bolts, and then the two metal aluminum bars can be connected together by matching corresponding nuts. One end of the two metal aluminum bars is connected to the first metal aluminum plate, and the connection between the other two metal aluminum bars is connected to the telescopic rod of the first telescopic motor.

5. The automatic fruit sorting device based on diffuse reflection and diffuse transmission according to claim 4 is characterized in that: The number of the chutes is determined according to the number of grades that the user needs to grade. A chute is set for each grade, and a second infrared transmitter is provided obliquely above each chute. The second infrared transmitter is connected to the PLC controller. When the PC has graded the fruit, the information is fed back to the PLC controller. The PLC controller controls the second red transmitter on the corresponding grading chute to emit infrared light, and the second red transmitters on other grading chutes do not emit infrared light. When the second infrared receiver receives infrared light, it indicates that the fruit should be placed in the chute at that location.

6. The automatic fruit sorting device based on diffuse reflection and diffuse transmission according to claim 1, characterized in that: A rack is provided at the top of the second support plate, and a spur gear passes through the sliding plate and meshes with the rack. The spur gear is driven to rotate by the second stepper motor, and the spur gear rolls on the rack, thereby realizing the movement of the sliding plate above the second support plate.

7. The automatic fruit sorting device based on diffuse reflection and diffuse transmission according to claim 6, characterized in that: A groove is arranged at one end of the sliding plate, small rollers are arranged on both sides of the groove, and a through hole is arranged at the other end of the sliding plate, so that the spur gear can pass through the sliding plate and mesh with the rack.

Images