Fruit cup state judgment method and fruit and vegetable sorting equipment
By using sensors to calculate duty cycles in fruit and vegetable sorting equipment, the problem that the prior art cannot detect the drop of the fruit cup at any position on the conveying chain is solved, and the precise detection of the drop position of the fruit cup and the effect of preventing the damage of the fruit cup is achieved.
Patent Information
- Application Number
- CN202411609775.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-12
- Publication Date
- 2025-02-25
AI Technical Summary
The existing fruit cup detection technology cannot effectively detect the drop of the fruit cup at any position on the conveying chain, resulting in the inability to accurately detect the drop position of the fruit cup.
A fruit cup state judgment method is adopted. By setting sensors in the fruit and vegetable sorting equipment, the signal is obtained in real time and the duty cycle for multiple consecutive cycles is calculated to determine whether the fruit cup is dropped. This method can detect whether the fruit cups are falling off at any position on the conveying chain.
Accurate detection of the drop of the fruit cup at any position on the conveying chain is achieved, avoiding the problem of the fruit cup falling off and damage during the conveying process.
Smart Images
Figure CN119509603A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of fruit and vegetable sorting, and in particular to a method for judging a fruit cup state and a fruit and vegetable sorting device. Background Art
[0002] The fruit cup is the carrier of the fruit in the fruit and vegetable sorting equipment. The fruit is displayed separately through the fruit cup so that each fruit can be accurately detected. The fruit cup is generally installed on the conveyor chain by snap-fitting. During the operation of the conveyor chain, foreign objects may interfere with the running path of the fruit cup, causing the fruit cup to fall off the conveyor chain or even be damaged.
[0003] The existing fruit cup detection technology is to set a grating sensor under the conveyor chain. When the fruit cup falls from the conveyor chain, the grating sensor can only detect the fruit cup that falls at its own position. If the fruit cup falls at other positions, it cannot be successfully detected. Summary of the invention
[0004] The purpose of the present application includes, for example, providing a method for determining the state of a fruit cup, which can detect whether a fruit cup has fallen at any position on a conveyor chain.
[0005] The purpose of the present application also includes providing a fruit and vegetable sorting device, which can detect whether a fruit cup has fallen at any position on the conveyor chain.
[0006] The embodiments of the present application can be implemented as follows:
[0007] The embodiment of the present application provides a method for judging the state of a fruit cup, which is applied to a fruit and vegetable sorting device, wherein the fruit and vegetable sorting device comprises a circulating conveying device and a plurality of fruit cups, wherein the plurality of fruit cups are evenly spaced and arranged on the circulating conveying device;
[0008] The method for judging the state of the fruit cup comprises:
[0009] Acquiring a signal sent by a sensor, wherein the sensor is used to detect the fruit cup;
[0010] Obtaining duty cycles of a plurality of consecutive cycles according to the signal sent by the sensor, wherein the duration of the plurality of consecutive cycles is characterized by the duration of one cycle of the cyclic conveying device, and the duty cycle of a single cycle is characterized by the ratio of the duration of the fruit cup detected by the sensor in a single cycle to the duration of the single cycle;
[0011] Whether the fruit cup falls is determined according to the duty cycle.
[0012] During the operation of the circulating conveyor device, the signal sent by the sensor is obtained in real time, and the duty cycle of multiple consecutive cycles is obtained according to the signal sent by the sensor. Finally, it is judged whether a fruit cup has fallen according to the duty cycle. That is, if the duty cycle of any cycle is abnormal, it is judged that a fruit cup has fallen at the position of the circulating conveyor device corresponding to the cycle, thereby being able to detect whether a fruit cup has fallen at any position on the circulating conveyor device.
[0013] Optionally, the step of obtaining a duty cycle of a plurality of consecutive cycles according to the signal sent by the sensor includes:
[0014] Draw a waveform diagram according to the signal sent by the sensor;
[0015] The duty cycle of a plurality of consecutive cycles is calculated according to the waveform diagram.
[0016] A waveform graph is drawn based on the signal sent by the sensor in real time. The waveform graph can reflect the changes in the signal waveform in multiple consecutive cycles, based on which the duty cycle of multiple consecutive cycles can be calculated.
[0017] Optionally, the step of calculating the duty cycle of a plurality of consecutive cycles according to the waveform diagram includes:
[0018] The ratio of the duration of the signal sent by the sensor in any cycle to the total duration of a single cycle is calculated to obtain the duty cycle of multiple consecutive cycles.
[0019] When calculating the duty cycle of a single cycle, the ratio of the duration of the signal sent by the sensor in the cycle to the total duration of the single cycle is calculated. The ratio of the duration of the signal sent by the sensor in the cycle to the total duration of the single cycle is the duty cycle of the cycle.
[0020] Optionally, the step of judging whether a fruit cup has fallen according to the duty cycle includes:
[0021] If the duty cycle of any cycle is greater than 0, it is determined that no fruit cup has fallen; if the duty cycle of any cycle is equal to 0, it is determined that a fruit cup has fallen.
[0022] After obtaining the duty cycle of a plurality of consecutive cycles according to the signal sent by the sensor, it is possible to determine whether the fruit cup has fallen according to the value of the duty cycle of any cycle.
[0023] Optionally, the width of the fruit cup is equal to the spacing between adjacent fruit cups, and the step of judging whether a fruit cup has fallen according to the duty cycle includes:
[0024] It is determined whether the duty cycle of any cycle is 0.5. If the duty cycle of any cycle is 0.5, it is determined that no fruit cup has fallen; if the duty cycle of any cycle is equal to 0, it is determined that a fruit cup has fallen.
[0025] Under the condition that the width of the mounting feet of the fruit cups is equal to the spacing between adjacent fruit cups, the processor determines whether a fruit cup has fallen by determining whether the duty cycle of any cycle is 0.5.
[0026] Optionally, the width of the fruit cup is greater than the spacing between adjacent fruit cups, and the step of judging whether a fruit cup has fallen according to the duty cycle includes:
[0027] It is determined whether the duty cycle of any cycle is greater than 0.5. If the duty cycle of any cycle is greater than 0.5, it is determined that no fruit cup has fallen; if the duty cycle of any cycle is equal to 0, it is determined that a fruit cup has fallen.
[0028] Under the condition that the width of the mounting feet of the fruit cups is greater than the spacing between adjacent fruit cups, the processor determines whether the fruit cups have fallen by judging whether the duty cycle of any cycle is greater than 0.5.
[0029] Optionally, the width of the fruit cup is smaller than the spacing between adjacent fruit cups, and the step of judging whether a fruit cup has fallen according to the duty cycle includes:
[0030] It is determined whether the duty cycle of any cycle is less than 0.5. If the duty cycle of any cycle is less than 0.5 and greater than 0, it is determined that no fruit cup has fallen; if the duty cycle of any cycle is equal to 0, it is determined that a fruit cup has fallen.
[0031] Under the condition that the width of the mounting feet of the fruit cups is smaller than the spacing between adjacent fruit cups, the processor determines whether the fruit cups have fallen by determining whether the duty cycle of any cycle is smaller than 0.5.
[0032] The present application also provides a fruit and vegetable sorting device, including a frame, a circulating conveying device, a fruit cup, a sensor and a processor, wherein the circulating conveying device is arranged on the frame, the sensor is arranged on the frame, the sensor is used to detect the fruit cup, the processor is electrically connected to the sensor, and the processor is used to implement the fruit cup status judgment method.
[0033] Optionally, the sensor is a diffuse reflection photoelectric sensor.
[0034] The diffuse reflection photoelectric sensor can detect the fruit cup by reflecting light from the mounting feet of the fruit cup.
[0035] Optionally, the diffuse reflection photoelectric sensor includes a light source and a light receiver, and the light source and the light receiver are both arranged on the frame, and the light source and the light receiver are located on both sides of the circulating conveying device.
[0036] By arranging the diffuse reflection photoelectric sensor light source and the light receiver on both sides of the circulating conveyor device, when the fruit cup falls, the circulating conveyor device corresponding to the fallen fruit cup can be quickly determined. BRIEF DESCRIPTION OF THE DRAWINGS
[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0038] Figure 1 This is a schematic diagram of the partial structure of the fruit and vegetable sorting equipment in the embodiment of the present application;
[0039] Figure 2 This is a schematic diagram for showing the installation position of the fruit cup in the embodiment of the present application;
[0040] Figure 3 This is a flow chart of steps S1-S3 in the method for determining the state of a fruit cup in an embodiment of the present application;
[0041] Figure 4 This is a schematic diagram of the first waveform diagram in the embodiment of the present application;
[0042] Figure 5 This is a schematic diagram of the second waveform diagram in the embodiment of the present application.
[0043] Icons: 1- rack; 2- circulating conveyor; 3- fruit cup; 31- mounting foot; 4- sensor. DETAILED DESCRIPTION
[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.
[0045] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.
[0046] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.
[0047] In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, it is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the invention is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.
[0048] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.
[0049] It should be noted that, in the absence of conflict, the features in the embodiments of the present application may be combined with each other.
[0050] The inventor of the present application found that the existing fruit cup detection technology is to set a grating sensor under the conveyor chain, and the fruit cup is installed on the conveyor chain by buckles. When the fruit cup is in normal operation, the grating sensor does not detect the fruit cup and cannot be triggered. Only when the fruit cup falls from the conveyor chain and passes through the grating sensor, the grating sensor can detect the fruit cup. If the fruit cup falls at other locations, it cannot be successfully detected. In addition, the fruit cup that falls from another conveyor chain and passes through the grating sensor will also be detected. At this time, it is impossible to accurately determine the conveyor chain corresponding to the fruit cup. The embodiment of the present application provides a fruit and vegetable sorting device and a fruit cup status judgment method, which at least solves the above technical problems.
[0051] Please refer to Figure 1 , Figure 2 The fruit and vegetable sorting equipment provided in the embodiment of the present application includes a frame 1, a circulating conveying device 2, a fruit cup 3, a sensor 4 and a processor. The circulating conveying device 2 is arranged on the frame 1. There are multiple fruit cups 3, and the multiple fruit cups 3 are evenly spaced on the circulating conveying device 2. The sensor 4 is arranged on the frame 1, and the sensor 4 is used to detect the fruit cup 3. The processor is electrically connected to the sensor 4.
[0052] It should be pointed out that the circulating conveying device 2 can be a conveying chain, and the frame 1 is also provided with a driving member for driving the conveying chain to run. The driving member can be a driving motor, and the driving motor drives the sprocket to rotate, and the sprocket drives the conveying chain to run; in other embodiments, the circulating conveying device 2 can also be a conveying belt, etc.
[0053] The fruit cup 3 has a mounting foot 31, and the mounting foot 31 of the fruit cup 3 is mounted on the circulating conveying device 2 by a buckle. The height of the sensor 4 on the frame 1 matches the height of the mounting foot 31 of the fruit cup 3, so that the sensor 4 can just sense the mounting foot 31 of the fruit cup 3.
[0054] In some embodiments, the sensor 4 is a diffuse reflective photoelectric sensor.
[0055] It should be noted that the diffuse reflection photoelectric sensor relies on the reflection of light by the object itself for detection. Once the reflected light of sufficient intensity is received, the diffuse reflection photoelectric sensor will generate a switch signal or an analog signal, indicating that the object has entered the detection range. In the embodiment of the present application, the diffuse reflection photoelectric sensor relies on the reflection of light by the mounting foot 31 of the fruit cup 3 for detection.
[0056] The diffuse reflection photoelectric sensor includes a light source and a light receiver, both of which are arranged on the frame 1 , and the light source and the light receiver are located on both sides of the circulating conveying device 2 .
[0057] The light source continuously emits light, which is scattered into the surrounding space at a certain angle. When the fruit cup 3 does not pass between the light source and the light receiver, most of the light will be absorbed by the surrounding environment or scattered in other directions, and only a small amount of light can reach the receiver. At this time, the sensor 4 will not send a signal to the processor. When the fruit cup 3 passes between the light source and the light receiver, the light will be diffusely reflected at the mounting foot 31 of the fruit cup 3, and a part of the light will be reflected back to the receiver. At this time, the sensor 4 will send a signal to the processor.
[0058] Since the light source and the light receiver are located on both sides of the circulating conveyor device 2, the diffuse reflection photoelectric sensor can only detect whether the fruit cup 3 falls on the circulating conveyor device 2, but cannot detect whether the fruit cup 3 falls on other circulating conveyor devices 2. Therefore, the circulating conveyor device 2 corresponding to the fallen fruit cup 3 can be accurately detected, so that the fallen fruit cup 3 can be reinstalled on the circulating conveyor device 2 in time, or a new fruit cup 3 can be reinstalled on the circulating conveyor device 2.
[0059] In other embodiments, the sensor 4 is a capacitive sensor or a color sensor. The capacitive sensor is a capacitive proximity switch, which can trigger a switch action based on a change in capacitance. For example, when the fruit cup 3 passes through the capacitive sensor, the capacitance value of the capacitive sensor will change, thereby triggering a switch action. The color sensor is also called a color sensor, which is used to detect color changes. For example, the color of the mounting feet 31 of all fruit cups 3 is the same. When the fruit cup 3 passes through the color sensor, the color sensor recognizes the color of the mounting feet 31 of the fruit cup 3 and outputs a signal to the processor.
[0060] It is understandable that in other embodiments, the sensor 4 may be of other types as long as it can send a signal to the processor when the fruit cup 3 passes by.
[0061] Please refer to Figure 3 The fruit cup state determination method provided in the embodiment of the present application is applied to the above-mentioned fruit and vegetable sorting equipment. The fruit cup state determination method includes:
[0062] Step S1, obtaining the signal sent by the sensor 4.
[0063] When the fruit cup 3 passes the sensor 4 , the sensor 4 detects the mounting foot 31 of the fruit cup 3 and sends a signal to the processor, and the processor obtains the signal sent by the sensor 4 .
[0064] Step S2: Obtain the duty cycle of a plurality of consecutive cycles according to the signal sent by the sensor 4.
[0065] During the operation of the circulating conveyor 2, the circulating conveyor 2 runs one circle through multiple cycles, and the duration of the multiple cycles is the same. In the case where no fruit cup 3 falls, the process from when a certain fruit cup 3 starts to pass the sensor 4 to when the next fruit cup 3 starts to pass the sensor 4 is regarded as one cycle.
[0066] The duty cycle of a single cycle refers to the ratio of the duration during which the sensor 4 detects the fruit cup 3 in a single cycle to the duration of the single cycle.
[0067] Step S3: judging whether the fruit cup 3 has fallen according to the duty cycle.
[0068] During the operation of the circulating conveyor 2, the processor obtains the signal sent by the sensor 4 in real time, and calculates the duty cycle of multiple consecutive cycles through the signal sent by the sensor 4. If the duty cycle of any cycle is abnormal, it is judged that a fruit cup has fallen at the position of the circulating conveyor corresponding to the cycle, thereby being able to detect whether a fruit cup has fallen at any position on the circulating conveyor.
[0069] Please refer to Figure 4 , Figure 5 , step S2 comprises:
[0070] Sub-step S21 : drawing a waveform diagram according to the signal sent by the sensor 4 , and calculating the duty cycle of a plurality of consecutive cycles according to the waveform diagram.
[0071] In this step, the processor draws a waveform diagram according to the signal sent by the sensor 4 in real time. In the waveform diagram, the waveform when the sensor 4 sends a signal to the processor is different from the waveform when the sensor 4 does not send a signal to the processor. When the fruit cup 3 does not fall in any cycle, the waveform diagram shows that the waveform when the sensor 4 sends a signal to the processor and the waveform when the sensor 4 does not send a signal to the processor exist simultaneously in a single cycle.
[0072] Sub-step S21 includes:
[0073] Sub-step S211, calculating the ratio of the duration of the signal sent by the sensor 4 in any cycle to the total duration of a single cycle, and obtaining the duty cycle of multiple consecutive cycles.
[0074] It should be noted that the duty cycle of multiple consecutive cycles is calculated by the processor based on the waveform diagram, wherein the duty cycle of a single cycle is the ratio of the time t occupied by the sensor 4 sending the signal within the cycle to the total time T of the single cycle. The duty cycle of multiple consecutive cycles is obtained through this calculation method.
[0075] Step S3 includes:
[0076] If the duty cycle of any cycle is greater than 0, it is determined that no fruit cup 3 has fallen; if the duty cycle of any cycle is equal to 0, it is determined that a fruit cup 3 has fallen.
[0077] If the duty cycle of any cycle is greater than 0, it means that the sensor 4 detects the fruit cup 3 in any cycle, and it is judged that no fruit cup 3 falls in any cycle, that is, no fruit cup 3 falls at any position on the circulating conveying device 2; and if the duty cycle of any cycle is equal to 0, it is judged that the fruit cup 3 falls in the cycle with the duty cycle equal to 0, that is, the fruit cup 3 falls at the position on the circulating conveying device 2 corresponding to the cycle with the duty cycle equal to 0.
[0078] Under the condition that the width of the mounting feet 31 of the fruit cups 3 is equal to the spacing between adjacent fruit cups 3, step S3 includes:
[0079] It is determined whether the duty cycle of any cycle is 0.5. If the duty cycle of any cycle is 0.5, it is determined that no fruit cup 3 has fallen; if the duty cycle of any cycle is equal to 0, it is determined that the fruit cup 3 has fallen.
[0080] It should be noted that the width of the fruit cup 3 refers to the width of the mounting feet 31 of the fruit cup 3. When the fruit cup 3 is installed on the circulating conveyor 2, multiple fruit cups 3 are evenly spaced and arranged, and the width of the mounting feet 31 of the fruit cup 3 is equal to the spacing between adjacent fruit cups 3. Under this working condition, if no fruit cup 3 falls, the time duration that the sensor 4 sends a signal in any cycle is equal to the time duration that the sensor 4 does not send a signal, so the duty cycle of any cycle is 0.5.
[0081] Under the condition that the width of the mounting foot 31 of the fruit cup 3 is equal to the spacing between adjacent fruit cups 3, the processor determines whether the duty cycle of any cycle is 0.5. If the duty cycle of any cycle is 0.5, it is determined that no fruit cup 3 has fallen. If the duty cycle of any cycle is equal to 0, it is determined that the fruit cup 3 has fallen in the cycle with the duty cycle equal to 0. Under the condition that the width of the mounting foot 31 of the fruit cup 3 is greater than the spacing between adjacent fruit cups 3, step S3 includes:
[0082] It is determined whether the duty cycle of any cycle is greater than 0.5. If the duty cycle of any cycle is greater than 0.5, it is determined that no fruit cup 3 has fallen; if the duty cycle of any cycle is equal to 0, it is determined that the fruit cup 3 has fallen.
[0083] It should be noted that when the fruit cups 3 are installed on the circulating conveying device 2, the multiple fruit cups 3 are evenly spaced and arranged, and the width of the mounting feet 31 of the fruit cups 3 is greater than the spacing between adjacent fruit cups 3. Under this working condition, if no fruit cups 3 fall, the time taken by the sensor 4 to send a signal in any cycle is greater than the time taken by the sensor 4 not to send a signal, so the duty cycle of any cycle is greater than 0.5.
[0084] Under the condition that the width of the mounting foot 31 of the fruit cup 3 is greater than the spacing between adjacent fruit cups 3, the processor determines whether the duty cycle of any cycle is greater than 0.5. If the duty cycle of any cycle is greater than 0.5, it is determined that no fruit cup 3 has fallen; if the duty cycle of any cycle is equal to 0, it is determined that a fruit cup 3 has fallen during the cycle in which the duty cycle is equal to 0.
[0085] Under the condition that the width of the mounting foot 31 of the fruit cup 3 is smaller than the spacing between adjacent fruit cups 3, step S3 includes:
[0086] It is determined whether the duty cycle of any cycle is less than 0.5. If the duty cycle of any cycle is less than 0.5 and greater than 0, it is determined that no fruit cup 3 has fallen; if the duty cycle of any cycle is equal to 0, it is determined that a fruit cup 3 has fallen.
[0087] It should be noted that when the fruit cups 3 are installed on the circulating conveying device 2, the multiple fruit cups 3 are evenly spaced and arranged, and the width of the mounting feet 31 of the fruit cups 3 is smaller than the spacing between adjacent fruit cups 3. Under this working condition, if no fruit cups 3 fall, the time duration that the sensor 4 sends a signal in any cycle is smaller than the time duration that the sensor 4 does not send a signal, and therefore the duty cycle of any cycle is less than 0.5.
[0088] Under the condition that the width of the mounting foot 31 of the fruit cup 3 is smaller than the spacing between adjacent fruit cups 3, the processor determines whether the duty cycle of any cycle is less than 0.5. If the duty cycle of any cycle is less than 0.5, it is determined that no fruit cup 3 has fallen; if the duty cycle of any cycle is equal to 0, it is determined that a fruit cup 3 has fallen during the cycle in which the duty cycle is equal to 0.
[0089] In summary, the embodiments of the present application provide a method for judging the state of a fruit cup and a fruit and vegetable sorting device. During the operation of the circulating conveying device 2, the processor obtains the signal sent by the sensor 4 in real time, and calculates the duty cycle of multiple consecutive cycles through the signal sent by the sensor 4. If the duty cycle of any cycle is greater than 0, it is judged that no fruit cup 3 has fallen at any position on the circulating conveying device 2. If the duty cycle of any cycle is equal to 0, it is judged that a fruit cup 3 has fallen at the position on the circulating conveying device 2 corresponding to the cycle with a duty cycle equal to 0, that is, it can be detected whether there is a fruit cup 3 falling at any position on the circulating conveying device 2.
[0090] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.
Claims
1. A method for judging the state of a fruit cup, characterized in that: Applicable to fruit and vegetable sorting equipment, the fruit and vegetable sorting equipment comprises a circulating conveying device and a plurality of fruit cups, and the plurality of fruit cups are evenly spaced and arranged on the circulating conveying device; The method for judging the state of the fruit cup comprises: Acquiring a signal sent by a sensor, wherein the sensor is used to detect the fruit cup; Obtaining duty cycles of a plurality of consecutive cycles according to the signal sent by the sensor, wherein the duration of the plurality of consecutive cycles is characterized by the duration of one cycle of the cyclic conveying device, and the duty cycle of a single cycle is characterized by the ratio of the duration of the fruit cup detected by the sensor in a single cycle to the duration of the single cycle; Whether the fruit cup falls is determined according to the duty cycle.
2. The method for determining the state of a fruit cup according to claim 1, characterized in that: The step of obtaining a duty cycle of a plurality of consecutive cycles according to the signal sent by the sensor comprises: Draw a waveform diagram according to the signal sent by the sensor; The duty cycle of a plurality of consecutive cycles is calculated according to the waveform diagram.
3. The method for judging the state of a fruit cup according to claim 2, characterized in that: The step of calculating the duty cycle of a plurality of consecutive cycles according to the waveform diagram comprises: The ratio of the duration of the signal sent by the sensor in any cycle to the total duration of a single cycle is calculated to obtain the duty cycle of multiple consecutive cycles.
4. The method for determining the state of a fruit cup according to claim 1, characterized in that: The step of judging whether a fruit cup has fallen according to the duty cycle comprises: If the duty cycle of any cycle is greater than 0, it is determined that no fruit cup has fallen; if the duty cycle of any cycle is equal to 0, it is determined that a fruit cup has fallen.
5. The method for determining the state of a fruit cup according to claim 4, characterized in that: The width of the fruit cup is equal to the spacing between adjacent fruit cups, and the step of judging whether a fruit cup has fallen according to the duty cycle comprises: It is determined whether the duty cycle of any cycle is 0.
5. If the duty cycle of any cycle is 0.5, it is determined that no fruit cup has fallen; if the duty cycle of any cycle is equal to 0, it is determined that a fruit cup has fallen.
6. The method for determining the state of a fruit cup according to claim 4, characterized in that: The width of the fruit cup is greater than the spacing between adjacent fruit cups, and the step of judging whether a fruit cup has fallen according to the duty cycle comprises: It is determined whether the duty cycle of any cycle is greater than 0.
5. If the duty cycle of any cycle is greater than 0.5, it is determined that no fruit cup has fallen; if the duty cycle of any cycle is equal to 0, it is determined that a fruit cup has fallen.
7. The method for determining the state of a fruit cup according to claim 4, characterized in that: The width of the fruit cup is smaller than the spacing between adjacent fruit cups, and the step of judging whether a fruit cup has fallen according to the duty cycle comprises: It is determined whether the duty cycle of any cycle is less than 0.
5. If the duty cycle of any cycle is less than 0.5 and greater than 0, it is determined that no fruit cup has fallen; if the duty cycle of any cycle is equal to 0, it is determined that a fruit cup has fallen.
8. A fruit and vegetable sorting device, characterized in that: The invention comprises a frame, a circulating conveying device, a fruit cup, a sensor and a processor, wherein the circulating conveying device is arranged on the frame, the sensor is arranged on the frame, the sensor is used to detect the fruit cup, the processor is electrically connected to the sensor, and the processor is used to implement the fruit cup status judgment method according to any one of claims 1 to 7.
9. The fruit and vegetable sorting equipment according to claim 8, characterized in that: The sensor is a diffuse reflection photoelectric sensor.
10. The fruit and vegetable sorting equipment according to claim 9, characterized in that: The diffuse reflection photoelectric sensor comprises a light source and a light receiver, wherein the light source and the light receiver are both arranged on the frame, and the light source and the light receiver are located at two sides of the circulating conveying device.