Automatic walnut kernel sorting device based on integrity and color grade

Abstract

The invention relates to an automatic walnut kernel sorting device based on integrity and color grade, which is characterized in that a first-stage conveying belt of an integrity sorting module is divided into a plurality of integrity identification channels, and the first-stage conveying belt passes through an integrity guide mechanism and is arranged in the integrity sorting channels; a second-stage conveying belt of the color sorting module is divided into a half-kernel color recognition channel, a quartered-kernel color recognition channel and a second kernel crushing channel, the second-stage conveying belt is connected with a color sorting inclined channel, and the color sorting inclined channel comprises a half-kernel color sorting channel, a quartered-kernel color sorting channel and a third kernel crushing channel; and outputting through a target discharge port corresponding to the color sorting inclined channel to finish sorting. According to the walnut kernel sorting device, two-stage integrated sorting of completeness first and color second is adopted, the whole sorting device is simplified, the sorting efficiency of walnut kernels is improved, the contradiction among simultaneous multi-stage sorting, reliable sorting execution and high sorting efficiency is solved, and in the sorting process, the walnut kernels are prevented from being damaged, so that the quality of the walnut kernels is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of walnut processing, and in particular to an automatic walnut kernel sorting device based on integrity and color grade. Background Art

[0002] Walnut kernel is not only the main product of walnut primary processing, but also the core raw material of intensive processing. However, there are great differences in the quality of walnut kernel, and there are significant differences in the economic value and practical use of walnut kernels of different grades. Therefore, the sorting of walnut kernel plays an important role in the entire walnut industry.

[0003] The traditional method of sorting walnut kernels is to manually grade walnut kernels based on completeness and color according to the LY / T1922-2010 grading standard. This method has problems such as low efficiency and high cost, and it is difficult to meet the needs of large-scale production.

[0004] At present, there are solutions that have realized the recognition and sorting of walnut kernel integrity and color based on machine vision technology. The main sorting equipment includes walnut kernel screening machines and color sorters, but both can only achieve recognition and sorting in a single direction, and the recognition and sorting process is still relatively cumbersome.

[0005] However, due to the different working principles, structures and operating methods of traditional screening machines and color sorters, there are differences in the working speeds of screening machines and color sorters. If the screening machine is fast and the color sorter is slow, it will cause material accumulation in front of the color sorter; on the contrary, if the screening machine is slow, the color sorter may need to wait for feeding, causing the equipment to idle and reducing the overall production efficiency. In addition, during the multiple transmissions of materials, due to the vibration, collision and other reasons of the conveying device, the walnut kernels will be secondary damaged, affecting the quality and integrity of the walnut kernels. Therefore, it is impossible to combine the walnut kernel screening machine and the color sorter on the original structure to form a screening-color sorting all-in-one machine. In view of this, the present application aims to propose an automatic walnut kernel sorting device that can simultaneously realize the identification and sorting of integrity and color. Summary of the invention

[0006] In order to solve or partially solve the problems existing in the related art, the present application provides an automatic walnut kernel sorting device based on completeness and color grade, which adopts a two-stage integrated sorting method of first completeness and then color, simplifies the entire sorting device, improves the sorting efficiency of walnut kernels and ensures that the walnut kernels are not damaged.

[0007] The first aspect of the present application provides an automatic walnut kernel sorting device based on integrity and color grade, comprising:

[0008] The integrity sorting module includes a primary conveyor belt, a channel extension mechanism for dividing the primary conveyor belt into a plurality of integrity identification channels, an integrity identification mechanism for identifying the integrity grade of walnut kernels on the primary conveyor belt, and an integrity guide mechanism for conveying walnuts with identified walnut kernel integrity grades to integrity sorting channels connected to the output end of the primary conveyor belt, wherein the integrity sorting channels include the shortest half-kernel sorting channel, the second shortest first broken kernel channel, and the longest quarter kernel sorting channel;

[0009] The color sorting module includes a secondary conveyor belt, a channel extension mechanism that divides the secondary conveyor belt into a half-kernel color identification channel, a quarter-kernel color identification channel, and a second broken kernel channel, a color identification mechanism for identifying the color of walnut kernels on the half-kernel color identification channel and the quarter-kernel color sorting channel, and a color sorting oblique channel, wherein the color sorting oblique channel includes a half-kernel color sorting channel, a quarter-kernel color sorting channel, and a third broken kernel channel, so that half-kernel / quarter-kernel walnut kernels of different colors are output through target discharge ports corresponding to their respective color sorting oblique channels to complete sorting;

[0010] Among them, walnuts whose walnut kernel integrity level is identified as broken kernels are output along the first broken kernel channel, the second broken kernel channel and the third broken kernel channel.

[0011] In an embodiment of the first aspect, color sorting valves are provided on the half-kernel color sorting channel and the quarter-kernel color sorting channel, and the switches of the color sorting valves are controlled based on the recognition results of the color recognition mechanism, and the color sorting valves are controlled based on push-pull electromagnets.

[0012] Among them, the discharge outlets of half-kernel walnut kernels include a light amber half-kernel discharge outlet arranged at the output end of the half-kernel color sorting channel and a light yellow half-kernel discharge outlet arranged at the bottom of the color sorting valve; the discharge outlets of quarter-kernel walnut kernels include a light amber quarter-kernel discharge outlet arranged at the output end of the quarter-kernel color sorting channel and a light yellow quarter-kernel discharge outlet arranged at the bottom of the color sorting valve.

[0013] The color sorting mechanism also includes an infrared photoelectric sensor, which is installed at the input end of the color sorting inclined channel and the output side of the color sorting valve.

[0014] In an embodiment of the first aspect, the integrity guide mechanism is set corresponding to the integrity identification channel, and the inclination angle of the integrity guide mechanism is adjusted based on the integrity grade of the walnut kernel. The integrity guide mechanism includes a servo, a connecting rod and a material guide trough. After the servo drives the connecting rod to rotate, the material guide trough is driven to align with the integrity sorting channel of the corresponding grade.

[0015] In an embodiment of the first aspect, the integrity recognition mechanism and the color recognition mechanism include a supplementary light source and an industrial camera, which are correspondingly mounted above the primary conveyor belt and the secondary conveyor belt.

[0016] In an embodiment of the first aspect, the integrity sorting channel is an arc-shaped structure, and the arrangement directions of the inlet and the outlet differ by ninety degrees.

[0017] In an embodiment of the first aspect, the integrity identification channel includes a first integrity identification channel, a second integrity identification channel, a third integrity identification channel, a fourth integrity identification channel, a fifth integrity identification channel and a sixth integrity identification channel, and the corresponding integrity identification channels are provided with a first integrity guide mechanism, a second integrity guide mechanism, a third integrity guide mechanism, a fourth integrity guide mechanism, a fifth integrity guide mechanism and a sixth integrity guide mechanism.

[0018] The technical solution provided by this application may have the following beneficial effects:

[0019] The present application provides an automatic walnut kernel sorting device based on completeness and color grades, which realizes a two-level integrated sorting of completeness first and then color, simplifies the entire sorting device, improves the sorting efficiency of walnut kernels, and realizes sorting according to the walnut kernel grades divided according to relevant standards, overcoming the problems of large size, low sorting accuracy and complex structure of existing equipment, and solves the contradiction between simultaneously satisfying multi-level sorting, reliable sorting execution and high sorting efficiency. During the sorting process, it ensures that the walnut kernels are not damaged, thereby ensuring the quality of the walnut kernels.

[0020] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0022] Figure 1 It is a structural schematic diagram of a walnut kernel automatic sorting device shown in an embodiment of the present application;

[0023] Figure 2 It is a structural schematic diagram of a completeness sorting module of a walnut kernel automatic sorting device shown in an embodiment of the present application;

[0024] Figure 3 It is a structural schematic diagram of the integrity sorting channel of the walnut kernel automatic sorting device shown in the embodiment of the present application;

[0025] Figure 4 It is a structural schematic diagram of a color sorting module of an automatic walnut kernel sorting device shown in an embodiment of the present application;

[0026] Figure 5It is an enlarged structural schematic diagram of the four-part kernel color sorting channel of the walnut kernel automatic sorting device shown in the embodiment of the present application;

[0027] Figure numerals: 1-primary conveyor belt, 11-first integrity recognition channel, 12-second integrity recognition channel, 13-third integrity recognition channel, 14-fourth integrity recognition channel, 15-fifth integrity recognition channel, 16-sixth integrity recognition channel, 17-first drive motor, 2-channel extension mechanism, 3-integrity recognition mechanism, 31-first supplementary light source, 32-first industrial camera, 4-integrity guide mechanism, 41-material guide trough, 42-connecting rod, 43-servo engine, 44-first integrity guide mechanism, 45-second integrity guide mechanism, 46-third integrity guide mechanism, 47-fourth integrity guide mechanism, 48-fifth integrity guide mechanism, 49-sixth integrity guide mechanism Wholeness guide mechanism, 5-completeness sorting channel, 51-four kernel sorting channel, 52-first broken kernel channel, 53-half kernel sorting channel, 6-secondary conveyor belt, 61-four kernel color recognition channel, 62-second broken kernel channel, 63-half kernel color recognition channel, 64-second drive motor, 7-color recognition mechanism, 71-second supplementary light source, 72-second industrial camera, 8-unloading inclined plate, 81-four kernel color sorting channel, 82-third broken kernel channel, 83-half kernel color sorting channel, 84-color sorting valve, 85-infrared photoelectric sensor, 86-push-pull electromagnet, 87-light amber four kernel discharge port, 88-light yellow four kernel discharge port, 89-light amber half kernel discharge port. DETAILED DESCRIPTION

[0028] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0029] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0030] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do 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 should not be understood as a limitation on the present application.

[0031] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0032] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0033] After considering the market value of walnut kernels and the necessity of grading, the integrity and color are divided into five grades, namely, first grade one (light yellow half kernel), first grade two (light amber half kernel), second grade one (light yellow quarter kernel), second grade two (light amber quarter kernel), third grade (broken kernel without distinguishing color). The walnut kernels, which are randomly distributed and discrete in the initial state, are transported to the conveyor belt. Figure 1 After the walnut kernel automatic sorting device shown in the figure, integrated walnut kernel sorting is completed based on this device. The walnut kernel automatic sorting device includes a completeness sorting module and a color sorting module.

[0034] like Figure 2 As shown, the integrity sorting module includes an integrity conveying mechanism, an integrity identification mechanism 3, an integrity sorting mechanism and an integrity sorting channel 5. The integrity conveying mechanism includes a primary conveyor belt 1, a first drive motor 17 and a channel extension mechanism 2. The discrete walnut kernels pass through the integrity conveying mechanism fixed conveying channel and are conveyed forward.

[0035] The primary conveyor belt 1 is driven by the first drive motor 17, and the walnut kernels are transported in a multi-channel parallel manner to improve work efficiency. For this reason, it is necessary to ensure that the walnut kernels will not be piled up again during the whole process, and always remain in the same channel during the conveying process. For example, when the walnut kernels fall from the discretization feeding device to the conveyor belt, if the speed does not match the conveyor belt or the self-posture is not correct, the walnut kernels may roll, and the rolling walnut kernels may invade other channels, thereby producing unpredictable effects. Therefore, it is necessary to design a channel extension mechanism 2 at the connection position between the discretization feeding device and the conveyor belt to limit the movement path of the walnut kernels. The primary conveyor belt 1 is separated into the first integrity identification channel 11, the second integrity identification channel 12, the third integrity identification channel 13, the fourth integrity identification channel 14, the fifth integrity identification channel 15 and the sixth integrity identification channel 16 by the channel partition of the channel extension mechanism 2. At the same time, the upper part of the channel partition is restricted, and each partition in the channel extension mechanism 2 has a certain degree of swing space, which reduces the damage caused to the walnut kernel when it collides with the channel partition.

[0036] The integrity recognition mechanism 3 includes a first supplementary light source 31 and a first industrial camera 32 set above the primary conveyor belt 1. After the first industrial camera 32 collects image data, the image data is transmitted to the walnut kernel grading detection model to identify the installation integrity level of the walnut kernel during the conveying process. YOLOv8-s is selected as the walnut kernel grading detection model. Since the walnut kernel is dynamically detected in real time during the conveying process, the same target will be identified multiple times, resulting in the position and grade information being repeatedly sent to the lower computer. In order to solve this problem, the DeepSort multi-target tracking algorithm is introduced to track and number the walnut kernels in the field of view, so as to ensure that the recognition result of each walnut kernel is sent only once.

[0037] The integrity guide mechanism 4 includes a steering engine 43, a connecting rod 42 and a guide trough 41. The steering engine 43 is controlled to drive the connecting rod 42 to rotate according to the recognition result, so that the guide trough 41 is aligned with the inlet of the integrity sorting channel 5 of the corresponding grade. After the walnut kernel is input into the guide trough 41 from the output end of the integrity identification channel, it enters the sorting channel through the guide trough 41. The integrity guide mechanism 4 is set corresponding to the integrity identification channel, including a first integrity guide mechanism 44, a second integrity guide mechanism 45, a third integrity guide mechanism 46, a fourth integrity guide mechanism 47, a fifth integrity guide mechanism 48 and a sixth integrity guide mechanism 49.

[0038] like Figure 3The integrity sorting channel 5 shown is set to an arc-shaped structure, which constrains the sorting channel so that the arrangement directions of the feed port and the discharge port differ by 90 degrees from each other in a top-down perspective. Therefore, the six channels for integrity identification are converted into three channels after sorting, including the shortest half-kernel sorting channel 53, the second shortest first broken kernel channel 52, and the longest quarter kernel sorting channel. The arc-shaped sorting channel can keep a certain distance between each walnut kernel when the walnut kernel slides into the color conveyor belt, thereby avoiding stacking and meeting the color identification requirements.

[0039] Since half-kernels are heavier and more fragile, they are guided to the innermost arc-shaped channel to reduce the number of collisions and quickly pass through the sorting device; considering that the number of quartered kernels is the largest after the walnuts are shelled, the quartered kernels are guided to the outermost arc-shaped channel. The longer channel and arc can ensure that the collected quartered kernels are dispersed again when entering the color conveyor belt to avoid stacking; broken kernels do not need to be sorted for color, so they are guided to the middle arc-shaped channel so that they can pass directly through the color sorting channel later.

[0040] like Figure 4 As shown, the color sorting module includes a color conveying mechanism, a color identification mechanism 7 and a color sorting mechanism. The color conveying mechanism includes a secondary conveyor belt 6, a second drive motor 64 and a channel extension mechanism 2. The secondary conveyor belt 6 is driven by the second drive motor 64. The secondary conveyor belt 6 is divided into a half-kernel color identification channel 63 corresponding to the output half-kernel sorting channel 53, a second chopped kernel channel 62 corresponding to the first chopped kernel channel 52 and a quarter-kernel color identification channel 61 corresponding to the quarter-kernel sorting channel by the channel extension mechanism 2.

[0041] The color recognition mechanism 7 includes a second supplementary light source 71 and a second industrial camera 72 mounted on the secondary conveyor belt 6, which are used to identify the color of the walnut kernel after collecting images, and control the opening and closing of the color sorting valve 84 according to the color recognition result to achieve color sorting.

[0042] The color sorting mechanism includes a material discharging inclined plate 8, which divides the material discharging inclined plate 8 into three channels, including a half-kernel color sorting channel 83 corresponding to the half-kernel color identification channel 63, a third broken kernel channel 82 corresponding to the second broken kernel channel 62, and a quarter-kernel color sorting channel 81 corresponding to the quarter-kernel color identification channel 61. Color sorting valves 84 are provided on the half-kernel color sorting channel 83 and the quarter-kernel color sorting channel 81. The opening and closing of the color sorting valves 84 are controlled based on the recognition result of the color recognition mechanism 7, and the color sorting valves 84 are controlled based on the push-pull electromagnet 86. The discharge ports of the half-kernel walnut kernels include a light amber half-kernel discharge port 89 provided at the output end of the half-kernel color sorting channel 83 and a light yellow half-kernel discharge port provided at the bottom of the color sorting valve 84; Figure 5As shown, the discharge ports for the quartered walnut kernels include a light amber quartered kernel discharge port 87 disposed at the output end of the quartered kernel color sorting channel 81 and a light yellow quartered kernel discharge port 88 disposed at the bottom of the color sorting valve 84 .

[0043] The color sorting mechanism also includes an infrared photoelectric sensor 85, which is installed at the input end of the color sorting oblique channel and the output side of the color sorting valve 84. Whether the sorting is completed is determined based on the trigger recognition effect of the infrared photoelectric sensor 85. Assuming that the light yellow quartered walnut kernels pass through the quartered kernel color sorting channel 81 for color sorting, the sensor is triggered once at the input end of the channel, and the color sorting valve 84 is controlled at this time, and the light yellow quartered walnut kernels are discharged from the light yellow quartered kernel outlet 88. The sensor on the output side of the color sorting valve 84 is not triggered, and finally the trigger data sorting feedback of 1 and 0 is obtained: the sorting is successful. Assuming that there is a problem with the color sorting valve 84, the light yellow quartered kernel outlet 88 is not opened, and the light yellow quartered kernel walnut kernels are discharged from the light amber quartered kernel outlet 87, the sensor on the output side of the color sorting valve 84 will be triggered, and 1 and 1 will be obtained, judging that the sorting has failed. The half-kernel color sorting channel 83 also judges whether the sorting is successful or not by the number of triggers.

[0044] The working process of this device:

[0045] The walnut kernels enter the integrity conveying mechanism and are conveyed forward by the integrity conveying mechanism. The integrity of the walnut kernels is identified by the identification mechanism. When the walnut kernels leave the field of view, their grade and position information are sent to the lower computer. According to the integrity identification result, the integrity guide mechanism 4 is controlled to align with the feed port of the corresponding grade, so that the walnut kernels are introduced into the integrity sorting channel 5. At this time, the six channels are converted into three channels, namely the half-kernel, quarter-kernel and broken kernel sorting channels; walnut kernels of different integrity levels slide into the half-kernel, quarter-kernel color identification channel 61 and the broken kernel channel respectively, and the identification mechanism identifies the color of the half-kernel and quarter-kernel; there is a color sorting valve 84 in each of the half-kernel and quarter-kernel color sorting channels 81, and an infrared photoelectric sensor 85 is provided before and after each color sorting valve 84. According to the color identification result and the number of sensor triggers, the color switch is controlled to be turned on or off; the broken kernels do not need to be color sorted, so they slide out directly from the end of the channel; combined with the identification result and the number of sensor triggers, it is judged whether the walnut kernels are accurately sorted. At this point, the entire device can sort out walnut kernels into 5 grades.

[0046] Finally, it should be noted that, in this article, relationships such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms include, include or any other variations are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0047] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0048] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An automatic walnut kernel sorting device based on integrity and color grade, characterized in that: include: The integrity sorting module comprises a primary conveyor belt, a channel extension mechanism for dividing the primary conveyor belt into a plurality of integrity identification channels, an integrity identification mechanism for identifying the integrity grade of walnut kernels on the primary conveyor belt, and an integrity guide mechanism for conveying walnuts with the identified integrity grade of the walnut kernels to integrity sorting channels connected to the output end of the primary conveyor belt, wherein the integrity sorting channels include the shortest half-kernel sorting channel, the second shortest first broken kernel channel, and the longest quarter kernel sorting channel; The color sorting module comprises a secondary conveyor belt, a channel extension mechanism for dividing the secondary conveyor belt into a half-kernel color identification channel, a quarter-kernel color identification channel and a second broken kernel channel, a color identification mechanism for identifying the color of the walnut kernels on the half-kernel color identification channel and the quarter-kernel color sorting channel, and a color sorting oblique channel, wherein the color sorting oblique channel comprises a half-kernel color sorting channel, a quarter-kernel color sorting channel and a third broken kernel channel, so that half-kernel / quarter-kernel walnut kernels of different colors are output through target discharge ports corresponding to their respective color sorting oblique channels to complete sorting; Among them, the walnuts whose walnut kernel integrity level is identified as broken kernels are output along the first broken kernel channel, the second broken kernel channel and the third broken kernel channel.

2. The automatic walnut kernel sorting device based on integrity and color grade according to claim 1 is characterized in that: The half-kernel color sorting channel and the quarter-kernel color sorting channel are provided with color sorting valves, and the switches of the color sorting valves are controlled based on the recognition results of the color recognition mechanism, and the color sorting valves are controlled based on push-pull electromagnets.

3. The automatic walnut kernel sorting device based on integrity and color grade according to claim 2 is characterized in that: The discharge outlets for half-kernel walnut kernels include a light amber half-kernel discharge outlet arranged at the output end of the half-kernel color sorting channel and a light yellow half-kernel discharge outlet arranged at the bottom of the color sorting valve; the discharge outlets for quarter-kernel walnut kernels include a light amber quarter-kernel discharge outlet arranged at the output end of the quarter-kernel color sorting channel and a light yellow quarter-kernel discharge outlet arranged at the bottom of the color sorting valve.

4. The automatic walnut kernel sorting device based on integrity and color grade according to claim 2 is characterized in that: The color sorting mechanism also includes an infrared photoelectric sensor, which is installed at the input end of the color sorting inclined channel and the output side of the color sorting valve.

5. The automatic walnut kernel sorting device based on integrity and color grade according to claim 1 is characterized in that: The integrity guide mechanism is set corresponding to the integrity identification channel, and the inclination angle of the integrity guide mechanism is adjusted based on the walnut kernel integrity grade. The integrity guide mechanism includes a servo, a connecting rod and a material guide trough. After the servo drives the connecting rod to rotate, the material guide trough is driven to align with the integrity sorting channel of the corresponding grade.

6. The automatic walnut kernel sorting device based on integrity and color grade according to claim 1 is characterized in that: The integrity recognition mechanism and the color recognition mechanism include a supplementary light source and an industrial camera, which are correspondingly mounted above the primary conveyor belt and the secondary conveyor belt.

7. The automatic walnut kernel sorting device based on integrity and color grade according to claim 1 is characterized in that: The integrity sorting channel is an arc-shaped structure, and the arrangement directions of the inlet and the outlet differ by ninety degrees.

8. The automatic walnut kernel sorting device based on integrity and color grade according to claim 1 is characterized in that: The integrity identification channel includes a first integrity identification channel, a second integrity identification channel, a third integrity identification channel, a fourth integrity identification channel, a fifth integrity identification channel and a sixth integrity identification channel, and a first integrity guide mechanism, a second integrity guide mechanism, a third integrity guide mechanism, a fourth integrity guide mechanism, a fifth integrity guide mechanism and a sixth integrity guide mechanism are provided corresponding to the integrity identification channel.

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