Automatic walnut kernel sorting device based on integrity and color grade

Abstract

The application relates to a walnut kernel automatic sorting device based on completeness and color grade, wherein a first-level conveying belt of a completeness sorting module is divided into multiple completeness recognition channels, the first-level conveying belt passes through a completeness guide mechanism and a completeness sorting channel; a second-level conveying belt of a color sorting module is divided into a half kernel color recognition channel, a quarter kernel color recognition channel and a second broken kernel channel, the second-level conveying belt is connected with a color sorting inclined channel, the color sorting inclined channel comprises a half kernel color sorting channel, a quarter kernel color sorting channel and a third broken kernel channel, and sorting is completed through a target discharge outlet corresponding to the color sorting inclined channel. Two-stage integrated sorting of the completeness and the color simplifies the whole sorting device, improves the walnut kernel sorting efficiency, solves the contradiction between the requirements of multi-grade sorting, reliable sorting execution and high sorting efficiency, and ensures that the walnut kernels are not damaged in the sorting process, thereby guaranteeing the quality of the walnut kernels.

Description

Technical Field

[0001] This application relates to the field of walnut processing technology, and in particular to an automatic walnut kernel sorting device based on integrity and color grade. Background Technology

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

[0003] The traditional method of sorting walnut kernels, according to the LY / T1922-2010 grading standard, involves manually classifying walnut kernels based on two aspects: integrity and color. This method suffers from low efficiency and high cost, making it difficult to meet the needs of large-scale production.

[0004] Currently, existing solutions based on machine vision technology have achieved the identification and sorting of walnut kernel integrity and color. The main sorting equipment includes walnut kernel screening machines and color sorters, but both can only achieve identification and sorting in a single direction, and the identification and sorting process is still relatively cumbersome.

[0005] However, due to the differences in working principles, structures, and operation methods between traditional screening machines and color sorters, their operating speeds differ. If the screening machine operates quickly while the color sorter operates slowly, material accumulation in front of the color sorter will occur. Conversely, if the screening machine operates slowly, the color sorter may need to wait for feed, causing the equipment to idle and reducing overall production efficiency. Furthermore, during multiple material transfers, vibrations and collisions from the conveyor can cause secondary damage to the walnut kernels, affecting their quality and integrity. Therefore, it is not feasible to simply combine a walnut kernel screening machine and a color sorter into an integrated screening-color sorting machine. In view of this, this application aims to propose an automatic walnut kernel sorting device that can simultaneously identify and sort based on both integrity and color. Summary of the Invention

[0006] To address or partially address the problems existing in related technologies, this application provides an automatic walnut kernel sorting device based on integrity and color grade. It adopts a two-stage integrated sorting method that prioritizes integrity and then color, which 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 this application provides an automatic walnut kernel sorting device based on integrity and color grade, comprising: The integrity sorting module includes a primary conveyor belt, a channel extension mechanism that divides the primary conveyor belt into multiple integrity recognition channels, an integrity recognition mechanism for recognizing the integrity level of walnut kernels on the primary conveyor belt, and an integrity guide mechanism for conveying walnuts with the identified integrity level to the integrity sorting channel connected to the output end of the primary conveyor belt. The integrity sorting channel includes the shortest half-kernel sorting channel, the second shortest first broken kernel channel, and the longest quarter-kernel sorting channel. The color sorting module includes a secondary conveyor belt, a channel extension mechanism that divides the secondary conveyor belt into a half-kernel color recognition channel, a quarter-kernel color recognition channel, and a second broken kernel channel, a color recognition mechanism for recognizing the color of walnut kernels on the half-kernel and quarter-kernel color recognition channels, and a color sorting inclined channel, which 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 the target outlet corresponding to their respective color sorting inclined channel to complete the sorting; Among them, walnuts with intact kernels are identified as broken kernels and output along the first broken kernel channel, the second broken kernel channel and the third broken kernel channel.

[0008] In one embodiment of the first aspect, color sorting valves are provided on the half-kernel color sorting channel and the quarter-kernel color sorting channel. The color sorting valves are controlled to open and close based on the recognition results of the color recognition mechanism. The color sorting valves are controlled by a push-pull electromagnet.

[0009] The discharge ports for half-kernel walnuts include a light amber half-kernel discharge port located at the output end of the half-kernel color sorting channel and a light yellow half-kernel discharge port located at the bottom of the color sorting valve; the discharge ports for quarter-kernel walnuts include a light amber quarter-kernel discharge port located at the output end of the quarter-kernel color sorting channel and a light yellow quarter-kernel discharge port located at the bottom of the color sorting valve.

[0010] 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.

[0011] In one embodiment of the first aspect, the integrity guiding mechanism is set to correspond to the integrity identification channel, and the tilt angle of the integrity guiding mechanism is adjusted based on the integrity level of the walnut kernel. The integrity guiding mechanism includes a servo motor, a connecting rod, and a guide chute. After the servo motor drives the connecting rod to rotate, it drives the guide chute to align with the integrity sorting channel of the corresponding level.

[0012] In one embodiment of the first aspect, the integrity recognition mechanism and the color recognition mechanism include a supplementary light source and an industrial camera, respectively mounted above the primary conveyor belt and the secondary conveyor belt.

[0013] In one embodiment of the first aspect, the integrity sorting channel has an arc-shaped structure, and the arrangement directions of the inlet and outlet are 90 degrees apart.

[0014] In one embodiment of the first aspect, the integrity recognition channel includes a first integrity recognition channel, a second integrity recognition channel, a third integrity recognition channel, a fourth integrity recognition channel, a fifth integrity recognition channel, and a sixth integrity recognition channel, and a first integrity guiding mechanism, a second integrity guiding mechanism, a third integrity guiding mechanism, a fourth integrity guiding mechanism, a fifth integrity guiding mechanism, and a sixth integrity guiding mechanism are provided for the integrity recognition channel.

[0015] The technical solution provided in this application may include the following beneficial effects: This application provides an automatic walnut kernel sorting device based on integrity and color grade, realizing a two-stage integrated sorting of integrity first and then color, simplifying the entire sorting device, improving the sorting efficiency of walnut kernels, and sorting according to the walnut kernel grades classified according to relevant standards. It overcomes the problems of large size, low sorting accuracy and complex structure of existing equipment, and solves the contradiction between simultaneously satisfying multi-grade sorting, reliable sorting execution and high sorting efficiency. During the sorting process, it ensures that the walnut kernels are not damaged, thereby guaranteeing the quality of walnut kernels.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0018] Figure 1 This is a schematic diagram of the structure of the automatic walnut kernel sorting device shown in the embodiments of this application; Figure 2 This is a schematic diagram of the integrity sorting module of the automatic walnut kernel sorting device shown in the embodiments of this application; Figure 3 This is a schematic diagram of the integrity sorting channel of the automatic walnut kernel sorting device shown in the embodiments of this application; Figure 4 This is a schematic diagram of the color sorting module of the automatic walnut kernel sorting device shown in the embodiments of this application; Figure 5 This is an enlarged structural schematic diagram of the four-kernel color sorting channel of the automatic walnut kernel sorting device shown in the embodiments of this application; Reference 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—Guide chute; 42—Connecting rod; 43—Servo motor; 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 recognition channel. 5 - Integrity guiding mechanism; 51 - Quarter kernel sorting channel; 52 - First crushed kernel channel; 53 - Half kernel sorting channel; 6 - Secondary conveyor belt; 61 - Quarter kernel color recognition channel; 62 - Second crushed 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 - Feeding inclined plate; 81 - Quarter kernel color sorting channel; 82 - Third crushed kernel channel; 83 - Half kernel color sorting channel; 84 - Color sorting valve; 85 - Infrared photoelectric sensor; 86 - Push-pull electromagnet; 87 - Light amber quarter kernel outlet; 88 - Pale yellow quarter kernel outlet; 89 - Light amber half kernel outlet. Detailed Implementation

[0019] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0020] 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 information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0021] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0022] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0024] Considering the market value and necessity of grading walnut kernels, they are divided into five grades based on integrity and color: Grade 1 (light yellow half kernel), Grade 1 (light amber half kernel), Grade 2 (light yellow quarter kernel), Grade 2 (light amber quarter kernel), and Grade 3 (broken kernels, color not distinguished). Walnut kernels, initially randomly distributed and discrete, are transported by a conveyor to... Figure 1 The automatic walnut kernel sorting device shown in the figure completes the integrated walnut kernel sorting based on this device. The automatic walnut kernel sorting device includes an integrity sorting module and a color sorting module.

[0025] 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 separated walnut kernels are conveyed forward through the integrity conveying mechanism via the fixed conveying channel.

[0026] The primary conveyor belt 1 is driven by the first drive motor 17 and uses a multi-channel parallel method to transport walnut kernels to improve work efficiency. Therefore, it is necessary to ensure that the walnut kernels do not accumulate again throughout the process and remain within the same channel during transport. For example, when walnut kernels fall from the discrete feeding device onto the conveyor belt, if the speed is not matched to the conveyor belt or the kernels are not properly positioned, they may roll. Rolling kernels may encroach on other channels, causing unpredictable effects. Therefore, a channel extension mechanism 2 needs to be designed at the junction of the discrete feeding device and the conveyor belt to restrict the movement path of the walnut kernels. The channel extension mechanism 2 divides the primary conveyor belt 1 into a first integrity recognition channel 11, a second integrity recognition channel 12, a third integrity recognition channel 13, a fourth integrity recognition channel 14, a fifth integrity recognition channel 15, and a sixth integrity recognition channel 16 through channel partitions. Simultaneously, the upper part of the channel partitions is restricted, and each partition in the channel extension mechanism 2 has a certain degree of swing space to reduce damage caused by collisions between the walnut kernels and the channel partitions.

[0027] The integrity recognition mechanism 3 includes a first supplementary light source 31 and a first industrial camera 32 mounted above the primary conveyor belt 1. After acquiring image data through the first industrial camera 32, the image data is transmitted to the walnut kernel grading detection model to identify the integrity level of the walnut kernels during the conveying process. YOLOv8-s is selected as the walnut kernel grading detection model. Because the walnut kernels are dynamically detected in real time during the conveying process, the same target may be identified multiple times, resulting in the position and grade information being repeatedly sent to the lower-level machine. To solve this problem, the DeepSort multi-target tracking algorithm is introduced to track and number the walnut kernels within the field of view, thereby ensuring that the recognition result of each walnut kernel is sent only once.

[0028] The integrity guiding mechanism 4 includes a servo motor 43, a connecting rod 42, and a guide trough 41. Based on the recognition result, the servo motor 43 drives the connecting rod 42 to rotate, aligning the guide trough 41 with the inlet of the corresponding integrity sorting channel 5. After the walnut kernels are input into the guide trough 41 from the output end of the integrity recognition channel, they enter the sorting channel through the guide trough 41. The integrity guiding mechanism 4 is set up corresponding to the integrity recognition channel and includes a first integrity guiding mechanism 44, a second integrity guiding mechanism 45, a third integrity guiding mechanism 46, a fourth integrity guiding mechanism 47, a fifth integrity guiding mechanism 48, and a sixth integrity guiding mechanism 49.

[0029] like Figure 3The integrity sorting channel 5 shown is designed with an arc shape to constrain the sorting channel, ensuring that the arrangement directions of the inlet and outlet differ by 90 degrees when viewed from above. Therefore, the six channels used for integrity identification are reduced to three channels after sorting: the shortest half-kernel sorting channel 53, the second shortest first-crush kernel channel 52, and the longest quarter-kernel sorting channel. The arc-shaped sorting channel ensures that each walnut kernel maintains a certain distance from the others as it slides into the color conveyor belt, thus preventing stacking and meeting the color identification requirements.

[0030] Because half-kernels are larger and more fragile, they are guided to the innermost arc-shaped channel to reduce collisions and allow them to pass through the sorting device quickly. Considering that the number of quarter-kernels is the largest after the walnuts are cracked, they are guided to the outermost arc-shaped channel. The longer channel and arc ensure that the collected quarter-kernels are dispersed again when entering the color conveyor belt, avoiding stacking. Broken kernels do not need to be color-sorted, so they are guided to the middle arc-shaped channel so that they can pass directly through the color sorting channel later.

[0031] like Figure 4 As shown, the color sorting module includes a color conveying mechanism, a color recognition 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, and the channel extension mechanism 2 divides the secondary conveyor belt 6 into a half-kernel color recognition channel 63 corresponding to the half-kernel sorting channel 53, a second broken kernel channel 62 corresponding to the first broken kernel channel 52, and a four-kernel color recognition channel 61 corresponding to the four-kernel sorting channel.

[0032] 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. These cameras are used to collect images and then perform color recognition on the walnut kernels. Based on the color recognition results, the opening and closing of the color sorting valve 84 is controlled to achieve color sorting.

[0033] The color sorting mechanism includes a feeding ramp 8, which divides the ramp into three channels: a half-kernel color sorting channel 83 corresponding to the half-kernel color recognition 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 recognition channel 61. Color sorting valves 84 are installed on the half-kernel color sorting channel 83 and the quarter-kernel color sorting channel 81. The color sorting valves 84 are controlled to open and close based on the recognition results of the color recognition mechanism 7, and are controlled by a push-pull electromagnet 86. The half-kernel walnut kernel outlets include a light amber half-kernel outlet 89 located at the output end of the half-kernel color sorting channel 83 and a pale yellow half-kernel outlet located at the bottom of the color sorting valve 84; Figure 5As shown, the discharge ports of the quarter-kernel walnut kernels include a light amber-colored quarter-kernel discharge port 87 located at the output end of the quarter-kernel color sorting channel 81 and a light yellow quarter-kernel discharge port 88 located at the bottom of the color sorting valve 84.

[0034] The color sorting mechanism also includes an infrared photoelectric sensor 85, which is installed at the input end of the color sorting inclined channel and at the output side of the color sorting valve 84. The success of sorting is determined based on the trigger recognition effect of the infrared photoelectric sensor 85. For example, if light yellow quarter-kernel walnuts pass through the quarter-kernel color sorting channel 81 for color sorting, the sensor is triggered once at the channel input end. At this time, the color sorting valve 84 is controlled, and the light yellow quarter-kernel walnuts exit from the light yellow quarter-kernel outlet 88. The sensor on the output side of the color sorting valve 84 is not triggered, resulting in a 1 and 0 trigger data sorting feedback: sorting successful. Conversely, if the color sorting valve 84 malfunctions and the light yellow quarter-kernel outlet 88 does not open, the light yellow quarter-kernel walnuts will exit from the light amber quarter-kernel outlet 87. This will trigger the sensor on the output side of the color sorting valve 84, resulting in a 1 and 1 result, indicating sorting failure. The half-kernel color sorting channel 83 also determines the success or failure of sorting based on the number of triggers.

[0035] The working process of this device: Walnut kernels enter the integrity conveying mechanism and are conveyed forward. The integrity of the walnut kernels is identified by the identification mechanism. When a walnut kernel leaves the field of view, its grade and position information are sent to the lower-level machine. Based on the integrity identification result, the integrity guiding mechanism 4 is controlled to align with the feed inlet 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 grades slide into the half-kernel, quarter-kernel color identification channel 61 and the broken-kernel channel respectively. 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. Each color sorting valve 84 is equipped with an infrared photoelectric sensor 85 before and after it. Based on the color identification result and the number of sensor triggers, the color switch is controlled to open or close. Broken kernels do not need to be sorted by color, so they slide directly out from the end of the channel. Combining the identification result and the number of sensor triggers, it is determined whether the walnut kernels have been accurately sorted. At this point, the entire device can sort walnut kernels into five grades.

[0036] Finally, it should be noted that in this document, relationships such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "include," "contain," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0037] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0038] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled 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 includes a primary conveyor belt, a channel extension mechanism that divides the primary conveyor belt into multiple integrity identification channels, an integrity identification mechanism for identifying the integrity level of walnut kernels on the primary conveyor belt, and an integrity guiding mechanism for conveying walnuts with identified integrity levels to integrity sorting channels connected to the output end of the primary conveyor belt. The integrity sorting channels have an arc-shaped structure, with the inlet and outlet arranged at a 90-degree angle, and include the shortest half-kernel sorting channel, the second shortest first broken kernel channel, and the longest quarter-kernel sorting channel. The integrity recognition channel includes a first integrity recognition channel, a second integrity recognition channel, a third integrity recognition channel, a fourth integrity recognition channel, a fifth integrity recognition channel, and a sixth integrity recognition channel. Corresponding to the integrity recognition channel, 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. The integrity guide mechanism is set in accordance with the integrity identification channel, and the tilt angle of the integrity guide mechanism is adjusted based on the integrity level of the walnut kernel. The integrity guide mechanism includes a servo motor, a connecting rod and a guide chute. After the servo motor drives the connecting rod to rotate, it drives the guide chute to align with the integrity sorting channel of the corresponding level. The color sorting module includes a secondary conveyor belt, a channel extension mechanism that divides the secondary conveyor belt into a half-kernel color recognition channel, a quarter-kernel color recognition channel, and a second broken kernel channel, a color recognition mechanism for recognizing the color of walnut kernels on the half-kernel and quarter-kernel color recognition channels, and a color sorting inclined channel, which 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 the target outlet corresponding to their respective color sorting inclined channels to complete the sorting; Walnuts with intact kernels are identified as having broken kernels and 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, characterized in that, Color sorting valves are provided on the half-kernel color sorting channel and the quarter-kernel color sorting channel. The color sorting valves are controlled to open and close based on the recognition results of the color recognition mechanism. The color sorting valves are controlled by push-pull electromagnets.

3. The automatic walnut kernel sorting device based on integrity and color grade according to claim 2, characterized in that, The discharge ports for half-kernel walnuts include a light amber half-kernel discharge port located at the output end of the half-kernel color sorting channel and a light yellow half-kernel discharge port located at the bottom of the color sorting valve; the discharge ports for quarter-kernel walnuts include a light amber quarter-kernel discharge port located at the output end of the quarter-kernel color sorting channel and a light yellow quarter-kernel discharge port located 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, 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 at 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, characterized in that, The integrity recognition mechanism and the color recognition mechanism include a supplementary light source and an industrial camera, respectively mounted above the primary conveyor belt and the secondary conveyor belt.

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