Blueberry sorting device and method

Abstract

The invention discloses a blueberry sorting device and method, and relates to the technical field of fruit sorting equipment. Comprising a rack, a plurality of stages of sorting modules are sequentially arranged on the rack, a plurality of sorting holes are formed in each sorting module, and the apertures of the sorting holes of the sorting modules are sequentially increased; the sorting device further comprises a plurality of separating and conveying modules, the separating and conveying modules are arranged at the outlet ends of the sorting modules respectively, and feeding augers are arranged on the separating and conveying modules. A plurality of sampling cameras are arranged on each separating and conveying module in the conveying direction of the blueberries to be sorted; a blowing separation module is arranged at the outlet end of each separation conveying module; the sorting device further comprises a controller, and the controller is electrically connected with all the sorting modules, all the feeding augers and all the blowing and separating modules. Compared with the prior art, the blueberry sorting method has the advantages that automatic blueberry sorting is realized in a manner of comparing the fruit diameters with the photos, and the blueberry sorting efficiency is effectively improved.

Description

Technical Field

[0001] This application relates to the technical field of fruit sorting, and particularly relates to a blueberry sorting device and a sorting method. Background Art

[0002] Blueberries are a widely popular fruit. After being picked, blueberries need to be sorted according to actual conditions. During the sorting process, not only do they need to be graded according to the size of the blueberries, but also the defective fruits in all grades need to be separated.

[0003] Although the prior art can achieve automatic grading of the size of blueberries, the sorting of defective fruits still relies on manual labor, which not only consumes a large amount of labor but also has low sorting efficiency. Summary of the Invention

[0004] The main purpose of this application is to provide a blueberry sorting device and a sorting method, aiming to solve the defect of low sorting efficiency existing in the prior art.

[0005] This application achieves the above purpose through the following technical solutions: A blueberry sorting device includes: A frame, along the length direction of the frame, a number of sorting modules are sequentially arranged on the frame. A number of sorting holes are provided on each sorting module, and the aperture of the sorting holes of each level of sorting module increases sequentially to respectively screen the blueberries to be sorted with the target fruit diameter; A number of separation and conveying modules, each separation and conveying module is disposed at the outlet end of each sorting module. A feeding auger is provided on each separation and conveying module; along the conveying direction of the blueberries to be sorted, a number of sampling cameras are provided on each separation and conveying module; A number of purging and separation modules, each purging and separation module is disposed at the outlet end of each separation and conveying module, and each purging and separation module is used to separate defective fruits; A controller, the controller is electrically connected to each sorting module, each feeding auger, and each purging and separation module respectively.

[0006] Optionally, the sorting module includes a sorting drum and a rotating motor that are power-connected. A number of sorting holes are provided on the sorting drum around the axis of the sorting drum; a guiding plate for guiding out blueberries is further provided on the frame, the inlet end of the guiding plate is inserted into the sorting drum, and its outlet end is connected to the separation and conveying module.

[0007] Optionally, the separation and conveying module includes a separation frame, at least one V-shaped conveying channel is provided on the separation frame, and the feeding auger is disposed at the bottom of the V-shaped conveying channel.

[0008] Optionally, along the conveying direction of the blueberries to be sorted, a plurality of portal frames are sequentially arranged on the separation rack, and a plurality of sampling cameras are arranged on each of the portal frames, and each of the sampling cameras corresponds to each of the V-shaped conveying channels.

[0009] Optionally, a plurality of first photoelectric sensors for detecting the number of blueberries are arranged on each of the portal frames, and each of the first photoelectric sensors is respectively adapted to each of the sampling cameras. Along the conveying direction of the blueberries to be sorted, each of the first photoelectric sensors is located at the rear end of each of the sampling cameras.

[0010] Optionally, the purging and separating module includes a support frame, and a plurality of groups of cooperating purging nozzles and second photoelectric sensors are arranged on the support frame. Each of the purging nozzles is respectively arranged at the outlet end of each of the V-shaped conveying channels; a conveyor belt for receiving defective fruits is further arranged at the outlet end of the separation rack.

[0011] Correspondingly, the present application also discloses a sorting method based on the above sorting system, including the following steps: Obtain a standard comparison image set {A1, A2,..., A m}; where m is the standard comparison image number; Obtain defective fruit determination parameters according to the standard comparison image set; Obtain a comparison image set {B1, B2,..., B p} n ; where p is the comparison image number, and n represents the number of the blueberries to be sorted; Generate a sorting signal for the blueberries to be sorted according to the defective fruit determination parameters and the comparison image set {B1, B2,..., B p}; n Generate a sorting signal for the blueberries to be sorted; Separate defective fruits according to the sorting signal.

[0012] Optionally, obtaining defective fruit determination parameters according to the standard comparison image set includes the following steps: Classify the standard images in the standard comparison image set according to the defect types to obtain a plurality of defective image sets; Perform gray processing on each of the defective image sets to obtain a plurality of defective gray image sets; Retrieve any one of the defective gray image sets and arbitrarily select a defective gray image therefrom; Manually calibrate the defective area on the defective gray image; Obtain the gray parameters of the defective area and output them as defective fruit determination parameters; The step of repeatedly retrieving any defective grayscale image set and arbitrarily selecting a defective grayscale image therefrom to obtain all sub-fruit determination parameters, where the expression of the sub-fruit determination parameters is [G1, G2], [G3, G4],..., [G i , G i+1 , where i represents the code number of the sub-fruit grayscale value parameter.

[0013] Optionally, generating a sorting signal for the blueberries to be sorted according to the sub-fruit determination parameters and the comparison image set includes the following steps: Obtain the comparison image set {B1, B2,..., B p} n and the sub-fruit determination parameters, perform grayscale processing on the comparison image set to obtain a comparison grayscale image set {B1', B2',..., B p '} n ; Obtain any comparison grayscale image from the comparison grayscale image set {B1', B2',..., B p '} n ; Divide the comparison grayscale image into several comparison cells, respectively obtain the grayscale values of each comparison cell and output a comparison grayscale value set {G1', G2',..., G j '} n , where j represents the number of each comparison cell; Match the comparison grayscale value set with the sub-fruit determination parameters. If the comparison is successfully matched, it is determined as a sub-fruit, and the number of the blueberry is output as sorting information.

[0014] Optionally, matching the comparison grayscale value set with the sub-fruit determination parameters. If the comparison is successfully matched, it is determined as a sub-fruit, and the number of the blueberry is output as sorting information, including the following steps: Obtain the comparison grayscale value set {G1', G2',..., G j '} n and the sub-fruit determination parameters [G1, G2], [G3, G4],..., [G i , G i+1 ; where i represents the code number of the sub-fruit grayscale value parameter; Respectively compare each comparison grayscale value in the comparison grayscale value set with the sub-fruit determination parameters; If the comparison grayscale value set meets the range specified by the sub-fruit determination parameters, it is determined that the comparison cell represented by the comparison grayscale value is unqualified, otherwise it is determined that the comparison cell is qualified; Set a determination threshold S0, and count the number S n of unqualified comparison cells. If Sn If it is ≥ S0, it is determined that the blueberries corresponding to the set of comparison gray values are unqualified, and the number of the blueberries is output as sorting information.

[0015] Compared with the prior art, the present application has the following beneficial effects: The present application includes a frame. Along the length direction of the frame, a number of sorting modules are sequentially arranged on the frame. A number of sorting holes are provided on each sorting module, and the aperture of the sorting holes of each level of sorting module increases sequentially to respectively screen the blueberries to be sorted with a target fruit diameter. The sorting device further includes a number of separation and conveying modules, each of the separation and conveying modules is disposed at the outlet end of each sorting module, and a feeding auger is provided on each of the separation and conveying modules. Along the conveying direction of the blueberries to be sorted, a number of sampling cameras are provided on each of the separation and conveying modules. A purging and separation module for separating defective fruits is provided at the outlet end of each of the separation and conveying modules. The sorting device further includes a controller, and the controller is electrically connected to each of the sorting modules, each of the feeding augers and each of the purging and separation modules respectively.

[0016] During use, the blueberries to be sorted first enter the first-level sorting module, and then enter the next level, and so on. Since the aperture of the sorting holes of each level of sorting module increases sequentially, the blueberries passing through the sorting holes in the first-level sorting module have the smallest fruit diameter, the fruit diameter of the second level will increase, and the blueberries obtained in the last level have the largest fruit diameter, so as to realize the sorting operation of the blueberry size; The sorted blueberries respectively enter each separation and conveying module. While the feeding auger conveys each blueberry, it can also separate each blueberry, so that the distance between each blueberry is approximately the same. At the same time, it can also drive the blueberries to roll during the process of conveying the blueberries, so as to facilitate the sampling camera to take pictures and sample the blueberries from multiple different angles, and then determine whether each blueberry is a defective fruit, effectively reducing the probability of missed inspection; Finally, the high-speed air flow ejected by the purging and separation module separates each defective fruit, ensuring the sorting quality of the blueberries; Compared with the prior art, the present application realizes the automatic sorting of blueberries. Compared with the manual sorting method, it can effectively improve the sorting efficiency of blueberries; Secondly, in terms of fruit diameter separation, the present application sorts through sorting holes. It not only has a simple structure, but also is stable and reliable in operation. At the same time, the simultaneous operation of multiple sorting holes is also beneficial to improving the sorting efficiency. And compared with the traditional manual sorting method, since the blueberries are photographed one by one, it can also effectively avoid missed inspection and improve the sorting quality.

[0017] Finally, in this application, the feeding auger is used to control the separation of each blueberry, that is, to control each blueberry to pass through the sampling camera one by one at a relatively stable spacing and speed. This can avoid the mutual interference between different blueberries. At the same time, the appropriate spacing can also avoid misoperation during the later purging and sorting process, improving the accuracy of sorting. At the same time, during the process of conveying blueberries, it can also drive the blueberries to roll, which is convenient for the sampling camera to take pictures and samples of blueberries from multiple different angles, and then determine whether each blueberry is a sub-quality fruit, improving the accuracy of sorting. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. is a structural diagram of a blueberry sorting device provided in Embodiment 1 of this application; Figure 2 FIG. is an exploded view of a blueberry sorting device provided in Embodiment 1 of this application; Figure 3 FIG. is a schematic structural diagram of the separation and conveying module; Figure 4 FIG. is an exploded view of the separation and conveying module; Figure 5 FIG. is a flowchart of a blueberry sorting method disclosed in Embodiment 2 of this application; Reference numerals: 1 - frame, 2 - sorting module, 3 - sorting hole, 4 - separation and conveying module, 5 - feeding auger, 6 - sampling camera, 7 - purging and separation module, 8 - controller, 9 - conveyor belt, 201 - sorting drum, 202 - rotating motor, 203 - deflector, 401 - separation frame, 402 - V-shaped conveying path, 403 - portal frame, 404 - first photoelectric sensor, 701 - support frame, 702 - purging nozzle, 703 - second photoelectric sensor.

[0019] The implementation, functional features and advantages of this application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0022] In the present invention, unless otherwise clearly specified and defined, terms such as "connection" and "fixation" shall be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, such descriptions of "first", "second", etc. are only for descriptive purposes and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or the solution where A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0024] Embodiment 1:

[0025] Referring to Figures 1 to 4 , as an optional embodiment of the present application, this embodiment discloses a blueberry sorting device, including a frame 1; along the length direction of the frame 1, a feeding conveyor belt is arranged at one end of the frame 1, and at the same time, a number of sorting modules 2 are sequentially arranged at the outlet end of the feeding conveyor belt; The sorting module 2 includes a sorting drum 201 and a rotating motor 202. The sorting drum 201 is integrally in a hollow cylindrical structure. The rotating motor 202 is arranged on the frame 1, and the output shaft of the rotating motor 202 is connected to the sorting drum 201 to drive the sorting drum 201 to rotate; Around the axis of the sorting drum 201, a number of sorting holes 3 are arranged on the sorting drum 201; it should be noted that the apertures of the sorting holes 3 on the same sorting drum 201 are the same, and along the conveying direction of the blueberries, the apertures of the sorting holes 3 on each sorting drum 201 increase sequentially; Furthermore, a guiding plate is also arranged in the gap between any two adjacent sorting drums 201; Due to the special adjustment of the aperture of the sorting holes 3 in each sorting module, during the sorting process, the blueberries passing through the sorting holes 3 in the first-stage sorting module 2 have the smallest fruit diameter, the fruit diameter of the second stage increases, and the blueberries obtained in the last stage have the largest fruit diameter, thus realizing the sorting operation of blueberry sizes; it not only has a simple structure, but also works stably and reliably.

[0026] Furthermore, along the length direction of the frame 1, a number of guide plates 203 are also provided. Each of the guide plates 203 is adapted to each of the sorting drums 201. The inlet ends of each of the guide plates 203 are respectively inserted into the sorting drums 201 adapted thereto, so as to receive the blueberries falling from the sorting holes 3 through the guide plates 203; at the same time, the outlets of the guide plates 203 extend out of the sorting drums 201 to export the blueberries to the next device. It should be noted that the guide plates 203 are inclined to realize the automatic transportation of blueberries by using gravity. Furthermore, the sorting device includes a number of separation and conveying modules 4. The separation and conveying module 4 includes a separation frame 401. At least one V-shaped conveying channel 402 is provided on the separation frame 401. A feeding auger 5 is provided at the bottom of each of the V-shaped conveying channels 402. Preferably, 2-3 V-shaped conveying channels 402 are provided. At the same time, a number of drive motors are also provided on the separation frame 401. Each of the drive motors is power-connected to each of the feeding augers 5 respectively. It should be noted that an isolation strip in an inverted V-shaped structure is provided between any two adjacent V-shaped conveying channels 402 to guide the blueberries into the V-shaped conveying channels 402 and prevent the blueberries from falling between the two V-shaped conveying channels 402 and missing inspection.

[0027] Furthermore, along the conveying direction of the blueberries to be sorted, a number of portal frames 403 are sequentially provided on the separation frame 401. Each of the portal frames 403 straddles all the V-shaped conveying channels 402. Along the length direction of the portal frame 403, a number of sampling cameras 6 are provided on each of the portal frames 403. Each of the sampling cameras 6 corresponds to each of the V-shaped conveying channels 402, that is, each sampling camera 6 corresponds to one V-shaped conveying channel. Preferably, 2-3 portal frames 403 are provided. Through the above equipment, it can be ensured that 2-3 sampling cameras 6 are provided for each V-shaped channel. Furthermore, a number of first photoelectric sensors 404 are also provided on each of the portal frames 403. The number of each of the first photoelectric sensors 404 is the same as the number of the sampling cameras 6 on each of the portal frames 403, and each of the first photoelectric sensors 404 corresponds to each of the sampling cameras 6 respectively; along the conveying direction of the blueberries, each of the first photoelectric sensors 404 is located at the rear end of each of the sampling cameras 6.

[0028] Before the blueberries to be sorted enter the shooting area of the sampling camera 6, they will first pass through the first photoelectric sensor 404 and trigger the first photoelectric sensor 404. At this time, the first photoelectric sensor 404 detects the entry of blueberries, starts the sampling camera 6, and takes a photo after a certain interval (the above interval can be quantitatively calculated in combination with the conveying speed of the blueberries to be sorted); at the same time, the corresponding counter counts, and outputs the recorded parameters as the code of the blueberries.

[0029] Further, the sorting device further includes a plurality of purging and separating modules 7. The number of the purging and separating modules 7 is the same as that of the V-shaped conveying channels 402. The purging and separating module 7 includes a support frame 701. A plurality of groups of cooperating purging nozzles 702 and second photoelectric sensors 703 are arranged on the support frame 701. Each of the purging nozzles 702 is respectively arranged at the outlet end of each of the V-shaped conveying channels 402; along the conveying direction of the blueberries, each of the second photoelectric sensors 703 is located at the rear end of each of the purging nozzles 702; A conveyor belt 9 for receiving defective fruits is further arranged at the outlet end of the separation frame 401; Further, the sorting device further includes a controller 8. The controller 8 is electrically connected to each of the sorting modules 2, each of the feeding augers 5, and each of the purging and separating modules 7; preferably, the controller 8 includes an industrial control computer and a PLC that are communicatively connected; During use, each blueberry to be sorted passes through each sampling camera 6 at a relatively stable spacing and speed through the separation of the feeding auger. After the sampling camera 6 collects photos from different angles, the controller 8 identifies defective fruits by analyzing the photos, and at the same time outputs the number of the defective fruits as sorting information. When the second photoelectric sensor detects the passage of the blueberry with this number, the purging nozzle 702 is started, and the purging nozzle 702 sprays a high-speed air flow to impact the blueberries, so as to separate the defective blueberries, and then the conveyor belt 9 outputs the defective blueberries.

[0030] Embodiment 2: Refer to the attached drawings of the specification Figure 5 As another alternative embodiment of the present application, this embodiment discloses a blueberry sorting method, including the following steps: S1. Obtain a standard comparison image set {A1, A2,..., A m}; where m is the standard comparison image number; Manually select and obtain a standard comparison image set {A1, A2,..., A m} from the database; where m is the standard comparison image number; It should be noted that the original files of the standard comparison image set are photos of sub-quality fruits and defective fruits collected and sorted in daily work. At the same time, as many types of defects as possible, as well as photos of typical defect types, should be selected into the standard comparison image set during the selection process.

[0031] S2. Obtain sub-quality fruit determination parameters according to the standard comparison image set; S21. Classify the standard images in the standard comparison image set according to the types of defects to obtain several defective image sets; Classify the standard comparison image set manually according to the types of defects, and divide each standard image with the same defect into the same set, so as to obtain several defective image sets. Each picture in each image set has the same defect, and different sets have different defects.

[0032] S22. Perform grayscale processing on each of the defective image sets to obtain several defective grayscale image sets; S23. Retrieve any one of the defective grayscale image sets and arbitrarily select a defective grayscale image from it; S24. Manually mark the defective area on the defective grayscale image; Circle the defective area on the defective grayscale image by manual marking. Through the above method, the defective area can be accurately marked, the accuracy of the later data can be improved, and the accuracy of blueberry sorting can be further improved.

[0033] S25. Obtain the grayscale parameters of the defective area and output them as sub-quality fruit determination parameters; After manually marking the defective area, the computer automatically recognizes the above defective area and extracts the grayscale value of the defective area at the same time. It should be noted that during the process of extracting the grayscale value, first divide the standard grid according to the need, and obtain the grayscale values of each standard grid respectively. Then extract the maximum grayscale value and the minimum grayscale value, and generate a number set with the maximum and minimum grayscale values as endpoints. This number set is the sub-quality fruit determination parameter; At the same time, by repeating the above operations on multiple different defective areas, multiple number sets can be obtained, and the sub-quality fruit determination parameters for a certain defect can be obtained by merging the number sets; S26. Repeat the steps of retrieving any one of the defective grayscale image sets and arbitrarily selecting a defective grayscale image from it to obtain all sub-quality fruit determination parameters. The expression of the sub-quality fruit determination parameters is [G1, G2], [G3, G4],..., [G i , G i+1 , where i represents the code name of the sub-quality fruit grayscale value parameter.

[0034] By continuously repeating steps S23 - S25, the sub - fruit determination parameters corresponding to each defect can be obtained. The expression of the sub - fruit determination parameters is [G1, G2], [G3, G4],..., [G i , G i+1 , where i represents the code number of the sub - fruit gray - scale value parameter.

[0035] It should be noted that the subscripts 1, 2, 3,..., i + 1 in the sub - fruit determination parameters are just codes, not numbers, nor do they represent any regular sorting.

[0036] S3. Obtain the comparison image set {B1, B2,..., B p} n ; where p is the comparison image number, and n represents the number of blueberries to be sorted; After the first optoelectronic sensor detects the blueberries to be sorted, each blueberry is assigned a number by continuously repeating the counting and output. Subsequently, the sampling camera corresponding to the first optoelectronic sensor obtains the corresponding comparison images. Based on the principle of the same number, integrating the comparison images with the same number can obtain the comparison image set {B1, B2,..., B p} n ; where p is the comparison image number, and n represents the number of blueberries to be sorted; S4. Generate sorting signals for the blueberries to be sorted according to the sub - fruit determination parameters and the comparison image set {B1, B2,..., B p} n ; S41. Obtain the comparison image set {B1, B2,..., B p} n and the sub - fruit determination parameters, perform gray - scale processing on the comparison image set to obtain the comparison gray - scale image set {B1', B2',..., B p '} n ; S42. Obtain any one comparison gray - scale image from the comparison gray - scale image set {B1', B2',..., B p '} n ; Obtain the comparison gray - scale image set {B1', B2',..., B p '} n , and at the same time obtain any one comparison gray - scale image from the comparison gray - scale image set {B1', B2',..., B p '} n ; S43. Divide the comparison gray - scale image into several comparison cells, respectively obtain the gray - scale values of each comparison cell and output the comparison gray - scale value set {G1', G2',..., Gj '} n , where j represents the number of each comparison cell; Divide the comparison grayscale image into a number of comparison cells. It should be noted that the area of ​​the comparison cell is a preset standard area, the minimum of which is one pixel unit, and the specific size is determined according to the detection accuracy requirement; After the division is completed, the comparison cells are numbered respectively, and the grayscale values ​​of each comparison cell are obtained respectively. After all the grayscale values ​​are grouped into the same set, the comparison grayscale value set {G1', G2', ..., G j '} n ; S44, matching the comparison gray value set with the inferior fruit determination parameter, if the comparison and matching is successful, the blueberry is determined to be inferior fruit, and the number of the blueberry is output as sorting information; S441, obtain a comparison gray value set {G1', G2', ..., G j '} n and the secondary result determination parameters [G1, G2], [G3, G4], ..., [G i , G i+1 ]; where i represents the code of the gray value parameter of the secondary fruit; S442, respectively comparing each comparison gray value in the comparison gray value set with the secondary result determination parameter; From the comparison gray value set {G1', G2', ..., G j '} n Get any comparison gray value, and get the secondary result judgment parameters [G1, G2], [G3, G4], ..., [G i , G i+1 ] and make a comparison; S443, if the set of comparison gray values ​​meets the range calibrated by the secondary result determination parameter, then the comparison cell represented by the comparison gray value is determined to be unqualified, otherwise the comparison cell is determined to be qualified; If the extracted comparison gray value is within the secondary result judgment parameters [G1, G2], [G3, G4], ..., [G i , G i+1 ] is in any number set marked by the comparison cell, the comparison cell is judged to be unqualified, otherwise it is judged to be qualified; S444, set the judgment threshold S0, and count the number of unqualified comparison cells S n , if S n ≥S0, the blueberry corresponding to the compared gray value set is considered unqualified, and the serial number of the blueberry is output as sorting information.

[0037] Set the judgment threshold S0 according to the actual situation; During the process of comparing the grayscale values, if it is determined that a comparison cell is unqualified, the number of unqualified comparison cells increases by 1; otherwise, the number of qualified comparison cells increases by 1. When all comparison cells of a certain comparison grayscale image have been compared, the number S of unqualified comparison cells can be output. n ; If S n ≥ S0, it indicates that the number of unqualified comparison cells of the blueberry to be sorted exceeds the standard, and the area of the defective area is too large. It is determined that the blueberry to be sorted is unqualified, and the number of the blueberry to be sorted is output as sorting information; Compared with the prior art, the present application replaces the calculation of the area of the defective area by counting the number of unqualified comparison cells. It not only simplifies the judgment procedure and is conducive to improving the judgment efficiency; at the same time, the judgment accuracy can be adjusted by adjusting the area of the comparison cells, so as to meet different detection and sorting requirements and improve the applicable range of the equipment as much as possible; At the same time, it should be noted that since there are multiple photos of the same blueberry from different angles, in the final judgment, a technical solution of adding up the unqualified cells on each photo and finally comparing them can be selected, or each different photo can be judged separately. As long as one photo is unqualified, the corresponding blueberry can be determined to be a defective fruit.

[0038] S5. Separate the defective fruits according to the sorting signal.

[0039] As the blueberries continue to move, the second photoelectric sensor will continuously count. By comparing the actual count with the number information included in the sorting information, the defective fruits can be quickly determined, and finally they can be separated.

[0040] Compared with the prior art, the present application realizes the automatic sorting of blueberries. Compared with the manual sorting method, it can effectively improve the sorting efficiency of blueberries; Secondly, in terms of fruit diameter separation, the present application sorts through sorting holes, which not only has a simple structure, but also is stable and reliable in operation. At the same time, the simultaneous operation of multiple sorting holes is also conducive to improving the sorting efficiency; Finally, the present application controls the separation of each blueberry through a feeding auger, that is, controls each blueberry to pass through each sampling camera one by one at a relatively stable spacing and speed, which can avoid the mutual interference between different blueberries. At the same time, the appropriate spacing distance can also avoid misoperation during the later blowing and sorting, improving the sorting accuracy; during the process of conveying blueberries, it can also drive the blueberries to roll, so as to facilitate the sampling camera to take pictures of the blueberries from multiple different angles, and then determine whether each blueberry is a defective fruit, improving the sorting accuracy.

[0041] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present application.

Claims

1. A blueberry sorting device, characterized in that: include, A frame (1), wherein a plurality of level sorting modules (2) are sequentially arranged on the frame (1) along the length direction of the frame (1), each of the sorting modules (2) is provided with a plurality of sorting holes (3), and the apertures of the sorting holes (3) of the level sorting modules (2) are sequentially increased so as to respectively screen blueberries to be sorted having a target fruit diameter; A plurality of separation and transmission modules (4), each of the separation and transmission modules (4) being disposed at the outlet end of each of the sorting modules (2), and each of the separation and transmission modules (4) being provided with a feeding auger (5); along the transmission direction of the blueberries to be sorted, each of the separation and transmission modules (4) being provided with a plurality of sampling cameras (6); A plurality of purge separation modules (7), each of the purge separation modules (7) being disposed at an outlet end of each of the separation and transmission modules (4), and each of the purge separation modules (7) being used to separate secondary fruits; A controller (8), wherein the controller (8) is electrically connected to each of the sorting modules (2), each of the feeding augers (5) and each of the purge and separation modules (7).

2. A blueberry sorting device according to claim 1, characterized in that: The sorting module (2) comprises a sorting drum (201) and a rotating motor (202) which are connected in a power manner, and a plurality of sorting holes (3) are arranged on the sorting drum (201) around the axis of the sorting drum (201); the frame (1) is also provided with a guide plate (203) for guiding out blueberries, the inlet end of the guide plate (203) is inserted into the sorting drum (201), and the outlet end thereof is connected to the separation and conveying module (4).

3. A blueberry sorting device according to claim 1, characterized in that: The separation and conveying module (4) comprises a separation frame (401), on which at least one V-shaped conveying channel (402) is arranged, and the feeding auger is arranged at the bottom of the V-shaped conveying channel (402).

4. A blueberry sorting device according to claim 3, characterized in that: Along the conveying direction of the blueberries to be sorted, a plurality of gantry frames (403) are sequentially arranged on the separation frame (401), and a plurality of sampling cameras (6) are arranged on each of the gantry frames (403), and each of the sampling cameras (6) corresponds to each of the V-shaped conveying paths (402).

5. A blueberry sorting device according to claim 4, characterized in that: A plurality of first photoelectric sensors (404) for detecting the number of blueberries are arranged on each of the gantry frames (403), and each of the first photoelectric sensors (404) is matched with each of the sampling cameras (6) one by one. Along the conveying direction of the blueberries to be sorted, each of the first photoelectric sensors (404) is located at the rear end of each of the sampling cameras (6).

6. A blueberry sorting device according to claim 3, characterized in that: The purge separation module (7) comprises a support frame (701), on which are disposed a plurality of groups of mutually cooperating purge nozzles (702) and a second photoelectric sensor (703), each of the purge nozzles (702) being disposed at the outlet end of each of the V-shaped conveying channels (402); the outlet end of the separation frame (401) is also provided with a conveyor belt (9) for receiving inferior fruits.

7. A sorting method based on the sorting device according to any one of claims 1 to 6, characterized in that: The following steps are involved: Get the standard comparison image set {A1, A2, ..., A m }; where m is the standard comparison image number; Compare the image set according to the standard to obtain the secondary result determination parameter; Get the comparison image set {B1, B2, ..., B p } n ; Where p is the comparison image number, and n is the number of the blueberry to be sorted; According to the secondary result determination parameters and the comparison image set {B1, B2, ..., B p } n Generate a sorting signal for blueberries to be sorted; The secondary fruits are separated according to the sorting signal.

8. The sorting method according to claim 7, characterized in that: The step of obtaining the secondary result determination parameter according to the standard comparison image set comprises the following steps: Classifying the standard images in the standard comparison image set according to the defect types to obtain a plurality of defect image sets; Performing grayscale processing on each of the defect image sets respectively to obtain a plurality of defect grayscale image sets; Retrieve any defect grayscale image set and select any one defect grayscale image from it; Manually calibrating a defect area on the defect grayscale image; Obtaining the grayscale parameter of the defective area and outputting it as a secondary result determination parameter; Repeat the steps of retrieving any defect grayscale image set and selecting any one defect grayscale image from the set to obtain all secondary result judgment parameters, wherein the expression of the secondary result judgment parameter is [G1, G2], [G3, G4], ..., [G i , G i+1 ], where i represents the code of the secondary gray value parameter.

9. The sorting method according to claim 7, characterized in that: The method of generating a sorting signal for the blueberries to be sorted according to the inferior fruit determination parameter and the comparison image set comprises the following steps: Get the comparison image set {B1, B2, ..., B p } n and the secondary result determination parameter, grayscale processing is performed on the comparison image set to obtain a comparison grayscale image set {B1', B2', ..., B p '} n ; From the compared grayscale image set {B1', B2', ..., B p '} n Get any comparison grayscale image from ; The comparison grayscale image is divided into a number of comparison cells, the grayscale value of each comparison cell is obtained respectively, and a comparison grayscale value set {G1', G2', ..., G j '} n , where j represents the number of each comparison cell; The comparison gray value set is matched with the inferior fruit determination parameter. If the comparison and matching is successful, the blueberry is determined to be inferior fruit, and the number of the blueberry is output as sorting information.

10. The sorting method according to claim 9, characterized in that: The step of matching the comparison grayscale value set with the inferior fruit determination parameter, and if the comparison and matching is successful, determining the blueberry as inferior fruit, and outputting the number of the blueberry as sorting information, comprises the following steps: Get the gray value set {G1', G2', ..., G j '} n and the secondary result determination parameters [G1, G2], [G3, G4], ..., [G i , G i+1 ]; where i represents the code of the gray value parameter of the secondary fruit; Respectively comparing each comparison gray value in the comparison gray value set with the secondary result determination parameter; If the set of comparison gray values ​​meets the range calibrated by the secondary result determination parameter, the comparison cell represented by the comparison gray value is determined to be unqualified, otherwise the comparison cell is determined to be qualified; Set the judgment threshold S0 and count the number of unqualified comparison cells S n , if S n ≥S0, the blueberry corresponding to the compared gray value set is determined to be unqualified, and the serial number of the blueberry is output as sorting information.

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