Litchi fruit disease and insect pest identification method and device based on cyclonic posture adjustment

Abstract

The invention discloses a litchi fruit disease and insect pest recognition method and device based on cyclone type posture adjustment, and relates to the field of litchi fruit disease and insect pest recognition and sorting, and the method comprises the steps that a conveying device conveys litchi fruits one by one; the litchi posture camera is used for collecting litchi images of litchi fruits, the improved YOLOV8m litchi pedicel visual recognition model is used for recognizing the litchi images, and the pneumatic posture adjusting device is used for adjusting the posture of the litchi fruits according to the recognition result, so that the pedicels face upwards; litchi fruits with wormhole characteristics are recognized through a wormhole camera in the wormhole recognition device and a wormhole recognition model based on deep learning, the pneumatic sorting device sorts the fruits with insect pests to an insect pest collection channel, and qualified fruits enter a normal collection area. According to the method, the posture of the litchi fruits can be accurately adjusted, efficient pest recognition is conducted on the litchi fruits after posture adjustment, the recognition precision is high, the efficiency is high, and the quality and the sorting effect of the litchi fruits are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of litchi disease and pest identification and sorting technology, specifically to a method and equipment for identifying litchi fruit diseases and pests based on cyclone-type attitude adjustment. Background Technology

[0002] Lychee, as a fruit with high economic value, is deeply loved by consumers. After harvesting, internal insect infestations of lychee fruits severely affect the quality and market value of the fruit. The lychee stem borer is the main fruit-boring pest. Based on the habits of the lychee stem borer infesting lychee fruits, infested fruits are characterized by the distribution of infestation holes near the fruit stem. In existing technologies, infested fruits are mainly identified by manually observing the surface features of the lychee fruit. However, due to the large number and varied postures of lychee fruits, manual identification is inefficient and prone to missed or false detections. To solve these problems, existing technologies use visual technology for lychee fruit pest identification. However, existing identification methods struggle to accurately adjust the posture of lychee fruits, resulting in inconsistent fruit postures and low accuracy in subsequent pest identification, affecting the quality inspection and sorting of lychees. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned problems and provide a method for identifying pests and diseases in litchi fruits based on cyclone-type posture adjustment. This method can accurately adjust the posture of litchi fruits and efficiently identify pests and diseases in the litchi fruits after posture adjustment. It has high identification accuracy and high efficiency, ensuring the quality and sorting effect of litchi fruits.

[0004] Another objective of this invention is to provide a litchi fruit disease and pest identification device based on cyclone-type attitude adjustment.

[0005] The objective of this invention is achieved through the following technical solution: A method for identifying litchi fruit diseases and pests based on cyclone-like attitude adjustment includes the following steps: (1) The conveying device transports lychee fruits one by one; (2) When the lychee fruit is transported to the posture adjustment area, the lychee posture camera collects lychee images of the lychee fruit on the conveying device. The improved YOLOV8m lychee stem visual recognition model recognizes the lychee images collected by the lychee posture camera. If the lychee fruit is recognized as having its stem facing upwards, the information is returned to the central controller. The central controller then controls the conveying device to start and continues to recognize the posture of the next lychee fruit. If the lychee fruit's stem does not meet the requirements, the information is returned to the central controller. The central controller controls the pneumatic posture adjustment device to work and controls the pneumatic posture adjustment device to spray airflow to blow the lychee fruit and adjust its posture so that the lychee fruit's stem faces upwards. (3) The conveying device transports the lychee fruit with the stem facing upward to the insect hole identification device. The insect hole camera in the insect hole identification device and the insect hole identification model based on deep learning identify the lychee fruit with insect hole features and feed the insect hole identification result back to the central controller. (4) The central controller controls the pneumatic sorting device to work based on the insect hole identification results. The pneumatic sorting device sorts the litchi fruits that belong to insect-damaged fruits to the insect-damaged fruit collection channel, and the litchi fruits that belong to qualified fruits enter the normal collection area through the conveyor device.

[0006] In a preferred embodiment of the present invention, in step (2), if the lychee fruit stem is found to be non-compliant, the improved YOLOV8m lychee fruit stem visual recognition model is used to process and analyze the lychee image, and the minimum and maximum rotational inertia axes of the lychee fruit are calculated by combining the rotational inertia algorithm, thereby constructing a three-dimensional attitude coordinate system of the lychee fruit and obtaining the current attitude of the lychee fruit; the central controller controls the four nozzles of the pneumatic attitude adjustment device to work according to the current attitude of the lychee fruit. The four nozzles are respectively distributed in the left-right and up-down directions of the current lychee fruit, and the attitude of the lychee fruit is adjusted by the airflow sprayed from the nozzles so that the lychee fruit stem faces upward.

[0007] Preferably, in step (3), the specific steps for identifying litchi fruits with wormhole features using the wormhole camera in the wormhole identification device and the wormhole identification model based on deep learning are as follows: The insect hole camera captures images of lychee fruits with the stem facing upwards. The insect hole recognition model processes the lychee fruit images after posture adjustment using deep learning methods and identifies lychee fruits with insect holes.

[0008] A litchi fruit disease and pest identification device based on cyclone-type attitude adjustment includes a feeding device, a conveying device, a litchi attitude visual detection device, a central controller, a pneumatic attitude adjustment device, an insect hole identification device, a pneumatic sorting device, and a fruit collection device; wherein... The feeding device is used to feed lychee fruits one by one into the conveying device, which is used to transport the lychee fruits one by one. The lychee posture visual detection device is set in the posture adjustment area. The lychee posture visual detection device includes a lychee posture camera for capturing images of lychee fruits on the conveying device and an improved YOLOV8m lychee stem visual recognition model for recognizing the posture of lychee fruits. The insect hole recognition device includes an insect hole camera for capturing images of lychee fruits after posture adjustment and an insect hole recognition model for recognizing lychee fruits with lychee insect holes. The fruit collection device includes an insect-damaged fruit collection box connected to the insect-damaged fruit collection channel and a qualified fruit collection box set in the normal collection area. The pneumatic sorting device is used to sort lychee fruits that are insect-damaged to the insect-damaged fruit collection channel.

[0009] Preferably, the feeding device includes a feeding hopper and a rotating lever disposed inside the feeding hopper. After the lychee fruits are loaded into the feeding hopper, rotating the rotating lever can drive the lychee fruits one by one into the conveyor belt of the conveyor device, preventing multiple fruits from falling into the same pit in the conveyor belt.

[0010] Preferably, the conveying device includes a frame, a conveyor belt mounted on the frame, and a drive motor for driving the conveyor belt. The surface of the conveyor belt has multiple evenly distributed grooves. These grooves are used to hold lychee fruits, facilitating the individual transport of the lychees. By controlling the forward and reverse rotation of the drive motor, the conveyor belt can be rotated in both directions, thus achieving the transport of the lychee fruits.

[0011] Preferably, the pneumatic attitude adjustment device includes an air compressor, a jet controller, and four nozzles. The four nozzles are a left nozzle located on the left side of the conveyor belt, a right nozzle located on the right side of the conveyor belt, a lower nozzle located at the lower end of the conveyor belt, and an upper nozzle located above the conveyor belt. The air compressor is connected to the jet controller, and the left, right, lower, and upper nozzles are all connected to the jet controller via air pipes. In the above structure, when the improved YOLOV8m litchi stem visual recognition model detects that the litchi stem is not facing upwards, the corresponding nozzles are activated to jet air according to the litchi fruit image information to adjust the litchi fruit's attitude. The jet controller, according to the instructions of the central controller, controls the left, right, lower, and upper nozzles to jet air from appropriate angles to adjust the litchi fruit's attitude, so that the litchi fruit's stem faces upwards. The jet controller can control the left, right, lower, and upper nozzles separately.

[0012] Preferably, the pneumatic sorting device includes a high-speed solenoid valve, a precision guide nozzle, and an airflow channel connecting the high-speed solenoid valve and the precision guide nozzle. In the above structure, when the central controller receives the confirmation signal from the insect hole identification device, it controls the high-speed solenoid valve to open, and the precision guide nozzle sprays compressed air. The sprayed compressed air blows the lychee fruits that are infested with insects into the infested fruit collection channel, and then they fall into the infested fruit collection box for collection.

[0013] Preferably, the fruit collection device further includes an alarm mechanism and weighing sensors installed on the pest-damaged fruit collection box and the qualified fruit collection box; both the weighing sensors and the alarm mechanism are connected to the central controller. The weighing sensors obtain the weight of the lychee fruits in the pest-damaged fruit collection box and the qualified fruit collection box in real time. When the weight of the lychee fruits in either the pest-damaged fruit collection box or the qualified fruit collection box reaches a preset value, the central controller will control the alarm mechanism to issue an alarm prompt, facilitating a quick response from the operator.

[0014] Preferably, the bottom of the grooved compartment is provided with a circular air hole, through which the lower nozzle blows air into the grooved compartment. By providing a circular air hole, it is convenient for the lower nozzle to spray air, thereby adjusting the posture of the lychee fruit in the grooved compartment.

[0015] Compared with the prior art, the present invention has the following advantages: 1. The litchi fruit pest and disease identification method and equipment based on cyclone posture adjustment in this invention achieves precise adjustment of litchi fruit posture and efficient pest identification through machine vision technology. This method effectively solves the problem of identification error of litchi fruit infested with litchi stem borer caused by different litchi fruit postures, and significantly improves the efficiency and automation level of litchi stem borer infestation detection. At the same time, the litchi fruit pest and disease identification equipment based on cyclone posture adjustment also has the characteristics of compact structure, simple operation and convenient maintenance, and can adapt to the needs of different litchi varieties or different production environments, and has broad application prospects.

[0016] 2. The litchi fruit pest and disease identification method and equipment based on cyclone attitude adjustment in this invention utilizes an improved YOLOV8m litchi fruit stem visual recognition model to accurately identify the posture of litchi fruit with the fruit stem facing upwards. The improved YOLOV8m litchi fruit stem visual recognition model is an AssemFormer-HS-FPN-YOLOV8m deep learning model. A high-precision litchi attitude camera captures the spatial attitude of the litchi fruit in real time and links with a pneumatic attitude adjustment device to complete attitude correction, ensuring a high accuracy rate for subsequent pest identification.

[0017] 3. The litchi fruit pest and disease identification method and device based on cyclone attitude adjustment in this invention integrates a high-resolution insect hole camera and a deep learning-based insect hole identification model to achieve high-precision detection of tiny insect hole features on the surface of litchi fruit. It is particularly good at capturing hidden pests around the fruit stem of litchi fruit, effectively improving the comprehensiveness and reliability of pest identification. The method adopts the pneumatic sorting principle, and uses a pneumatic sorting device to sort litchi fruit that belongs to pests to the pest fruit collection channel, ensuring efficient separation of pests from qualified fruit, while avoiding physical damage and protecting the commercial value of litchi fruit.

[0018] 4. The litchi fruit disease and pest identification method and equipment based on cyclone attitude adjustment in this invention can flexibly adjust equipment parameters according to different production needs. The staggered arrangement of the four nozzles enables the litchi fruit to move with the air, the pressure sensor can collect the weight of the litchi fruit, and the central controller can output the corresponding air jet force according to the weight. The conveyor belt speed changes with the detection speed, etc., which enhances the adaptability and flexibility of the equipment.

[0019] 5. The litchi fruit disease and pest identification method and device based on cyclone attitude adjustment in this invention adopts a modular design, and each device can be replaced independently, which is convenient for maintenance and upgrading. Moreover, the equipment parameters, such as conveyor belt speed and nozzle jet force, can be flexibly adjusted according to different production needs, which enhances the adaptability and flexibility of the equipment. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of a litchi fruit disease and pest identification device based on cyclone attitude adjustment, as described in this invention.

[0021] Figure 2 This is a schematic cross-sectional view of the dark box of the control pneumatic attitude adjustment device in this invention.

[0022] Figure 3 This is a schematic diagram of the dark box of the pneumatic attitude adjustment device in this invention from different directions.

[0023] Figure 4 This is a diagram illustrating the process of adjusting the posture of litchi fruit in this invention.

[0024] Figure 5 This is a schematic diagram of the structure of the improved YOLOV8m litchi fruit stem visual recognition model in this invention. Detailed Implementation

[0025] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0026] Example 1 Machine vision technology, as a non-contact inspection method, achieves shape recognition and positioning of target objects through image acquisition and intelligent analysis, and has been widely used in the field of industrial automation. Addressing the need for lychee fruit posture adjustment, this embodiment integrates machine vision and pneumatic control technologies to adjust the lychee fruit posture and constructs a fully automated solution. This embodiment uses high-precision visual inspection technology to capture the spatial posture of the lychee fruit in real time, combines deep learning algorithms to accurately determine the orientation of the fruit stem, and coordinates with a pneumatic posture adjustment device to complete posture correction. Finally, a secondary visual verification ensures that all fruits enter the pest detection stage with a uniform posture.

[0027] See Figures 1-4 This embodiment discloses a method for identifying litchi fruit diseases and pests based on cyclone-like attitude adjustment, including the following steps: (1) The feeding device feeds 16 lychee fruits into the conveying device one by one, and the conveying device transports the lychee fruits one by one. (2) During the transport process, the lychee fruit 16 will pass through the posture adjustment area. When the lychee fruit is transported to the posture adjustment area, the lychee posture camera 24 in the lychee posture visual detection device will collect lychee images of the lychee fruit on the conveying device. The improved YOLOV8m lychee stem visual recognition model in the lychee posture visual detection device will recognize the lychee images collected by the lychee posture camera 24. If the lychee fruit is recognized as having its stem facing upward, the information will be returned to the central controller. The central controller will then control the conveying device to start and continue to recognize the posture of the next lychee fruit. If the lychee fruit's stem does not meet the requirements, the information will be returned to the central controller. The central controller will then control the pneumatic posture adjustment device to work and control the pneumatic posture adjustment device to spray airflow to blow the lychee fruit and adjust its posture so that the lychee fruit's stem faces upward. The central controller will then control the conveying device to start and continue to recognize the posture of the next lychee fruit. (3) The conveying device transports the lychee fruit 16 with the stem facing upward (including the lychee fruit with the stem facing upward after posture adjustment and the lychee fruit with the stem facing upward without adjustment) to the insect hole identification device. The insect hole camera in the insect hole identification device and the insect hole identification model based on deep learning identify the lychee fruit with insect hole features and feed the insect hole identification result back to the central controller 15. (4) The central controller 15 controls the pneumatic sorting device to work based on the insect hole identification results. The pneumatic sorting device sorts the litchi fruits 16 that are insect-damaged to the insect-damaged fruit collection channel, while the litchi fruits that are qualified enter the normal collection area through the conveyor device. The litchi fruits with insect hole characteristics are insect-damaged fruits.

[0028] See Figures 1-4In step (2), if the stem of the litchi fruit 16 is found to be unsuitable, the improved YOLOV8m litchi stem visual recognition model is used to process and analyze the litchi image, and the minimum and maximum rotational inertia axes of the litchi fruit are calculated by combining the rotational inertia algorithm, thereby constructing a three-dimensional attitude coordinate system of the litchi fruit and obtaining the current attitude of the litchi fruit. The central controller 15 controls the four nozzles of the pneumatic attitude adjustment device to work according to the current attitude of the litchi fruit. The four nozzles are distributed in the left, right and up and down directions of the current litchi fruit. The airflow is sprayed from the nozzles to adjust the attitude of the litchi fruit so that the stem of the litchi fruit is facing upward. The litchi attitude visual detection device continues to identify the attitude of the next litchi fruit.

[0029] See Figures 1-3 In step (3), the specific steps for identifying litchi fruits with wormhole features using the wormhole camera in the wormhole identification device and the wormhole identification model based on deep learning are as follows: The insect hole camera captures images of lychee fruits with the stem facing upwards (i.e., the insect hole camera captures images of lychee fruits with the stem facing upwards after passing through the lychee posture visual detection device). The insect hole recognition model processes the lychee fruit images after posture adjustment using deep learning methods and identifies lychee fruits with lychee insect holes.

[0030] See Figures 1-3 A litchi fruit pest and disease identification device based on cyclone attitude adjustment includes a feeding device, a conveying device, a litchi attitude visual detection device, a central controller 15, a pneumatic attitude adjustment device, an insect hole identification device, a pneumatic sorting device, and a fruit collection device.

[0031] The feeding device, lychee posture visual detection device, pneumatic posture adjustment device, insect hole recognition device, pneumatic sorting device, and fruit collection device are arranged along the conveying device. The feeding device is used to feed lychee fruits 16 one by one into the conveying device, and the conveying device is used to transport lychee fruits 16 one by one. The lychee posture visual detection device is set in the posture adjustment area. The lychee posture visual detection device includes a lychee posture camera 24 for capturing lychee images of lychee fruits 16 on the conveying device and an improved YOLOV8m lychee stem visual recognition model for recognizing the posture of lychee fruits. The insect hole recognition device includes an insect hole camera for capturing images of lychee fruits after posture adjustment and an insect hole recognition model for recognizing lychee fruits with lychee insect holes. The fruit collection device includes an insect-damaged fruit collection box 9 connected to the insect-damaged fruit collection channel and a qualified fruit collection box 7 set in the normal collection area. The pneumatic sorting device is used to sort lychee fruits that belong to insect damage to the insect-damaged fruit collection channel.

[0032] See Figures 1-3The feeding device is located at the very front of the equipment, that is, at the very front of the conveying device. The feeding device includes a feeding hopper 1 and a rotating lever 13 disposed inside the feeding hopper 1. After the lychee fruits are loaded into the feeding hopper 1, rotating the rotating lever 13 can drive the lychee fruits one by one into the conveyor belt 2 of the conveying device, preventing multiple fruits from falling into the same pit (i.e., groove 21) in the conveyor belt.

[0033] The rotating lever 13 is made of food-grade stainless steel with a precision-polished surface, ensuring safe and uncontaminated contact with the lychee fruit while effectively reducing damage to the fruit's skin. The rotation speed of the lever 13 can be steplessly adjusted via the central controller 15 to accommodate lychee fruits of different sizes. It automatically stops rotating when the groove 21 of the conveyor belt 2 is full, preventing lychee fruit accumulation or jamming. A vibrating screening structure is installed at the bottom of the feeding device to automatically remove broken fruit, branches, and other impurities smaller than 15 mm in diameter, ensuring that only whole lychee fruits enter the conveyor belt 2, improving subsequent identification and sorting efficiency. The feeding device is also equipped with a photoelectric sensor counter that counts the number of lychee fruits fed in real time and feeds this information back to the central controller 15. Feeding automatically stops when the preset batch quantity is reached, coordinating with the overall production line cycle control.

[0034] See Figures 1-3 The conveying device includes a frame, a conveyor belt 2 mounted on the frame, and a drive motor 12 for driving the conveyor belt 2. The surface of the conveyor belt 2 has multiple evenly distributed grooves 21. These grooves 21 are used to hold lychee fruits, facilitating the individual transport of the lychees. By controlling the forward and reverse rotation of the drive motor 12, the conveyor belt 2 can be rotated in both directions to transport the lychees. After lychee fruits are loaded into the hopper 1, rotating the rotary lever 13 causes the lychees to be transported one by one into the grooves 21 (slots) of the conveyor belt 2, preventing multiple lychee fruits 16 from falling into the same groove 21. The conveyor belt 2 has grooves and holes on its left and right sides and bottom. When the unloading area of ​​the conveyor belt 2 is empty, the drive motor 12 is not working, and the conveyor belt 2 is stationary. When the first lychee fruit falls onto the conveyor belt 2, it is visually identified; once successful identification, the conveyor belt 2 begins operation.

[0035] See Figures 1-3 The conveying device also includes a conveyor chain 18 and a drive shaft 19, through which the power of the drive motor 12 can be transmitted to the conveyor belt 2.

[0036] See Figures 1-3The bottom of the groove 21 is provided with a groove, the depth of which is precisely calculated. This groove not only secures individual lychee fruits and prevents them from rolling, but also facilitates the adjustment of the posture of the nozzle 20 below through the circular air hole at the bottom. The drive motor 12 is equipped with a closed-loop control system, which can precisely control the start, stop, forward and reverse rotation, and speed adjustment of the conveyor belt 2 according to the instructions of the central controller 15, ensuring synchronization with visual inspection, pneumatic adjustment, and other processes.

[0037] See Figures 1-5 The litchi posture visual detection device is located directly above the conveyor belt 2. In the improved YOLOV8m litchi stem visual recognition model, the improved AssemFormer structure is added to the YOLOV8m bakebone structure for the feature extraction stage of litchi fruit shape, depth and color, so as to achieve efficient global feature capture, focus on target area and improve segmentation performance. In the feature fusion stage, the improved HS-FPN structure is adopted to realize multi-scale feature fusion and improve the feature expression ability of the model. When a lychee appears below the lychee posture camera 24, the lychee posture camera 24 begins to collect image information of the lychee. After processing by the improved YOLOV8m lychee stem visual recognition model, if the lychee is detected with the stem facing upwards, the information is returned to the central controller 15. The central controller 15 then controls the transmission device to start, and the lychee posture visual detection device continues to identify the posture of the next lychee. If the lychee stem is detected as not meeting the requirements, the information is returned to the central controller 15. The central controller 15 controls the pneumatic posture adjustment device to work, controlling the pneumatic posture adjustment device to spray airflow to blow the lychee and adjust its posture. Based on the real-time fruit image information from the lychee posture camera 24, the left nozzle 22, right nozzle 17, lower nozzle 20, and upper nozzle 23 are controlled to work until the lychee stem is facing upwards, and then the posture of the next lychee is identified.

[0038] See Figures 1-5 The lychee posture visual detection device also includes a dark box 3, inside which the lychee posture camera 24 is located. A ring light source 14 provides uniform illumination inside the dark box 3, effectively eliminating shadow interference and providing an ideal shooting environment for the lychee posture camera 24. This allows for real-time capture of the lychee's spatial posture information, which is then transmitted to the central controller 15 for analysis and processing. Under the conditions of the dark box 3 and the ring light source 14, a high recognition accuracy can be maintained. The improved YOLOV8m lychee stem visual recognition model, after extensive data training and optimization, possesses powerful feature extraction and target recognition capabilities.

[0039] See Figures 1-5The improved YOLOV8m litchi stem visual recognition model is now the AssemFormer-HS-FPN-YOLOV8m model. This model employs a lightweight network architecture, significantly reducing computational resource consumption while maintaining high recognition accuracy, enabling rapid deployment on embedded central controllers or edge computing devices. During the training phase, a large-scale labeled litchi fruit image dataset is introduced, covering fruit samples from different varieties, maturity levels, and lighting conditions. Data augmentation techniques are used to simulate complex scenarios in actual production, effectively improving the model's generalization ability. For the litchi fruit stem region features, the model employs a multi-scale feature fusion strategy, combined with an attention mechanism to enhance the detection capability of small targets. Furthermore, the model supports online learning, continuously optimizing recognition parameters based on new data accumulated during production, ensuring long-term stability and accuracy.

[0040] See Figures 1-4 The pneumatic attitude adjustment device includes an air compressor 10, a jet controller, and four nozzles. The four nozzles are a left nozzle 22 located on the left side of the conveyor belt 2, a right nozzle 17 located on the right side of the conveyor belt 2, a lower nozzle 20 located at the lower end of the conveyor belt 2, and an upper nozzle 23 located above the conveyor belt 2. The air compressor 10 is connected to the jet controller, and the left nozzle 22, right nozzle 17, lower nozzle 20, and upper nozzle 23 are all connected to the jet controller through an air pipe 11. In the above structure, the lychee fruit moves along the conveyor belt 2 and passes through the nozzle assembly consisting of the left nozzle 22, the right nozzle 17, the lower nozzle 20, and the upper nozzle 23, forming an all-round adjustment array to achieve multi-angle posture optimization. When the improved YOLOV8m lychee stem visual recognition model detects that the lychee stem is not facing upwards, it activates the nozzles at the corresponding positions to spray air according to the lychee image information to adjust the posture of the lychee fruit. Through the cooperation of the left nozzle 22, the right nozzle 17, the lower nozzle 20, and the upper nozzle 23, the lychee stem can be made to face upwards. The air spray controller can control the left nozzle 22, the right nozzle 17, the lower nozzle 20, and the upper nozzle 23 respectively.

[0041] In this embodiment, the left nozzle 22 and the right nozzle 17 are installed at different heights.

[0042] See Figures 1-3 When the system detects that the stem of the lychee fruit is facing down, the central controller 15 immediately calculates the required adjustment angle and controls the air compressor 10 to start. Based on the size of the lychee fruit, the air jet intensity of the left nozzle 22, right nozzle 17, lower nozzle 20 and upper nozzle 23 is automatically adjusted to complete the posture correction within milliseconds, ensuring that the lychee fruit enters the subsequent detection process with the stem facing up.

[0043] See Figures 1-3 Both the lychee posture camera 24 and the insect hole camera are high-definition cameras. The lychee posture camera 24 collects real-time image information of the lychee fruit and analyzes it using an improved YOLOV8m lychee stem visual recognition model. If the lychee stem does not meet the requirements (i.e., the stem is not facing upwards), the minimum and maximum moment of inertia axes of the lychee fruit are calculated using a rotational inertia algorithm to construct a three-dimensional attitude coordinate system. The roll angle θ and pitch angle α are used as attitude angle parameters (key parameters) to describe the spatial orientation (specific attitude) of the lychee fruit. Of the four nozzles, the left nozzle 22 and the right nozzle 17 are installed at different heights. A piezoelectric sensor is installed at the position corresponding to each lychee fruit on the conveyor belt 2 to detect the weight of a single lychee fruit. The central controller controls the jet intensity of the pneumatic attitude adjustment device based on the current weight of the lychee fruit. The central controller executes the following jet control logic based on the attitude angle parameters of the current attitude of the lychee fruit: When the lychee fruit stem is detected to be facing left, i.e., the roll angle θ is within the range of −30° to −60° (roll angle θ = −30° to −60°), the right nozzle 17 is activated to spray air for 0.4 seconds; when the lychee fruit stem is detected to be facing right, i.e., the roll angle θ is within the range of 30° to 60° (roll angle θ = 30° to 60°), the left nozzle 22 is activated to spray air for 0.4 seconds; when the lychee fruit stem is detected to be facing down, i.e., the pitch angle α is within the range of 70° to 90° (pitch angle α = 70° to 90°), the lower nozzle 20 is activated to spray air vertically for 0.6 seconds; the upper nozzle 23 serves as an auxiliary adjustment nozzle, and is activated when the lychee fruit pitch angle α is detected to be within the range of 45° to 60° and the absolute value of the roll angle θ is less than 15°, with the upper nozzle 23 spraying air for 0.3 seconds. During the air jetting process, piezoelectric sensors monitor the weight changes of the lychee fruit in real time. If a sudden weight loss of more than 15% is detected (indicating that the lychee fruit may be blown off conveyor belt 2), the system immediately terminates the current air jetting action and triggers an alarm. To prevent excessive rotation of the lychee fruit, the system pauses for 0.2 seconds after each air jetting session for a secondary attitude assessment. If the target attitude is not achieved after three consecutive air jetting sessions, the lychee fruit is marked as defective and pushed to the manual re-inspection station. The system is activated when the fruit exhibits a complex posture or when previous adjustments fail to meet expectations. The air jetting duration is dynamically adjusted according to the actual deflection angle, with a maximum of 0.8 seconds.

[0044] When the lychee fruit stem is detected to be tilted, i.e., the pitch angle α is between 30° and 60° and the roll angle θ is within the range of ±15° to ±45° (α=30°~60° and θ=±15°~±45°), a combined jet spray mode is adopted. First, the left nozzle 22 is activated to spray for 0.2 seconds, and then the lower nozzle 20 is activated immediately to spray for 0.3 seconds (e.g., the lower nozzle 20 is activated immediately after the left nozzle 22 sprays for 0.2 seconds).

[0045] The equipment employs a three-level airflow intensity adjustment mechanism. Based on the improved YOLOV8m litchi stem visual recognition model, it automatically matches the air pressure parameters for small, medium, and large litchi fruits by calculating the surface area of ​​the litchi fruit through image processing. PID closed-loop control dynamically corrects the airflow duration (error feedback threshold ≤ 5°). After each airflow, a posture check is performed at 0.2-second intervals. If the target is not achieved after three consecutive adjustments (the angle between the litchi fruit stem axis and the vertical direction ≤ 8°), a combined airflow correction is triggered (first, the left / right nozzle 17 airflows for 0.3 seconds, followed immediately by the lower nozzle 20 airflows for 0.4 seconds), ensuring the litchi fruit enters the insect hole recognition device with the stem facing upwards. This process continues, with multiple fine-tuning until the litchi fruit stem is completely upwards, achieving the preset ideal posture. Once the current litchi fruit posture meets the requirements, the equipment immediately stops airflow to that litchi fruit and quickly transitions to the recognition and posture adjustment process for the next litchi fruit.

[0046] See Figures 1-3 The pneumatic sorting device employs a pneumatic sorting principle and includes a high-speed solenoid valve, a precision guide nozzle 4, and an airflow channel connecting the high-speed solenoid valve and the precision guide nozzle 4. In this structure, when the central controller 15 receives a confirmation signal from the insect hole identification device, it quickly controls the high-speed solenoid valve to open. The precision guide nozzle 4 then sprays compressed air at the appropriate time, blowing the insect-damaged lychee fruits into the insect-damaged fruit collection channel. These fruits then fall into the insect-damaged fruit collection box 9 for collection, while qualified fruits continue along the conveyor belt 2 into the normal collection area. The angle and force of the precision guide nozzle 4 are optimized to ensure sorting accuracy while avoiding physical damage to the lychee fruits.

[0047] See Figures 1-3 The high-speed solenoid valve is a high-frequency response type, capable of opening and closing within milliseconds, ensuring precise timing of the jetting from the precision guide nozzle 4. The precision guide nozzle 4 has undergone fluid dynamics simulation optimization design, resulting in a conical airflow that effectively covers the surface of the lychee fruit while preventing airflow dispersion that could lead to insufficient sorting force.

[0048] See Figures 1-3The fruit collection device also includes an alarm mechanism and weighing sensors 8 installed on the pest-infested fruit collection box 9 and the qualified fruit collection box 7; both the weighing sensors 8 and the alarm mechanism are connected to the central controller 15. The weighing error of the weighing sensor 8 is controlled within ±5 grams to ensure data accuracy. The weighing sensor 8 obtains the weight of the lychee fruits in the pest-infested fruit collection box 9 and the qualified fruit collection box 7 in real time. When the weight of the lychee fruits in either the pest-infested fruit collection box 9 or the qualified fruit collection box 7 reaches a preset value, the central controller 15 will control the alarm mechanism to issue an alarm prompt, facilitating a quick response from operators and ensuring the continuity of the production process.

[0049] See Figures 1-3 The alarm mechanism includes a buzzer and indicator lights. When the weight of the lychees in the pest-infested fruit collection box 9 or the qualified fruit collection box 7 reaches a preset value, the central controller 15 will simultaneously issue a replacement prompt via the buzzer and indicator lights, informing the operator that the pest-infested fruit collection box 9 or the qualified fruit collection box 7 is full and needs to be replaced promptly. At the same time, the specific location information will be displayed on the high-definition touchscreen for quick operator response. To meet the sorting needs of different batches of lychees, the fruit collection device also supports quick switching between multiple sizes of collection boxes. By replacing the pest-infested fruit collection box 9 or the qualified fruit collection box 7 with different capacities, it can adapt to small-batch trial production or large-scale mass production scenarios. Furthermore, the pest-infested fruit collection box 9 and the qualified fruit collection box 7 are equipped with transparent dust covers on top, which prevent dust from falling into the box and allow operators to easily observe the internal collection situation. The transparent dust covers use a quick-opening hinge structure, allowing for easy one-handed opening for cleaning and maintenance. Parameters during the posture adjustment process can be dynamically adjusted via the high-definition touchscreen.

[0050] See Figures 1-3 The fruit collection device is detachable, allowing operators to quickly remove the insect-damaged fruit collection box 9 or the qualified fruit collection box 7 filled with lychees and replace it with an empty insect-damaged fruit collection box 9 or qualified fruit collection box 7 to continue the sorting operation. This not only improves sorting efficiency but also reduces the tediousness of manual operation and lowers labor intensity. See Figures 1-3 Both the pest-damaged fruit collection box 9 and the qualified fruit collection box 7 are equipped with cushioning material. They are made of food-grade plastic, meeting food safety standards, and have a smooth, corner-free surface for easy daily cleaning and disinfection. They are also made of transparent material, allowing operators to observe the collection process in real time, and are equipped with casters at the bottom for easy movement. Furthermore, the fruit collection device features a quick-disassembly structure for easy cleaning and maintenance, meeting the hygiene requirements of the food processing industry.

[0051] See Figures 1-3The conveyor belt 2 is equipped with a sorting outlet 5 and a guide outlet 6. The sorting outlet 5 is connected to the pest-damaged fruit collection channel, and the guide outlet 6 corresponds to the qualified fruit collection box 7. The compressed air sprayed out blows the lychee fruits that are pest-damaged into the sorting outlet 5, and then into the pest-damaged fruit collection channel. The lychee fruits that are qualified are transported by the conveyor belt 2 to the guide outlet 6, and then fall into the qualified fruit collection box 7.

[0052] See Figures 1-3 The bottom of the groove 21 is provided with a circular air hole, through which the lower nozzle 20 blows air into the groove 21. By providing a circular air hole, it is convenient for the lower nozzle 20 to blow air and adjust the posture of the lychee fruit in the groove 21. Circular air holes are also provided on the left and right sides of the groove 21, through which the left nozzle 22 and the right nozzle 17 blow air into the groove 21.

[0053] See Figures 1-3 The central controller 15 is used to receive information from the improved YOLOV8m litchi stem visual recognition model and insect hole recognition model, and to send signals to control the start and stop of the drive motor 12, litchi posture camera 24, insect hole camera, pneumatic posture adjustment device, and pneumatic sorting device. The central controller 15 is a multi-functional control hub, integrating a high-performance processor and dedicated control algorithms. It can quickly analyze the data returned by the improved YOLOV8m litchi stem visual recognition model and insect hole recognition model, and make accurate judgments based on preset logic. In addition to its powerful data processing capabilities, the central controller 15 also features a user-friendly interface, allowing operators to adjust equipment (system) parameters according to actual needs, such as the speed of the conveyor belt 2, the jet pressure of the left nozzle 22, the right nozzle 17, the lower nozzle 20, the upper nozzle 23, and the precision guide nozzle 4, as well as the recognition sensitivity, to adapt to the needs of different litchi varieties or different production environments. In addition, the central controller 15 is equipped with a built-in fault self-diagnosis and alarm system. Once a system abnormality or component failure is detected, it will immediately remind the operator to handle the situation in a timely manner through sound and light signals, ensuring the continuity and stability of the entire litchi fruit posture adjustment and sorting process.

[0054] See Figures 1-3The central controller 15 uses a Raspberry Pi and is controlled via a serial port screen. The central controller 15's operating interface features a 7-inch high-definition touchscreen. Operators can quickly set system parameters, such as the speed of conveyor belt 2, the jet pressure of left nozzle 22, right nozzle 17, lower nozzle 20, upper nozzle 23, and precision guide nozzle 4, as well as the recognition threshold, through an intuitive graphical interface, and view the equipment's operating status and statistical data in real time. The central controller 15 has a built-in USB flash drive interface and data storage module, which can automatically record key data during the production process, such as recognition accuracy, sorting efficiency, and fault codes, providing data support for production optimization and quality traceability.

[0055] See Figures 1-4 The insect hole recognition device is located at the rear of conveyor belt 2, adjacent to the posture adjustment area. The insect hole camera is a high-resolution camera, and the insect hole recognition model is trained using a large dataset of labeled litchi insect hole images. It can accurately identify the tiny insect hole features on the surface of litchi fruits, and is particularly adept at capturing hidden pests around the stem of the litchi fruit, accurately identifying the insect hole features on the surface of the litchi fruit. During the recognition process, the insect hole camera acquires images of litchi fruits after posture adjustment in real time. The insect hole recognition model quickly analyzes and marks the litchi fruits with insect holes, and promptly feeds the results back to the central controller 15.

[0056] The insect hole recognition model employs a deep convolutional neural network architecture, automatically extracting deep features of insect holes on the surface of litchi fruits through multi-layer nonlinear transformations. During training, a transfer learning strategy is used, fine-tuning the model based on a pre-trained image recognition model, significantly shortening the training cycle and improving feature extraction capabilities. Addressing the challenge of insect holes being small and easily confused with features such as the fruit stem and branch marks, the model introduces the Dtect_AFPN3 attention mechanism module, which enhances attention to the insect hole region through adaptive weight allocation. Simultaneously, multi-scale feature fusion technology is used to combine shallow detail features with deep semantic features, effectively improving the detection sensitivity for insect holes of different sizes. Furthermore, the insect hole recognition model integrates a hard sample mining algorithm, automatically focusing on samples prone to false detection during training, and gradually improving recognition robustness through iterative optimization. To adapt to complex lighting conditions in actual production, the insect hole recognition model also adds a lighting normalization preprocessing module to ensure stable recognition performance under different lighting environments.

[0057] See ​ The working principle of the above-mentioned litchi fruit disease and pest identification device based on cyclone attitude adjustment is as follows: After the lychees are loaded, the feeding device contains a rotating lever 13. Rotating the lever 13 allows the lychees to enter the conveyor belt 2 one by one. The drive motor 12 rotates the conveyor belt 2 in both directions. The conveyor belt 2 has circular air holes on the left and right sides and directly below the center of the bottom of the groove grid 21. Each grid on the conveyor belt 2 has tiny grooves forming the groove grid 21. The conveyor belt 2 is initially stationary. When the lychees enter the conveyor belt 2, the improved YOLOV8m lychee stem visual recognition model starts working. The improved YOLOV8m lychee stem visual recognition model is trained using the collected lychee image dataset and recognizes lychee images with the stem facing upwards. The improved YOLOV8m lychee stem visual recognition model uses the lychee posture camera 24 to detect the lychees on the conveyor belt 2 in real time and transmits the signal to the central controller 15. The central controller 15 can receive the improved YOLOV8m lychee stem visual recognition... The system functions to return information from the model and send instructions to the entire system (equipment). When the central controller 15 receives the signal from the improved YOLOV8m lychee stem visual recognition model, if it detects that the lychee fruit has its stem facing upwards, it controls the start of the conveyor belt 2, and the lychee posture visual detection device continues to identify the posture of the next lychee fruit. If it detects that the lychee fruit's stem does not meet the requirements (i.e., the lychee fruit's stem is not facing upwards), it controls the pneumatic posture adjustment device to work according to the preset program. The pneumatic posture adjustment device, according to the instructions of the central controller 15, sprays air from a suitable angle to adjust the posture of the lychee fruit so that the lychee fruit's stem faces upwards. The left nozzle 22, right nozzle 17, and lower nozzle 20 of the pneumatic attitude adjustment device correspond to the positions of the circular air holes located on the conveyor belt 2. The pneumatic attitude adjustment device is used to adjust the attitude of the lychee fruit. The pneumatic sorting device is located behind the insect hole recognition device and is used for pneumatic sorting of lychee fruits that are infested with insects. After the conveyor belt 2 starts working, it transports the lychee fruits with the stem facing upwards to the area below the insect hole camera. The insect hole recognition model then starts working. The insect hole recognition model uses deep learning to process the image of the lychee fruit after attitude adjustment. The system processes and identifies lychee fruits with insect holes, thus classifying them as pest-damaged fruits. The identification results are fed back to the central controller 15, which then controls a pneumatic sorting device to sort the lychee fruits into either the pest-damaged fruit collection box 9 or the qualified fruit collection box 7. The pneumatic sorting device is a pneumatic structure; upon identifying a pest-damaged fruit, the central controller 15 sends a signal to the air jet control end (high-speed solenoid valve) of the pneumatic sorting device, which then automatically sprays air, blowing the pest-damaged fruit off the conveyor belt 2 and into the pest-damaged fruit collection box 9. The entire control process of the equipment is coordinated in real time by the central controller 15, ensuring tight action transitions and rapid response. A visual detection unit composed of a lychee posture camera 24 and an insect hole camera continuously collects image information as each lychee fruit passes by, achieving dynamic feedback and closed-loop control, improving the accuracy of posture adjustment.Since the characteristic of litchi stem borer-damaged fruit is that the insect holes are concentrated in the stem area of ​​the litchi fruit, the litchi fruit needs to be placed with the stem facing upwards to facilitate the identification of the insect holes by the insect hole identification device. The device in this embodiment effectively solves the problem of identification error of litchi stem borer-damaged fruit caused by the different postures of litchi fruits, and significantly improves the efficiency and automation level of litchi stem borer-damaged fruit detection.

[0058] Example 2 The other structures in this embodiment are the same as in Embodiment 1, except that baffles are provided on both sides of the conveyor belt 2, and the groove 21 is open from left to right. The baffles block the lychee fruit, and the baffles are provided with circular air holes, which correspond to the left nozzle 22 and the right nozzle 17, respectively. The baffles are height-adjustable to prevent the lychee fruit from slipping during high-speed transport or posture adjustment. The inner side of the baffles is covered with soft cushioning material to further protect the integrity of the lychee fruit skin.

[0059] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A method for identifying litchi fruit diseases and pests based on cyclonic attitude adjustment, characterized in that, Includes the following steps: (1) The conveying device transports lychee fruits one by one; (2) When the lychee fruit is transported to the posture adjustment area, the lychee posture camera collects lychee images of the lychee fruit on the conveying device. The improved YOLOV8m lychee fruit stem visual recognition model recognizes the lychee images collected by the lychee posture camera. If the lychee fruit is recognized as having its stem facing upwards, the information is returned to the central controller. The central controller then controls the conveying device to start and continues to recognize the posture of the next lychee fruit. If the stem of the lychee fruit is found to be unsuitable, the information is returned to the central controller. The central controller then controls the pneumatic attitude adjustment device to work, which sprays air to move the lychee fruit and adjust its posture so that the stem of the lychee fruit faces upward. (3) The conveying device transports the lychee fruit with the stem facing upward to the insect hole identification device. The insect hole camera in the insect hole identification device and the insect hole identification model based on deep learning identify the lychee fruit with insect hole features and feed the insect hole identification result back to the central controller. (4) The central controller controls the pneumatic sorting device to work based on the insect hole identification results. The pneumatic sorting device sorts the litchi fruits that belong to insect-damaged fruits to the insect-damaged fruit collection channel, and the litchi fruits that belong to qualified fruits enter the normal collection area through the conveyor device.

2. The method for identifying litchi fruit diseases and pests based on cyclone-like attitude adjustment according to claim 1, characterized in that, In step (2), if the lychee fruit stem is found to be non-compliant, the YOLOV8m lychee fruit stem visual recognition model is improved to process and analyze the lychee image, and the minimum and maximum rotational inertia axes of the lychee fruit are calculated by combining the rotational inertia algorithm, thereby constructing the three-dimensional attitude coordinate system of the lychee fruit and obtaining the current attitude of the lychee fruit. The central controller controls the four nozzles of the pneumatic attitude adjustment device to work according to the current posture of the lychee fruit. The four nozzles are distributed in the left, right and up and down directions of the current lychee fruit. The airflow from the nozzles adjusts the posture of the lychee fruit so that the stem of the lychee fruit is facing upward.

3. The method for identifying litchi fruit diseases and pests based on cyclone-like attitude adjustment according to claim 1, characterized in that, In step (3), the specific steps for identifying litchi fruits with wormhole features using the wormhole camera in the wormhole identification device and the wormhole identification model based on deep learning are as follows: The insect hole camera captures images of lychee fruits with the stem facing upwards. The insect hole recognition model processes the lychee fruit images after posture adjustment using deep learning methods and identifies lychee fruits with insect holes.

4. A litchi fruit disease and pest identification device based on cyclone-type attitude adjustment, characterized in that, The litchi fruit pest and disease identification device is used to implement the litchi fruit pest and disease identification method based on cyclone attitude adjustment as described in any one of claims 1-3. The litchi fruit pest and disease identification device includes a feeding device, a conveying device, a litchi attitude visual detection device, a central controller, a pneumatic attitude adjustment device, an insect hole identification device, a pneumatic sorting device, and a fruit collection device; wherein... The feeding device is used to feed lychee fruits one by one into the conveying device, which is used to transport the lychee fruits one by one. The lychee posture visual detection device is set in the posture adjustment area. The lychee posture visual detection device includes a lychee posture camera for capturing images of lychee fruits on the conveying device and an improved YOLOV8m lychee stem visual recognition model for recognizing the posture of lychee fruits. The insect hole recognition device includes an insect hole camera for capturing images of lychee fruits after posture adjustment and an insect hole recognition model for recognizing lychee fruits with lychee insect holes. The fruit collection device includes an insect-damaged fruit collection box connected to the insect-damaged fruit collection channel and a qualified fruit collection box set in the normal collection area. The pneumatic sorting device is used to sort lychee fruits that are insect-damaged to the insect-damaged fruit collection channel.

5. The litchi fruit disease and pest identification device based on cyclone attitude adjustment according to claim 4, characterized in that, The feeding device includes a feeding hopper and a rotating lever disposed inside the feeding hopper.

6. The litchi fruit disease and pest identification device based on cyclone attitude adjustment according to claim 5, characterized in that, The conveying device includes a frame, a conveyor belt mounted on the frame, and a drive motor for driving the conveyor belt to move. The surface of the conveyor belt is evenly distributed with multiple grooves.

7. The litchi fruit disease and pest identification device based on cyclone attitude adjustment according to claim 6, characterized in that, The pneumatic attitude adjustment device includes an air compressor, a jet controller, and four nozzles. The four nozzles are a left nozzle located on the left side of the conveyor belt, a right nozzle located on the right side of the conveyor belt, a lower nozzle located at the lower end of the conveyor belt, and an upper nozzle located above the conveyor belt. The air compressor is connected to the jet controller, and the left nozzle, right nozzle, lower nozzle, and upper nozzle are all connected to the jet controller via air pipes.

8. The litchi fruit disease and pest identification device based on cyclone attitude adjustment according to claim 4, characterized in that, The pneumatic sorting device includes a high-speed solenoid valve, a precision guide nozzle, and an airflow channel connecting the high-speed solenoid valve and the precision guide nozzle.

9. The litchi fruit disease and pest identification device based on cyclone attitude adjustment according to claim 4, characterized in that, The fruit collection device also includes an alarm mechanism and weighing sensors installed on the pest-damaged fruit collection box and the qualified fruit collection box; the weighing sensors and the alarm mechanism are both connected to the central controller.

10. The litchi fruit disease and pest identification device based on cyclone attitude adjustment according to claim 7, characterized in that, The bottom of the groove is provided with a circular air hole, and the nozzle below blows air into the groove through the circular air hole.

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