Automatic fruit grading device based on machine vision and biological speckles

Abstract

The invention discloses an automatic fruit grading device based on machine vision and biological speckles, and relates to the technical field of fruit quality detection, and the automatic fruit grading device comprises a feeding assembly, a discharging assembly and a conveying assembly. When the automatic fruit grading device based on the machine vision and the biological speckles is used and sorted, whether fruits on a display stand are excessively ripe or internally decay or not can be measured through the speckle laser device, meanwhile, a camera is matched for continuous shooting, and when the quality of the fruits is not qualified, an abnormal signal is transmitted to the controller; the controller electrically controls starting and stopping of the servo motor and the electric push rods, the servo motor is started to drive the U-shaped frame to rotate by one circle, the two electric push rods are started through the controller according to the quality condition of the fruits when the U-shaped frame rotates by one circle, the display table inclines towards one side with the rotating rod as the center, and therefore the fruits slide into the corresponding collecting boxes.

Description

Technical Field

[0001] This invention relates to the field of fruit quality testing technology, specifically to an automatic fruit grading device based on machine vision and biological speckle. Background Technology

[0002] During harvesting or transportation, fruit may suffer mechanical damage to its skin due to external forces, or the damaged area may not be broken but may have slight dents and darken in color, which are difficult to observe with the naked eye. If one part of the fruit rots, it can easily affect other fruits and cause them to rot as well. Therefore, it is necessary to grade and screen the fruit.

[0003] However, in the current technology, the selection of whether the surface of fruit is defective or damaged mostly relies on manual selection. Orchards generally have a large fruit yield during the harvest season, and a lot of manpower is required for selection. After a long time of using their eyes, people's eyes will experience visual fatigue, which can easily lead to mistakes when selecting fruit, resulting in some of the selected fruit being substandard and affecting sales.

[0004] Therefore, we propose an automatic fruit grading device based on machine vision and biological speckle to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic fruit grading device based on machine vision and biological speckle, so as to solve the problem mentioned in the background art that visual fatigue and errors are easily caused when a large number of people use their eyes to select fruits for a long time, resulting in some of the selected fruits being substandard.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic fruit grading device based on machine vision and biological speckle, comprising: a feeding component, a discharging component, and a conveying component, wherein the conveying component is fixedly installed at the bottom of the discharging component; a sorting component, wherein the sorting component includes a sorting platform, wherein limit baffles are fixedly installed on the top of the sorting platform near both sides, and support plates are fixedly connected to opposite sides of the two limit baffles, and a mounting plate is fixedly connected between one side of the two support plates, wherein a speckle laser and a camera are disposed on the outer surface of the mounting plate, and the top of the sorting platform... The sorting platform has an opening with a display stand inside. Collection boxes are fixedly connected to both sides of the sorting platform. A connecting plate is fixedly connected between two collection boxes. Two support rods are fixedly installed on the top of the connecting plate. An auxiliary plate is fixedly installed between the top ends of the two support rods. A servo motor is installed at the center of the top of the auxiliary plate. A U-shaped frame is fixedly installed on the output shaft of the servo motor. A connecting shaft is fixed between the inner walls of the U-shaped frame. A mounting block is rotatably connected to the outer surface of the connecting shaft. Electric push rods are installed near both sides of the top of the auxiliary plate.

[0007] Preferably, the inner wall of the movable opening is provided with a rotating groove, and one side of the display stand is provided with a movable hole. A rotating rod is rotatably connected to the inner wall of the movable hole. The outer surface of the rotating rod is provided with mounting grooves near both ends. Sliding sleeves are rotatably fitted onto the inner walls of the two mounting grooves. The outer surfaces of the two sliding sleeves are movably connected to the inner wall of the rotating groove. A controller is provided on the top of the connecting plate. Contact blocks are fixedly installed on the top ends of the two electric push rods. The outer surface of the mounting blocks is fixedly connected to the bottom of the display stand.

[0008] Preferably, the feeding assembly includes a feeding bin, and the top of the feeding bin is rotatably connected to protective covers near both sides via hinges, and the top of both protective covers is provided with a concealed handle.

[0009] Preferably, the front surface of the feeding hopper is provided with a discharge port near the bottom, and the inner walls on both sides of the discharge port are fixedly connected with limit shafts, and a movable baffle is rotatably connected between one end of the two limit shafts.

[0010] Preferably, a first fixing plate is fixedly connected to the front surface of the feed hopper near the discharge port. Rotating holes are provided on both sides of the first fixing plate. A reinforcing rod is rotatably connected between the inner walls of the two rotating holes. A torsion spring is provided on the outer surface of the reinforcing rod. A second fixing plate is fixed between the two ends of the reinforcing rod. The outer surface of the second fixing plate is fixedly connected to the outer surface of the movable baffle.

[0011] Preferably, the feeding assembly includes a conveying device body, the outer surface of which is provided with a plurality of limiting grooves, a lever is fixedly connected to the outer surface of which, and two support frames are fixedly installed at the bottom of which.

[0012] Preferably, both sides of the feeding hopper are fixed with a fixing frame, and a reinforcing rod is welded to one side of each of the two fixing frames. One end of each of the two reinforcing rods is fixedly connected to the outer surface of one of the support frames.

[0013] Preferably, the conveying assembly includes two fixed blocks, the outer surfaces of the two fixed blocks are fixedly connected to the bottom of the conveying device body, and a movable rod is fixedly connected between the two fixed blocks. A fixed sleeve is rotatably sleeved on the outer surface of the movable rod.

[0014] Preferably, a reinforcing top ring is fixed to the outer surface of the fixing sleeve, a transparent frame is fixed to the outer surface of the reinforcing top ring, a cushioning cloth is pasted to the bottom of the transparent frame, and a reinforcing bottom ring is fixed to one side of the transparent frame.

[0015] Preferably, both sides of the reinforcing bottom ring are fixedly connected to fixing rods, and the opposite ends of the two fixing rods are respectively fixedly connected to the opposite sides of the two support plates.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. During use and sorting, a speckle laser can detect whether the fruit on the display stand is overripe or internally rotten. Simultaneously, a camera continuously captures images. When fruit quality is substandard, an abnormal signal is transmitted to the controller. The controller electrically controls the start and stop of the servo motor and electric push rods. Starting the servo motor rotates the U-shaped frame one revolution. Each revolution activates two electric push rods based on the fruit quality, causing the display stand to tilt to one side around the rotating rod, allowing the fruit to slide into the corresponding collection box. The two collection boxes are used to collect qualified and unqualified fruit respectively for centralized processing. The grading and sorting process requires no manual labor, offering advantages such as high speed, high detection accuracy, and high efficiency. Furthermore, during the horizontal rotation of the display stand, the sliding sleeve rotates within the rotating groove, providing both support and reducing friction.

[0018] 2. When in use, pour the fruit into the feeding hopper. There is no need to manually add the fruit one by one. After feeding, close the protective cover with the hidden handle. By starting the conveyor body, the movable baffle is moved in pairs during the conveying process, so that the discharge port is fully open. The fruit in contact with the upper surface of the conveyor body is conveyed forward with the conveyor belt. When the lever moves forward and disengages from the movable baffle, the movable baffle returns to its original position under the rebound of the torsion spring. When the fruit is conveyed forward, the limiting groove can prevent the fruit from rolling randomly on the upper surface of the conveyor body.

[0019] 3. When in use, the fruit is transported to the end by the conveyor body and falls into the cushioning cloth. The cushioning cloth is a soft cloth that can prevent the falling fruit from hitting and injuring the fruit. Since the transparent frame has a structure that is larger at the top and smaller at the bottom, the fruit will fall one by one on the display table as it rolls down. The transparent material of the transparent frame allows the outside world to observe and photograph the state of the fruit. Attached Figure Description

[0020] Figure 1 This is a side perspective view of the automatic fruit grading device based on machine vision and biological speckle patterns of the present invention.

[0021] Figure 2 This is another perspective view of the automatic fruit grading device based on machine vision and biological speckle patterns of the present invention.

[0022] Figure 3This is a perspective view of the conveying component of the automatic fruit grading device based on machine vision and biological speckle patterns of the present invention.

[0023] Figure 4 This is a perspective view of the sorting component of the automatic fruit grading device based on machine vision and biological speckle patterns of the present invention.

[0024] Figure 5 This is a three-dimensional view of the sorting component of the automatic fruit grading device based on machine vision and biological speckle patterns of the present invention.

[0025] Figure 6 For the present invention Figure 5 Enlarged view of point A in the middle;

[0026] Figure 7 This is a perspective view of the feeding component of the automatic fruit grading device based on machine vision and biological speckle patterns of the present invention.

[0027] Figure 8 This is a sectional perspective view of the feeding component of the automatic fruit grading device based on machine vision and biological speckle patterns of the present invention.

[0028] In the picture:

[0029] 1. Feeding assembly; 101. Feeding hopper; 102. Protective cover; 103. Concealed handle; 104. Discharge port; 105. Limiting shaft; 106. Movable baffle; 107. First fixing plate; 108. Second fixing plate; 109. Rotary hole; 110. Reinforcing rod; 111. Torsion spring; 2. Conveying assembly; 201. Transparent frame; 202. Reinforcing bottom ring; 203. Fixing rod; 204. Fixing block; 205. Fixing sleeve; 206. Movable rod; 207. Buffer cloth; 208. Reinforcing top ring; 3. Discharging assembly; 301. Conveying device body; 302. Support frame; 303. Pulley; 304. Limiting groove 4. Sorting Components; 401. Sorting Platform; 402. Limiting Baffle; 403. Support Plate; 404. Mounting Plate; 405. Speckle Laser; 406. Camera; 407. Display Stand; 408. Collection Box; 409. Connecting Plate; 410. Support Rod; 411. Controller; 412. Movable Port; 413. Rotary Slot; 414. Mounting Block; 415. Connecting Shaft; 416. Servo Motor; 417. U-Shaped Frame; 418. Electric Push Rod; 419. Contact Block; 420. Movable Hole; 421. Rotating Rod; 422. Mounting Slot; 423. Sliding Sleeve; 424. Auxiliary Plate; 5. Fixing Frame; 6. Reinforcing Rod. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see Figure 1-8 This invention provides a technical solution: an automatic fruit grading device based on machine vision and biological speckle, comprising: a feeding component 1, a discharging component 3, and a conveying component 2, wherein the conveying component 2 is fixedly installed at the bottom of the discharging component 3; a sorting component 4, comprising a sorting platform 401, wherein limit baffles 402 are fixedly installed on the top of the sorting platform 401 near both sides, and support plates 403 are fixedly connected to opposite sides of the two limit baffles 402, and a mounting plate 404 is fixedly connected between one side of the two support plates 403, wherein a speckle laser 405 and a camera 406 are provided on the outer surface of the mounting plate 404, and an opening 412 is provided on the top of the sorting platform 401. The interior of 412 is equipped with a display stand 407. Collection boxes 408 are fixedly connected to the other two sides of the sorting platform 401. A connecting plate 409 is fixedly connected between the two collection boxes 408. Two support rods 410 are fixedly installed on the top of the connecting plate 409. An auxiliary plate 424 is fixedly installed between the top ends of the two support rods 410. A servo motor 416 is set at the top center of the auxiliary plate 424. A U-shaped frame 417 is fixedly installed on the output shaft of the servo motor 416. A connecting shaft 415 is fixed between the inner walls of the U-shaped frame 417. An installation block 414 is rotatably connected to the outer surface of the connecting shaft 415. Electric push rods 418 are set on the top of the auxiliary plate 424 near both sides.

[0032] like Figure 1 , Figure 2 and Figure 4-6 As shown, the inner wall of the movable opening 412 is provided with a rotating groove 413, and a movable hole 420 is provided on one side of the display platform 407. A rotating rod 421 is rotatably connected to the inner wall of the movable hole 420. The outer surface of the rotating rod 421 is provided with mounting grooves 422 near both ends. Sliding sleeves 423 are rotatably fitted on the inner walls of the two mounting grooves 422. The outer surfaces of the two sliding sleeves 423 are movably connected to the inner wall of the rotating groove 413. A controller 411 is provided on the top of the connecting plate 409. Contact blocks 419 are fixedly installed on the top ends of the two electric push rods 418. The outer surface of the mounting block 414 is fixedly connected to the bottom of the display platform 407. By controlling the start and stop of the two electric push rods 418 and the servo motor 416 through the controller 411, the rotation and tilt of the display platform 407 can be realized, thereby completing the sorting of fruits of different qualities.

[0033] like Figure 1 , Figure 2 and Figure 8 As shown, the feeding assembly 1 includes a feeding bin 101. Protective covers 102 are hinged to the top of the feeding bin 101 near both sides. Each protective cover 102 has a concealed handle 103 at its top. Fruit is poured into the feeding bin 101 without manual individual feeding. After feeding, the protective covers 102 are closed using the concealed handles 103.

[0034] like Figure 1 , Figure 2 and Figure 8 As shown, a discharge port 104 is provided on the front surface of the feed hopper 101 near the bottom. Limiting shafts 105 are fixedly connected to the inner walls on both sides of the discharge port 104. A movable baffle 106 is rotatably connected between one end of the two limiting shafts 105. When the movable baffle 106 is moved, it rotates around the limiting shafts 105, so that the discharge port 104 is in a fully open state, which facilitates the transport of fruit.

[0035] like Figure 1 , Figure 2 and Figure 8 As shown, a first fixing plate 107 is fixedly connected to the front surface of the feed hopper 101 near the discharge port 104. Rotating holes 109 are provided on both sides of the first fixing plate 107. A reinforcing rod 110 is rotatably connected between the inner walls of the two rotating holes 109. A torsion spring 111 is provided on the outer surface of the reinforcing rod 110. A second fixing plate 108 is fixed between the two ends of the reinforcing rod 110. The outer surface of the second fixing plate 108 is fixedly connected to the outer surface of the movable baffle 106. When the lever 303 moves forward and disengages from the movable baffle 106, the movable baffle 106 returns to its original position under the rebound action of the torsion spring 111, still covering the discharge port 104. The torsion spring 111 is sleeved on the outside of the reinforcing rod 110, with its two ends located on the inner walls of the first fixing plate 107 and the second fixing plate 108, respectively. When the first fixing plate 107 and the second fixing plate 108 rotate and the angle changes, the torque of the torsion spring 111 changes.

[0036] like Figure 1 , Figure 2 and Figure 7 As shown, the feeding assembly 3 includes a conveying device body 301. The outer surface of the conveying device body 301 is provided with multiple limiting grooves 304. A lever 303 is fixedly connected to the outer surface of the conveying device body 301. Two support frames 302 are fixedly installed at the bottom of the conveying device body 301. By starting the conveying device body 301, during the conveying process, the levers 303, which are in groups of two, sequentially move the movable baffle 106.

[0037] like Figure 1 and Figure 2 As shown, there are fixed frames 5 on both sides of the feeding hopper 101. A reinforcing rod 6 is welded to one side of each of the two fixed frames 5. One end of each of the two reinforcing rods 6 is fixedly connected to the outer surface of one of the support frames 302. The fixed frames 5 and the support frames 302 provide support for the entire equipment. The reinforcing rod 6 makes the support more stable and reduces the shaking during operation.

[0038] like Figure 1-3 As shown, the conveying assembly 2 includes two fixed blocks 204. The outer surfaces of the two fixed blocks 204 are fixedly connected to the bottom of the conveying device body 301. A movable rod 206 is fixedly connected between the two fixed blocks 204. A fixed sleeve 205 is rotatably sleeved on the outer surface of the movable rod 206. The installation of the movable rod 204 with the conveying device body 301 is achieved through the fixed blocks 204.

[0039] like Figure 1-3 As shown, a reinforcing top ring 208 is fixed to the outer surface of the fixed sleeve 205, and a transparent frame 201 is fixed to the outer surface of the reinforcing top ring 208. A cushioning cloth 207 is pasted to the bottom of the transparent frame 201, and a reinforcing bottom ring 202 is fixed to one side of the transparent frame 201. When the fruit is transported to the end by the conveyor body 301, it falls downward into the cushioning cloth 207. The cushioning cloth 207 is a soft cloth that can prevent the falling fruit from damaging the fruit. Since the transparent frame 201 has a structure that is larger at the top and smaller at the bottom, the fruit will fall one by one onto the display stand 407 when it rolls downward. The transparent material of the transparent frame 201 allows the outside world to observe and photograph the state of the fruit.

[0040] like Figure 1-3 As shown, both sides of the reinforcing bottom ring 202 are fixedly connected with fixing rods 203. The opposite ends of the two fixing rods 203 are respectively fixedly connected to the opposite sides of the two support plates 403, realizing the installation between the conveying assembly 2 and the sorting assembly 4.

[0041] The usage and working principle of this device are as follows: First, pour the fruit into the feeding hopper 101. Manual individual feeding is not required. After feeding, close the protective cover 102 using the concealed handle 103. At this point, the fruit at the bottom is in contact with the upper surface of the conveyor body 301. The conveyor body 301 is a conventional structure, generally including a support frame, rotating rollers, a conveyor belt, and a drive unit. By activating the conveyor body 301, during the conveying process, the levers 303, in pairs, sequentially actuate the movable baffles 106. When actuated, the movable baffles 106 rotate around the limiting shaft 105, causing the discharge port 104 to be fully extended, contacting the upper surface of the conveyor body 301. The fruit is conveyed forward by the conveyor belt. When the lever 303 moves forward and disengages from the movable baffle 106, the movable baffle 106 returns to its original position under the rebound of the torsion spring 111, still covering the discharge port 104. When the next set of levers 303 pushes the movable baffle 106 open, the next batch of fruit continues to be conveyed forward. During forward conveying, the limiting groove 304 prevents the fruit from rolling freely on the upper surface of the conveyor body 301. The torsion spring 111 is sleeved on the outside of the reinforcing rod 110, with its two ends located on the inner walls of the first fixed plate 107 and the second fixed plate 108, respectively. When the first fixed plate 107 and the second fixed plate 108 rotate and the angle changes, the torque of the torsion spring 111 changes, and the fruit is... When the conveyor body 301 reaches the end, the fruit falls downwards into the buffer cloth 207. The buffer cloth 207 is a soft cloth that prevents the falling fruit from damaging it. Because the transparent frame 201 has a structure that is wider at the top and narrower at the bottom, the fruit will fall one by one onto the display stand 407 as it rolls downwards. The transparent material of the transparent frame 201 allows the outside world to observe and photograph the condition of the fruit. During sorting, the speckle laser 405 can detect whether the fruit on the display stand 407 is overripe or rotten inside. At the same time, the camera 406 continuously captures images. When the fruit quality is unqualified, an abnormal signal is transmitted to the controller 411. The controller 411 electrically controls the start and stop of the servo motor 416 and the electric push rod 418. By starting the servo motor 416, the servo motor 418... The output shaft of 16 rotates, thereby driving the U-shaped frame 417 to rotate. Each rotation angle is set to 360 degrees, and it stops after one revolution. At this time, the rotating rod 421 should be perpendicular to the auxiliary plate 424. Then, the controller 411 activates two electric push rods 418 according to the quality of the fruit. One electric push rod 418 extends upward, driving the contact block 419 to lift the corresponding part of the display platform 407. At the same time, the other electric push rod 418 retracts downward by the same height. Then, the display platform 407 tilts to one side with the rotating rod 421 as the center, so that the fruit slides into the corresponding collection box 408. The two collection boxes 408 are used to collect qualified and unqualified fruits respectively for centralized processing. In addition,During the horizontal rotation of the display stand 407, the sliding sleeve 423 rotates within the rotating groove 413. The sliding sleeve 423 serves both a supporting function and reduces friction.

[0042] The wiring diagrams of the speckle laser 405, camera 406, controller 411, servo motor 416, electric push rod 418, and transmission device body 301 in this invention are common knowledge in the field, and their working principles are known technologies. The appropriate model is selected according to actual use. Therefore, the control methods and wiring layouts of the speckle laser 405, camera 406, controller 411, servo motor 416, electric push rod 418, and transmission device body 301 will not be explained in detail.

[0043] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic fruit grading device based on machine vision and biological speckle, characterized in that, include: The feeding assembly (1), the unloading assembly (3), and the conveying assembly (2) are provided, wherein the conveying assembly (2) is fixedly installed at the bottom of the unloading assembly (3); The sorting component (4) includes a sorting platform (401). Limiting baffles (402) are fixedly installed on the top of the sorting platform (401) near both sides. Support plates (403) are fixedly connected to opposite sides of the two limiting baffles (402). A mounting plate (404) is fixedly connected between one side of the two support plates (403). A speckle laser (405) and a camera (406) are disposed on the outer surface of the mounting plate (404). An opening (412) is provided on the top of the sorting platform (401). A display stand (407) is disposed inside the opening (412). Collection devices are fixedly connected to the other two sides of the sorting platform (401). The two collection boxes (408) are fixedly connected by a connecting plate (409). Two support rods (410) are fixedly installed on the top of the connecting plate (409). An auxiliary plate (424) is fixedly installed between the top ends of the two support rods (410). A servo motor (416) is provided at the center of the top of the auxiliary plate (424). A U-shaped frame (417) is fixedly installed on the output shaft of the servo motor (416). A connecting shaft (415) is fixed between the inner walls of the U-shaped frame (417). An installation block (414) is rotatably connected to the outer surface of the connecting shaft (415). Electric push rods (418) are provided on the top of the auxiliary plate (424) near both sides.

2. The automatic fruit grading device based on machine vision and biological speckle as described in claim 1, characterized in that: The inner wall of the movable opening (412) is provided with a rotating groove (413), and a movable hole (420) is provided on one side of the display stand (407). A rotating rod (421) is rotatably connected to the inner wall of the movable hole (420). An installation groove (422) is provided on the outer surface of the rotating rod (421) near both ends. A sliding sleeve (423) is rotatably fitted on the inner wall of the two installation grooves (422). The outer surface of the two sliding sleeves (423) is movably connected to the inner wall of the rotating groove (413). A controller (411) is provided on the top of the connecting plate (409). A contact block (419) is fixedly installed on the top of the two electric push rods (418). The outer surface of the installation block (414) is fixedly connected to the bottom of the display stand (407).

3. The automatic fruit grading device based on machine vision and biological speckle as described in claim 1, characterized in that: The feeding assembly (1) includes a feeding bin (101), and the top of the feeding bin (101) is connected to a protective cover (102) via a hinge near both sides. The top of the two protective covers (102) is provided with a hidden handle (103).

4. The automatic fruit grading device based on machine vision and biological speckle as described in claim 1, characterized in that: The feed hopper (101) has a discharge port (104) near the bottom on its front surface. Both sides of the discharge port (104) are fixedly connected to limit shafts (105), and a movable baffle (106) is rotatably connected between one end of the two limit shafts (105).

5. The automatic fruit grading device based on machine vision and biological speckle as described in claim 1, characterized in that: A first fixing plate (107) is fixedly connected to the front surface of the feed hopper (101) near the discharge port (104). Rotating holes (109) are provided on both sides of the first fixing plate (107). A reinforcing rod (110) is rotatably connected between the inner walls of the two rotating holes (109). A torsion spring (111) is provided on the outer surface of the reinforcing rod (110). A second fixing plate (108) is fixed between the two ends of the reinforcing rod (110). The outer surface of the second fixing plate (108) is fixedly connected to the outer surface of the movable baffle (106).

6. The automatic fruit grading device based on machine vision and biological speckle as described in claim 1, characterized in that: The feeding assembly (3) includes a conveying device body (301), the outer surface of the conveying device body (301) is provided with a plurality of limiting grooves (304), the outer surface of the conveying device body (301) is fixedly connected with a lever (303), and the bottom of the conveying device body (301) is fixedly installed with two support frames (302).

7. The automatic fruit grading device based on machine vision and biological speckle as described in claim 1, characterized in that: The feed hopper (101) is fixed with a fixing frame (5) on both sides. A reinforcing rod (6) is welded to one side of each of the two fixing frames (5). One end of each of the two reinforcing rods (6) is fixedly connected to the outer surface of one of the support frames (302).

8. The automatic fruit grading device based on machine vision and biological speckle as described in claim 1, characterized in that: The conveying assembly (2) includes two fixed blocks (204), the outer surfaces of the two fixed blocks (204) are fixedly connected to the bottom of the conveying device body (301), and a movable rod (206) is fixedly connected between the two fixed blocks (204) and a fixed sleeve (205) is rotatably sleeved on the outer surface of the movable rod (206).

9. The automatic fruit grading device based on machine vision and biological speckle as described in claim 1, characterized in that: A reinforcing top ring (208) is fixed to the outer surface of the fixed sleeve (205), a transparent frame (201) is fixed to the outer surface of the reinforcing top ring (208), a cushioning cloth (207) is pasted to the bottom of the transparent frame (201), and a reinforcing bottom ring (202) is fixed to one side of the transparent frame (201).

10. The automatic fruit grading device based on machine vision and biological speckle as described in claim 1, characterized in that: Both sides of the reinforcing bottom ring (202) are fixedly connected with fixing rods (203), and the opposite ends of the two fixing rods (203) are respectively fixedly connected to the opposite side of the two support plates (403).

Images