Cascading high-effect garden small intelligent sorting machine

Abstract

The application discloses a kind of cascade high-effect garden small intelligent sorting machines, including feeding conveying system, visual identification system, fruit basket rotating transport system, poor fruit removing system, track type size sorting system, control system and sorting frame.Feeding conveying system is guided into corresponding channel by baffle;Fruit basket rotating transport system drives apple continuous conveying and spins;Visual identification system continuously images apple surface, and outputs identification result through image preprocessing, defect detection, target tracking and sorting decision;Poor fruit removing system completes poor fruit removing according to identification result;Normal apple enters lower track type size sorting system, and falls into corresponding grade area in gradually opening sorting channel according to fruit diameter, and is output to collection position by grading conveying unit, thereby forming cascade sorting path continuously connected from top to bottom.The equipment compact structure is suitable for small and medium-sized orchard operation, which can improve sorting efficiency and reduce mechanical damage of apple.

Description

Technical Field

[0001] This invention belongs to the field of agricultural intelligent equipment technology, specifically relating to a cascaded high-efficiency small intelligent sorting machine for orchards. Background Technology

[0002] Post-harvest sorting in orchards is a crucial step in the commercial processing of fruit, directly impacting subsequent storage, transportation, sales, and grading management. Currently, sorting in small and medium-sized orchards still relies primarily on manual selection or simple mechanical assistance, resulting in high labor intensity, inconsistent efficiency, and lack of standardized sorting criteria. Especially in scenarios where fruit surface defect identification and size grading are performed simultaneously, traditional methods often struggle to balance processing efficiency and sorting accuracy. Furthermore, existing sorting equipment is often designed for fixed locations or centralized processing environments, featuring relatively complex structures, large footprints, and inflexible handling and deployment, making it difficult to directly adapt to the on-site operational needs of small and medium-sized orchards. Moreover, collisions and compression can easily occur during conveying, turning, dropping, and collection, leading to fruit surface damage. Therefore, it is necessary to provide a compact, multifunctional, intelligent sorting device suitable for small and medium-sized orchards. Summary of the Invention

[0003] This invention addresses the problems of low automation levels, large equipment size, loose connections between sorting processes, and easy mechanical damage to fruit during transport and grading in current apple sorting in small and medium-sized orchards. It designs a cascaded, high-efficiency, small-scale intelligent sorting machine for orchards. This equipment integrates feeding and conveying, visual recognition, fruit tray rotation transport, inferior fruit removal, and track-based size sorting, aiming to improve on-site sorting efficiency in small and medium-sized orchards, reduce post-harvest apple sorting losses, and provide a more compact and easily implemented technical solution for intelligent sorting equipment in small and medium-sized orchards.

[0004] To achieve the above objectives, the technical solution adopted by this invention is as follows: A cascaded high-efficiency small intelligent sorting machine for orchards includes a feeding and conveying system, a visual recognition system, a fruit tray rotary conveying system, a defective fruit removal system, a track-type size sorting system, a control system, and a sorting frame. The feeding and conveying system is located to the left of the visual recognition system and is used to transport apples to be sorted to the fruit tray rotary conveying system. The visual recognition system is located above the fruit tray rotary conveying system and is used to collect, recognize, and process images of the apple surface. The defective fruit removal system is located to the right of the visual recognition system and is correspondingly set to the fruit outlet end of the fruit tray rotary conveying system. The track-type size sorting system is located at the bottom of the machine, and its fruit inlet end is connected to the fruit outlet end of the defective fruit removal system. The control system is located at the front of the machine and is used to coordinate and control the various systems. The sorting frame is used to support, connect, and install the various systems.

[0005] Furthermore, the feeding and conveying system includes a housing, a guide plate, a conveying module, and a drive module. The housing covers the outside of the conveying module, providing support and protection. The guide plate is positioned above the conveying module, dividing the feeding and conveying area into three corresponding conveying channels, allowing apples to enter the fruit tray rotary conveying system along a predetermined path. The drive module is connected to the conveying module for continuous operation. The entire feeding and conveying system enables apples to smoothly enter the subsequent sorting path and provides a relatively stable feeding rhythm for continuous identification.

[0006] Furthermore, the fruit tray rotation conveying system includes a left fruit tray baffle, a right fruit tray baffle, a bearing seat, a fruit tray driven shaft, a fruit tray driven synchronous pulley, a fruit tray drive shaft, a fruit tray synchronous belt, a fruit tray drive synchronous pulley, a fruit tray drive motor, a fruit tray motor bracket, a fruit tray drive sprocket, a fruit tray, a fruit tray chain, a fruit tray friction support plate, fruit tray baffles, a support frame for the left and right fruit tray baffles, and a fruit tray friction rod. As the fruit tray moves along the conveying direction with the fruit tray chain, it contacts and rubs against the fruit tray friction rod, thereby causing the apple placed on the fruit tray to spin. In this way, as the apple moves forward, its surface changes, allowing the visual recognition system to obtain continuous image information of the same apple in different postures.

[0007] Furthermore, the visual recognition system includes a vision bracket, a camera heat dissipation module, a camera adjustment module, a vision system heat dissipation module, and a vision recognition system housing. The camera heat dissipation module includes a semiconductor cooling module, a camera mounting section, a camera heat shield, an industrial lens, a semiconductor cooling fan, heat sink fins, an industrial camera, and a camera support. The vision system heat dissipation module includes a processor, a cooling fan, a display, and a vision bracket mounting frame. The industrial camera is used to acquire images of the apple, the processor is used to process the image data acquired by the industrial camera, the display is used to display the detection results and equipment operating status, the camera adjustment module is used to adjust the installation position of the industrial camera, and the vision recognition system housing is used to protect and integrate the entire vision recognition system.

[0008] Furthermore, the processor pre-stores a visual recognition program, which includes functional modules such as image acquisition, image preprocessing, defect detection, target tracking, sorting decision, and control output. After the industrial camera acquires apple images in real time, the processor first preprocesses the images, then calls the defect detection module to identify the apple target and defective areas, then the target tracking module correlates the trajectories of apple targets in consecutive frames, then the sorting decision module fuses and judges the multi-frame recognition results of the same apple, and finally the control output module outputs a control signal to the defective fruit rejection system. The algorithm is not isolated; it works in conjunction with the conveyor cycle, target position, and rejection station, forming a continuous process.

[0009] Furthermore, the defect detection module is used to identify blemishes, bruises, pressure marks, punctures, rot, and other appearance defects on the apple surface. The defect detection module can be implemented using a deep learning-based target detection algorithm, a machine learning-based image classification or recognition algorithm, or a combination of both. The target tracking module is used to perform identity association, position update, and trajectory maintenance on apple targets during continuous transportation, so that the detection results of the same apple in multiple frames correspond to the same target. The sorting decision module, based on the target trajectory output by the target tracking module, performs cumulative statistics, confidence fusion, or voting judgment on the defect detection results of the same apple in different frames, and generates a defective fruit judgment result according to preset judgment conditions.

[0010] Furthermore, the control output module, based on the defective apple judgment result generated by the sorting decision module and combined with the apple location information, movement status information, and arrival time information output by the target tracking module, generates a corresponding execution control command. This command triggers the defective apple removal system when the target apple reaches the predetermined removal station. Normal apples continue along the predetermined path into subsequent size sorting stages. This process ensures that identification and execution are not disconnected, and the judgment result is reflected in the equipment actions relatively promptly.

[0011] Furthermore, the defective fruit rejection system includes an electric air compressor, an oil-water separator, a solenoid valve module, an apple lower baffle, a cylinder support plate, sorting blades, a defective fruit receiving box, a solenoid valve fixing plate, a rejection switch hinge, a sorting blade connecting section, a cylinder connecting section, a pin, a connecting rod, a cylinder push rod, a cylinder, a cylinder air pipe connector, and an air pipe. The solenoid valve module receives control signals sent by the control system and controls the cylinder to move, causing the cylinder push rod to drive the sorting blades to swing around the rejection switch hinge via the connecting rod, thereby guiding the defective apples into the defective fruit receiving box and allowing normal apples to continue into the track-type size sorting system below.

[0012] Furthermore, the track-type size sorting system includes an extra-small fruit receiving box, a size grading receiving frame fixing plate, size grading baffles, a size grading receiving frame, an extra-large fruit lower fruit plate, a size grading upper baffle, a sorting track pulley bearing seat unit, a sorting track pulley shaft, a size sorting grade control plate, a size sorting grade control rod, a grading conveying unit, a sorting motor, sorting track pulleys, a sorting track flexible belt, a sorting track flexible belt support frame, a support frame fixing wheel, flexible sponge, and a size sorting plate. The size sorting grade control plate and the size sorting grade control rod are used to adjust the relative spacing between the sorting track flexible belts, so that the sorting channel forms a gradually opening grading structure along the apple running direction. The flexible sponge is placed at the position where apples may come into contact with or fall, to reduce the collision impact during the grading and collection process. The grading conveying unit is used to transport the graded apples to the corresponding collection positions.

[0013] This invention provides a cascaded, high-efficiency, small-scale intelligent sorting machine for orchards. It integrates and continuously arranges feeding and conveying systems, fruit tray rotation conveying systems, visual recognition systems, defective fruit removal systems, and track-based size sorting systems, enabling apples to complete the sorting process within a shorter path. The feeding and conveying system guides apples into corresponding channels, while the fruit tray rotation conveying system causes the apples to continuously spin. The visual recognition system uses this information to obtain more complete surface image information and completes defect detection, target tracking, and sorting decisions. The defective fruit removal system promptly removes blemished apples based on the recognition results. The track-based size sorting system grades normal apples according to their diameter and reduces mechanical damage to the apples during sorting and collection through flexible channels, buffer structures, and grading conveying units. The machine has a compact structure, is suitable for on-site deployment in small and medium-sized orchards, and has significant application value. Attached Figure Description

[0014] Figure 1 A schematic diagram of the appearance of a cascaded high-efficiency small intelligent sorting machine provided as an example of the present invention.

[0015] Figure 2 The upper right structural diagram shows a cascaded high-efficiency small intelligent sorting machine provided as an example of the present invention.

[0016] Figure 3 This is a front view structural diagram of a cascaded high-efficiency small intelligent sorting machine provided as an example of the present invention.

[0017] Figure 4 This is a frame diagram of a cascaded high-efficiency small intelligent sorting machine provided as an example of the present invention.

[0018] Figure 5 A diagram of a material feeding and conveying system provided for an example of the present invention.

[0019] Figure 6A structural diagram of a feeding and conveying system provided for an example of the present invention.

[0020] Figure 7 A visual support structure diagram of a visual recognition system provided as an example of the present invention.

[0021] Figure 8 A structural diagram of a camera heat dissipation module provided for an example of the present invention.

[0022] Figure 9 A structural diagram of the camera adjustment module provided for an example of the present invention.

[0023] Figure 10 A structural diagram of the heat dissipation module of the vision system provided for an example of the present invention.

[0024] Figure 11 A structural diagram of the outer shell of a visual recognition system provided for an example of the present invention.

[0025] Figure 12 A structural diagram of the fruit tray rotation transport system provided as an example of the present invention.

[0026] Figure 13 The diagram shows the overall structure of the fruit tray in the fruit tray rotation transport system provided as an example of the present invention.

[0027] Figure 14 This is a schematic diagram of the installation of the fruit tray friction structure in the fruit tray rotation conveying system provided as an example of the present invention.

[0028] Figure 15 A diagram of the friction structure of the fruit tray in the rotating transport system provided as an example of the present invention.

[0029] Figure 16 This is a schematic diagram of the structural installation of the inferior fruit removal system provided in this invention example.

[0030] Figure 17 The diagram shows the structure of the inferior fruit removal system provided in this invention example.

[0031] Figure 18 A diagram of the cylinder drive mechanism in the defective fruit removal system provided in this invention example.

[0032] Figure 19 A schematic diagram of a track-type size sorting system provided as an example of the present invention.

[0033] Figure 20 A diagram of a size-grading support frame structure provided for an example of the present invention.

[0034] Figure 21 The top left structural diagram of the track-type size sorting system provided as an example of the present invention.

[0035] Figure 22The upper right structural diagram of the track-type size sorting system provided as an example of the present invention.

[0036] Figure 23 This is a top view of the track-type size sorting system provided as an example of the present invention.

[0037] Figure 24 The diagram shows the structural composition of the size sorting plate provided in this invention example. Detailed Implementation

[0038] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort. In order to facilitate understanding of this application example, the embodiments of the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments.

[0039] like Figures 1 to 4 As shown, this embodiment provides a cascaded high-efficiency small intelligent sorting machine for orchards, including a feeding and conveying system 1, a vision recognition system 2, a fruit tray rotary conveying system 3, a defective fruit removal system 4, a track-type size sorting system 5, a control system 6, and a sorting frame 7. The feeding and conveying system 1 is located to the left of the vision recognition system 2 and is used to convey apples to be sorted to the fruit tray rotary conveying system 3; the vision recognition system 2 is located above the fruit tray rotary conveying system 3 and is used to collect, recognize, and process images of the apple surface; the defective fruit removal system 4 is located to the right of the vision recognition system 2 and corresponds to the fruit outlet end of the fruit tray rotary conveying system 3, and is used to remove identified defective fruits from the conveying path; the track-type size sorting system 5 is located at the bottom of the machine, with its fruit inlet end connected to the fruit outlet end of the fruit tray rotary conveying system 3. The inferior fruit removal system 4 is connected to the fruit outlet end and is used to grade the apples according to size after the inferior fruit removal is completed; the control system 6 is set on the front side of the whole machine and is used to coordinate and control the feeding conveyor system 1, the vision recognition system 2, the fruit tray rotation conveyor system 3, the inferior fruit removal system 4, and the track-type size sorting system 5; the sorting frame 7 is used to support, connect and install the feeding conveyor system 1, the vision recognition system 2, the fruit tray rotation conveyor system 3, the inferior fruit removal system 4, the track-type size sorting system 5 and the control system 6.

[0040] Furthermore, the sorting frame 7 includes a quality sorting upper left support 71, a handrail 72, a quality sorting upper right support 73, an outer shell support plate 74, a sorting machine column 75, a size sorting upper support 76, a side outer shell support plate 77, a support column 78, a support column fixing plate 79, a sorting machine lower support 710, a size sorting rear support 711, and a feeding conveyor support 712. The upper left and upper right quality sorting supports 71 and 73 are located on the upper sides of the sorting frame 7, respectively, for supporting the visual recognition system 2 and other components related to quality sorting. The handrail 72 is located on the upper outer side of the sorting frame 7, facilitating equipment operation and movement for the operator. The outer shell support plate 74 and the side outer shell support plate 77 are located on the front and side of the sorting frame 7, respectively, for fixing and supporting the equipment shell. The sorting machine column 75 is located in the vertical part of the sorting frame 7, connecting the upper and lower support structures. The size sorting upper support 76 is... The lower middle part of the sorting frame 7 is used to install and support the track-type size sorting system 5; the support column 78 is connected to the sorting frame 7 through the support column fixing plate 79 to improve the stability of the whole machine structure; the lower bracket 710 of the sorting machine is set at the bottom of the sorting frame 7 to support the weight of the whole machine; the rear bracket 711 of size sorting is set at the rear of the track-type size sorting system 5 to support and fix the rear end of the track-type size sorting system 5; the feeding conveyor bracket 712 is set on one side of the sorting frame 7 and is correspondingly set with the feeding conveyor system 1 to install and support the feeding conveyor system 1.

[0041] like Figure 5 and Figure 6 As shown, the feeding and conveying system 1 includes a feeding and conveying system housing 11, a guide plate 12, a conveying module 13, and a drive module 14. The feeding and conveying system housing 11 covers the outside of the conveying module 13, providing support and protection for the conveying module 13. The guide plate 12 is located above the conveying module 13 and below the feeding and conveying system housing 11, used to limit and guide the apples entering the feeding and conveying system 1, ensuring that the apples are smoothly conveyed to the fruit tray rotary conveying system 3 along a predetermined path. The drive module 14 is located on one side of the conveying module 13 and is connected to the conveying module 13 for driving the conveying module 13. With the above structural configuration, the feeding and conveying system 1 can smoothly and continuously convey apples from the feeding end to the corresponding channel of the fruit tray rotary conveying system 3.

[0042] Furthermore, the guide plate 12 includes a side guide plate 121, a forward guide plate 122, and a reverse guide plate 123. The side guide plate 121 is disposed on both sides of the conveying module 13 for lateral restraint of the apples; the forward guide plate 122 and the reverse guide plate 123 are disposed below the loading conveying system housing 11 and connected to the loading conveying system housing 11 by fasteners; the forward guide plate 122 and the reverse guide plate 123 are spaced apart along the apple conveying direction to divide the conveying area of ​​the loading conveying system 1 into three corresponding conveying channels, which correspond to the three conveying channels of the fruit tray rotation conveying system 3, so that the apples can enter the corresponding channels respectively, reducing collisions and accumulation during the conveying process.

[0043] Furthermore, the conveying module 13 includes a driven shaft 131, an aluminum profile tailstock 132, a 3060 aluminum profile 133, a drive shaft 134, an aluminum profile headstock 135, and a conveyor belt 136. The aluminum profile tailstock 132 and aluminum profile headstock 135 are respectively installed at both ends of the 3060 aluminum profile 133, serving to support the driven shaft 131 and the drive shaft 134. The driven shaft 131 is installed on the aluminum profile tailstock 132, and the drive shaft 134 is installed on the aluminum profile headstock 135. The conveyor belt 136 is stretched between the driven shaft 131 and the drive shaft 134, and circulates in a predetermined direction under the drive of the drive shaft 134 to achieve continuous conveying of apples. The 3060 aluminum profile 133 forms the main support structure of the conveying module 13 and provides an installation foundation for the driven shaft 131, the drive shaft 134, and related mounting components.

[0044] Furthermore, the drive module 14 includes a drive motor 145, a motor mounting plate 141, a drive synchronous pulley 142, a synchronous belt 143, and a driven synchronous pulley 144. The motor mounting plate 141 is mounted on one side of the 3060 aluminum profile 133, and the drive motor 145 is mounted on the motor mounting plate 141. The drive synchronous pulley 142 is connected to the output shaft of the drive motor 145, the driven synchronous pulley 144 is connected to the drive shaft 134, and the synchronous belt 143 is sleeved between the drive synchronous pulley 142 and the driven synchronous pulley 144 to transmit the power of the drive motor 145 to the drive shaft 134, thereby driving the conveyor belt 136 to run. By adopting a synchronous belt drive structure, the conveyor module 13 can run more smoothly and is conducive to improving the stability of apple conveying process.

[0045] In this embodiment, the feeding and conveying system 1 constrains the conveying path of the apples through the guide plate 12, and continuously conveys the apples to the fruit tray rotary conveying system 3 through the conveying module 13 and the drive module 14; wherein, the guide plate 12 distributes the apples to three corresponding channels to match the three channels of the fruit tray rotary conveying system 3, thereby providing a stable feeding basis for subsequent visual recognition and sorting operations.

[0046] like Figures 7 to 11 As shown, this embodiment provides a visual recognition system 2, which includes a vision bracket 21, a camera heat dissipation module 22, a camera adjustment module 23, a vision system heat dissipation module 24, and a vision recognition system housing 25. The vision bracket 21 supports and mounts the camera heat dissipation module 22, the camera adjustment module 23, and the vision system heat dissipation module 24. The camera heat dissipation module 22 dissipates heat from an industrial camera 227. The camera adjustment module 23 adjusts the mounting position of the industrial camera 227. The vision system heat dissipation module 24 dissipates heat from a processor 241. The vision recognition system housing 25 covers the outside of the vision bracket 21 and protects and integrates the vision recognition system 2.

[0047] Specifically, the vision support 21 includes a fan mounting bracket 211, a display bracket 212, a 4040 aluminum profile 213, a 2040 aluminum profile 214, a light source bracket 215, and a light source 216. The 4040 aluminum profile 213 forms the main frame of the vision support 21, providing overall support for the vision recognition system 2. The 2040 aluminum profile 214 is located on one side of the vision support 21 and connected to the display bracket 212 for mounting and fixing the display bracket 212. The fan mounting brackets 211 are located on both upper sides of the vision support 21, with multiple fan mounting brackets 211 spaced apart along the length of the vision support 21, for mounting cooling fans 242. The display bracket 212 is located on one side of the vision support 21 for mounting a display 243. The light source bracket 215 is located on the upper part of the vision support 21, and the light source 216 is mounted on the light source bracket 215 to provide illumination for the imaging area of ​​the industrial camera 227. The above structural design allows the various functional components of the visual recognition system 2 to be integrated and installed on the same support frame, thus facilitating assembly, maintenance, and position adjustment.

[0048] Furthermore, the camera heat dissipation module 22 includes a semiconductor cooling module 221, a camera mounting joint 222, a camera heat insulation plate 223, an industrial lens 224, a semiconductor cooling fan 225, heat dissipation fins 226, an industrial camera 227, and a camera support 228. The industrial camera 227 is disposed inside the camera support 228, and the industrial lens 224 is mounted on the lens end of the industrial camera 227 to acquire image information of the object to be detected. The semiconductor cooling module 221 is disposed outside the camera support 228, with its cooling end in close contact with the camera support 228 and its heat dissipation end in close contact with the heat dissipation fins 226. Utilizing the semiconductor cooling principle, the heat generated during the operation of the industrial camera 227 is transferred via the camera support 228 to the semiconductor cooling module 221, and further transferred to the heat dissipation fins 226. The semiconductor cooling fan 225 is correspondingly arranged with the heat sink fins 226 to provide forced air cooling for the heat sink fins 226, thereby accelerating air convection on the surface of the heat sink fins 226, improving the heat dissipation efficiency of the hot end of the semiconductor cooling module 221, and ensuring the temperature stability of the industrial camera 227 under continuous operation. The camera mounting section 222 is located on the outside of the camera support 228, and the camera heat insulation plate 223 is sandwiched between the camera support 228 and the camera mounting section 222 to reduce heat conduction between the camera support 228 and the external mounting structure, thereby reducing cooling loss. Preferably, a thermally conductive pad is provided between the industrial camera 227 and the camera support 228 to improve the thermal conductivity between the industrial camera 227 and the camera support 228 and to provide a certain buffering and vibration reduction effect. The sidewall of the camera support 228 is connected to the camera heat insulation plate 223 and the camera mounting section 222 by fasteners, thereby forming an integrated assembly structure of the industrial camera 227, the semiconductor cooling module 221, and the external mounting structure.

[0049] Furthermore, the camera adjustment module 23 includes a mounting section 231, a crossbeam optical axis 232, a column optical axis 233, and an optical axis base 234. The camera heat dissipation module 22 is mounted on the mounting section 231, which is slidably connected to the crossbeam optical axis 232 and can be fixed to any set position of the crossbeam optical axis 232 by a locking structure. Both ends of the crossbeam optical axis 232 are respectively connected to the column optical axis 233, which is mounted on the optical axis base 234, which is fixedly mounted on the equipment frame. By adjusting the position of the mounting section 231 on the crossbeam optical axis 232, the position of the industrial camera 227 in the horizontal direction can be adjusted; by adjusting the installation height between the column optical axis 233 and the optical axis base 234, the position of the industrial camera 227 in the vertical direction can be adjusted. Therefore, the installation position of the industrial camera 227 can be adjusted according to the size of different objects to be inspected, the range of the inspection area, and the requirements of the imaging field of view, so as to meet the visual inspection needs under different working conditions.

[0050] Furthermore, the vision system heat dissipation module 24 includes a processor 241, a cooling fan 242, a display 243, and a vision bracket mounting frame 244. The processor 241 is mounted on the vision bracket mounting frame 244 and is used to process image data acquired by the industrial camera 227. The cooling fan 242 is mounted on a fan mounting bracket 211 and is correspondingly positioned to the processor 241, used to dissipate heat from the processor 241 to reduce its temperature rise during long-term operation. The display 243 is mounted on a display bracket 212 and is electrically connected to the processor 241, used to display visual inspection images, inspection results, and equipment operating status information. The vision bracket mounting frame 244 is located on one side of the vision bracket 21 and is used to mount and fix the processor 241. Through the above structural arrangement, image acquisition, image processing, and result display can be integrated into the same vision recognition system 2, thereby improving the equipment integration.

[0051] Furthermore, the visual recognition system housing 25 includes a top opening door 251, a top industrial camera heat dissipation hole 252, a hinge 253, a cooling fan heat dissipation hole 254, a touch panel 255, an electrical cabinet 256, a switch 257, and an emergency stop switch 258. The top opening door 251 is located on the top of the vision recognition system housing 25 and is rotatably connected to the vision recognition system housing 25 via a hinge 253, facilitating the inspection and maintenance of the internal components of the vision recognition system housing 25. The top industrial camera heat dissipation hole 252 is located on the top opening door 251, forming an airflow channel corresponding to the camera heat dissipation module 22. The cooling fan heat dissipation hole 254 is located on the side of the vision recognition system housing 25 and is correspondingly arranged with the cooling fan 242, facilitating the cooling fan 242 to form an air intake or exhaust channel. The touch panel 255 is located on the front of the vision recognition system housing 25 for human-machine interaction. The electrical cabinet 256 is located at the lower part of the vision recognition system housing 25 for installing electrical control components. The switch 257 and the emergency stop switch 258 are located on the front of the vision recognition system housing 25, facilitating the operator to control the start and stop of the equipment and to control emergency shutdown. By setting up the visual recognition system housing 25, external protection can be provided for the internal electrical components, image processing unit and camera assembly, while improving the integration and safety of the overall structure.

[0052] In this embodiment, the industrial camera 227 is mounted on the upper part of the vision bracket 21 via the camera adjustment module 23, the light source 216 is mounted at the corresponding position of the imaging area of ​​the industrial camera 227, the processor 241 is used to receive and process the image information acquired by the industrial camera 227, and the display 243 is used to display the detection results. The camera heat dissipation module 22 is used to provide local cooling for the industrial camera 227, the vision system heat dissipation module 24 is used to provide air cooling for the processor 241, and the vision recognition system housing 25 is used to protect the entire vision recognition system 2, thereby ensuring that the vision recognition system 2 has good structural stability, imaging stability, and heat dissipation reliability under continuous operation.

[0053] In this embodiment, the visual recognition system 2 above the fruit tray rotation conveyor system 3 continuously images the apples. Since the apples rotate with the tray during transport, the industrial camera 227 can acquire continuous images of the same apple in different postures, thus forming a temporal image sequence of the apples. The image preprocessing module performs one or more of the following processes on the acquired images: cropping, scaling, noise reduction, brightness correction, contrast enhancement, and color space conversion, to improve the stability and accuracy of subsequent defect identification.

[0054] Furthermore, the defect detection model is used to identify blemishes, bruises, pressure marks, punctures, rot, and other appearance defects on the apple surface. The defect detection module can be implemented using deep learning-based object detection algorithms, machine learning-based image classification or recognition algorithms, or a combination of both. In some embodiments, the defect detection module can employ convolutional neural network detection algorithms, single-stage object detection algorithms, two-stage object detection algorithms, or improved algorithms thereof; preferably, it can employ YOLO series algorithms, Faster R-CNN series algorithms, SSD series algorithms, EfficientDet series algorithms, CenterNet series algorithms, FCOS series algorithms, or improved algorithms thereof. For implementations that do not employ deep learning models, the defect detection module can also be implemented using machine learning methods based on manual feature extraction, such as constructing a classification model using color features, texture features, shape features, or frequency domain features, and combining it with support vector machines, random forests, decision trees, K-nearest neighbors, Naive Bayes, or ensemble learning models to discriminate apple defects.

[0055] In this embodiment, the processor 241 pre-stores a visual recognition program, which includes functional modules such as image acquisition, image preprocessing, defect detection, sorting decision, and control output. After the industrial camera 227 acquires apple images in real time, the processor 241 first preprocesses the images, then calls the defect detection model to identify the apple target and defect areas. The sorting decision then fuses and judges the recognition results of multiple frames of the same apple, and finally, the control output module outputs a control signal to the defective fruit rejection system 4. The display 243 synchronously displays the apple image, defect frame, judgment result, and equipment operating status for the operator to observe and adjust.

[0056] like Figures 12 to 15 As shown, the fruit tray rotation conveying system 3 includes a left fruit tray baffle 31, a right fruit tray baffle 32, a bearing seat 33, a fruit tray driven shaft 34, a fruit tray driven synchronous pulley 35, a fruit tray drive shaft 36, a fruit tray synchronous belt 37, a fruit tray drive synchronous pulley 38, a fruit tray drive motor 39, a fruit tray motor bracket 310, a fruit tray drive sprocket 311, a fruit tray 312, a fruit tray chain 313, a fruit tray friction support plate 314, a fruit tray baffle 315, a support frame 316 for the left and right fruit tray baffles 31 and 32, and a fruit tray friction rod 317. The fruit tray rotation conveying system 3 is positioned below the vision recognition system 2 and mounted on the sorting frame 7. It carries apples and drives them to move along the conveying direction, while simultaneously causing the apples to spin during conveying, facilitating continuous imaging detection of the apple surface by the vision recognition system 2.

[0057] Furthermore, the left baffle 31 and right baffle 32 of the fruit tray are correspondingly arranged on both sides of the fruit tray rotary conveying system 3 along the conveying direction to limit the apple conveying channel and to laterally limit the apples, thereby reducing lateral jumping and misalignment of the apples during the conveying process. The support frame 316 for the left baffle 31 and right baffle 32 of the fruit tray is arranged below the left baffle 31 and right baffle 32 of the fruit tray to connect and support and fix the left baffle 31 and right baffle 32 of the fruit tray. The fruit tray baffle 315 is arranged on one or both sides of the fruit tray 312 to further constrain the apple conveying posture.

[0058] Furthermore, the bearing housing 33 is disposed below the upper left and upper right quality sorting brackets 71 and 73, and is used to support and install the fruit tray driven shaft 34 and the fruit tray drive shaft 36. The fruit tray driven shaft 34 and the fruit tray drive shaft 36 are respectively mounted on the sorting frame 7 via the bearing housing 33. The fruit tray driven synchronous pulley 35 is mounted on the fruit tray driven shaft 34. The fruit tray drive synchronous pulley 38 is mounted on the output end of the fruit tray drive motor 39 or is connected to the fruit tray drive motor 39 for transmission. The fruit tray synchronous belt 37 is sleeved between the fruit tray driven synchronous pulley 35 and the fruit tray drive synchronous pulley 38 to transmit the power of the fruit tray drive motor 39 to the fruit tray drive shaft 36. The fruit tray drive motor 39 is mounted on the fruit tray motor bracket 310, and the fruit tray motor bracket 310 is fixedly disposed on the sorting frame 7 for mounting and fixing the fruit tray drive motor 39.

[0059] Furthermore, the fruit tray drive sprocket 311 is mounted on the fruit tray drive shaft 36, the fruit tray chain 313 is meshed with the fruit tray drive sprocket 311 and runs along the conveying direction, and multiple fruit trays 312 are spaced apart on the fruit tray chain 313 and move synchronously with the fruit tray chain 313, thereby forming a continuous conveying structure. The fruit tray friction support plate 314 is disposed below the fruit tray 312 to support and guide the fruit tray 312; the fruit tray friction rod 317 is disposed at the lower part or side lower part of the fruit tray 312 and forms a frictional engagement with the fruit tray 312. During the process of running along the conveying direction with the fruit tray chain 313, the fruit tray 312 contacts and rubs against the fruit tray friction rod 317, thereby causing the fruit tray 312 to rotate due to friction while being conveyed forward, causing the apples placed on the fruit tray 312 to spin.

[0060] In this embodiment, through the above-described structural configuration, after the fruit tray drive motor 39 outputs power, it is transmitted to the fruit tray chain 313 via the fruit tray drive synchronous pulley 38, fruit tray synchronous belt 37, fruit tray driven synchronous belt pulley 35, fruit tray drive shaft 36, and fruit tray drive sprocket 311, thereby driving multiple fruit trays 312 to run continuously in a set direction. At the same time, the fruit trays 312 rotate in conjunction with the fruit tray friction rod 317 during the conveying process, thereby driving the apples to continuously move during the conveying process. This allows the visual recognition system 2 to acquire image information of different surfaces of the apple under single-camera conditions, thereby improving the integrity and stability of apple surface defect detection.

[0061] like Figures 16 to 18 As shown, the defective fruit removal system 4 includes an electric air compressor 41, an oil-water separator 42, a solenoid valve module 43, an apple lower baffle 44, a cylinder support plate 45, sorting blades 46, a defective fruit receiving box 47, a solenoid valve fixing plate 48, a removal switch hinge 49, a sorting blade connecting section 410, a cylinder connecting section 411, a pin 412, a connecting rod 413, a cylinder push rod 414, a cylinder 415, a cylinder air pipe connector 416, and an air pipe 417. The defective fruit removal system 4 is located at the fruit outlet end of the fruit tray rotary conveyor system 3, and is used to selectively remove defective apples based on the recognition results of the visual recognition system 2, and to guide normal apples into the track-type size sorting system 5.

[0062] Furthermore, the electric air compressor 41 is used to provide compressed air; the oil-water separator 42 is connected to the electric air compressor 41 and is used to filter and stabilize the compressed air; the solenoid valve module 43 is connected to the oil-water separator 42 and the cylinder 415 respectively, and is used to control the entry or exit of compressed air into or out of the cylinder 415; the air pipe 417 is connected to the oil-water separator 42, the solenoid valve module 43 and the cylinder air pipe connector 416 respectively, and is used to form a pneumatic circuit; the cylinder air pipe connector 416 is set on the cylinder 415 and is used to realize the connection between the air pipe 417 and the cylinder 415.

[0063] Furthermore, the solenoid valve fixing plate 48 is used to install and fix the oil-water separator 42 and the solenoid valve module 43. Both the oil-water separator 42 and the solenoid valve module 43 are installed on the solenoid valve fixing plate 48, which is fixedly located below the upper right bracket 73 of the quality sorting.

[0064] Furthermore, the cylinder 415 is installed at the installation position of the defective fruit rejection system 4 via the cylinder connecting joint 411. The cylinder push rod 414 is connected to the connecting rod 413 via the pin 412. The connecting rod 413 is connected to the sorting blade connecting joint 410 via the pin 412. The sorting blade connecting joint 410 is connected to the sorting blade 46. The sorting blade 46 is rotatably connected to the cylinder support plate 45 via the rejection switch hinge 49, thereby enabling the sorting blade 46 to swing between the open and closed positions.

[0065] Furthermore, the apple lower baffle 44 is disposed on one side of the defective fruit removal area to limit and guide the rolling path of the apples; the cylinder support plate 45 is disposed above the cylinder 415 and fixes the cylinder 415 to provide a rolling support path for normal apples; the cylinder support plate 45 is fixed below the upper left support 71 and the upper right support 73 of the quality sorting; the defective fruit receiving box 47 is disposed below the sorting paddle 46 to receive the defective apples that are removed.

[0066] In this embodiment, the solenoid valve module 43 receives control signals sent by the control system 6, preferably RS485 communication signals. Based on the defective fruit identification results output by the visual recognition system 2, the control system 6 sends an on / off control command to the solenoid valve module 43 when the target apple reaches the predetermined rejection station. The solenoid valve module 43 controls the cylinder 415 to actuate, causing the cylinder push rod 414 to extend or retract axially, and via the connecting rod 413, drives the sorting paddle connecting section 410 to rotate, thereby driving the sorting paddle 46 to swing around the rejection switch hinge 49.

[0067] When the sorting paddle 46 is in the open position, the corresponding defective apples lose support and fall into the defective fruit receiving box 47, thus removing the defective apples. When the sorting paddle 46 is in the closed position, normal apples continue to roll along the cylinder support plate 45 and enter the track-type size sorting system 5 below under the limiting and guiding action of the apple lower baffle 44. Through the above structural settings, the defective fruit removal system 4 can remove defective apples based on visual recognition results and ensure that normal apples stably enter the subsequent size sorting.

[0068] like Figures 19 to 24As shown, the track-type size sorting system 5 is located below the inferior fruit removal system 4. It receives normal apples after the inferior fruit removal system 4 has removed defective fruits, and continuously grades and collects the normal apples with low loss according to their diameter. The track-type size sorting system 5 includes a defective fruit drop hole 51, a lower left protective shell 52 of the sorting machine, a hole 53 in the handrail 72, a lower front protective shell 54 of the sorting machine, a lower right protective shell 55 of the sorting machine, a small fruit receiving box 56, a size grading receiving frame fixing plate 57, a size grading baffle 58, a size grading receiving frame 59, a size grading receiving frame upper left fixing plate 510, a lower rear protective shell 511 of the sorting machine, a lower fruit plate for extra-large fruits 512, a size grading upper baffle 513, a size grading upper baffle fixing component 514, a sorting track pulley bearing seat unit 515, a sorting track pulley shaft 516, a grading conveying unit support beam 517, and a grading conveying unit base. 518. Seat, 519. Grade conveying unit bearing, 520. Size sorting grade control plate, 521. Size sorting grade control rod, 522. Grade conveying unit, 523. Conveyor belt motor mounting plate, 524. Grade conveying unit aluminum profile, 525. Size sorting receiving frame support rod, 526. Size sorting receiving frame support beam, 527. Grade conveying unit motor, 528. Grade conveying unit sprocket, 529. Grade conveying unit transmission chain, 530. Sorting motor, 531. Sorting track pulley, 532. Sorting track flexible belt, 533. Sorting track flexible belt support frame, 534. Support frame fixed wheel, 535. Flexible sponge, and size sorting plate, 536.

[0069] Furthermore, the defective fruit drop hole 51 is located at the outlet of the defective fruit receiving box 47, for defective fruits rejected by the upper inferior fruit removal system 4 to fall through; the lower left protective shell 52, the lower front protective shell 54, the lower right protective shell 55, and the lower rear protective shell 511 of the sorting machine are located on the outside of the track-type size sorting system 5, forming the outer shell structure of the lower sorting area; the size sorting plate 536 is located in the middle and lower part of the track-type size sorting system 5, for blocking and supporting the grading receiving area; the holes 53 of the handrail 72 are located at corresponding installation positions, for cooperating with the installation structure of the whole machine handrail 72.

[0070] Furthermore, multiple sorting track pulley bearing seat units 515 are spaced apart on the support structure of the track-type size sorting system 5. The sorting track pulley shaft 516 is installed in the sorting track pulley bearing seat unit 515, and the sorting track pulley 531 is installed on the sorting track pulley shaft 516. The sorting track flexible belt 532 is sleeved between multiple sorting track pulleys 531, forming a flexible sorting channel that circulates along the sorting direction. The sorting track flexible belt support frame 533 is located below the sorting track flexible belt 532 to support and guide it. The support frame fixing wheel 534 is located on the sorting track flexible belt support frame 533 to reduce frictional resistance and improve operational stability during operation. The flexible sponge 535 is located at positions where apples may come into contact with or fall, to cushion the impact of collisions during grading and falling, thereby reducing mechanical damage to the apples.

[0071] Furthermore, the sorting motor 530 is disposed on one side of the track-type size sorting system 5 and is connected to the sorting track pulley shaft 516 for driving the flexible belt 532 of the sorting track to run in a cycle. The size grading upper baffle 513 is disposed on both sides of the flexible belt 532 of the sorting track, and the size grading upper baffle fixing member 514 is used to install and fix the size grading upper baffle 513 to limit the rolling path of the apples during the sorting process and prevent the apples from leaving the sorting channel.

[0072] Furthermore, the size sorting grade control plate 520 is disposed on the upper sides of the track-type size sorting system 5, and the size sorting grade control rod 521 is disposed on the size sorting grade control plate 520 and connected to the sorting track flexible belt support frame 533. By adjusting the installation position of the size sorting grade control rod 521 on the size sorting grade control plate 520, the relative spacing between the sorting track flexible belts 532 can be changed, so that the sorting channel forms a gradually opening grading structure along the apple running direction. When the apple moves forward on the sorting track flexible belt 532, as the channel width gradually changes, apples of different diameters lose support at the corresponding positions and fall downward into the corresponding grade area, thereby achieving continuous grading according to fruit diameter.

[0073] Furthermore, the extra-small fruit receiving box 56 is located below the sorting starting end and is used to receive the smallest apples; the extra-large fruit lower fruit plate 512 is located at the sorting end and is used to export extra-large fruits that were not received in the previous section; the size grading receiving frame 59 is located below the flexible belt 532 of the sorting track and is used to receive apples of different grades; the size grading baffle 58 is located between adjacent size grading receiving frames 59 and is used to separate fruits of different grades; the size grading receiving frame fixing plate 57, the size grading receiving frame upper left fixing plate 510, the size grading receiving frame support rod 525, and the size grading receiving frame support beam 526 are used to install and support the size grading receiving frame 59, thereby forming multiple receiving areas corresponding to different grades of apples.

[0074] Furthermore, the grading conveying unit 522 is located below or at a corresponding position of the size grading receiving frame 59, and is used for subsequent conveying of the graded apples. The grading conveying unit support beam 517, grading conveying unit base 518, grading conveying unit bearing 519, and grading conveying unit aluminum profile 524 together constitute the mounting support structure of the grading conveying unit 522; the conveyor belt motor mounting plate 523 is located on one side of the grading conveying unit 522, the grading conveying unit motor 527 is mounted on the conveyor belt motor mounting plate 523, the grading conveying unit sprocket 528 is located at the output end of the grading conveying unit motor 527, and the grading conveying unit transmission chain 529 is connected to the grading conveying unit sprocket 528 to drive the grading conveying unit 522 to run, thereby conveying apples of different grades to their corresponding collection positions.

[0075] In this embodiment, normal apples, after being screened by the inferior fruit removal system 4, enter the track-type size sorting system 5 and fall into the sorting channel formed by the flexible sorting track 532. Driven by the sorting motor 530, the flexible sorting track 532 moves the apples forward along the sorting direction. By adjusting the relative spacing between the flexible sorting track 532 through the size sorting grade control plate 520 and the size sorting grade control rod 521, the sorting channel forms a width structure that gradually changes along the forward direction. Apples of different diameters fall at the corresponding width position during operation and enter the extra-small fruit receiving box 56, the size grading receiving frame 59, or are discharged through the extra-large fruit lower fruit plate 512, respectively. After falling, the apples are then transported to the corresponding collection positions by the grading conveying unit 522. Through the above structure, the track-type size sorting system 5 can form a continuous sorting path with the upper inferior fruit removal system 4, achieving apple grading by diameter while reducing mechanical damage to the apples during grading and falling.

[0076] In practical use, sorted apples are fed into the inlet of the feeding conveyor system 1. After the feeding conveyor system 1 is started, the drive motor 145 in the drive module 14 outputs power, which is transmitted to the drive shaft 134 through the drive synchronous pulley 142, synchronous belt 143 and driven synchronous pulley 144, thereby driving the conveyor belt 136 to run continuously. During the conveying process, the apples are limited and guided by the guide plates 12. The side guide plates 121 limit the apples laterally, while the forward guide plates 122 and the reverse guide plates 123 divide the conveying area of ​​the feeding conveyor system 1 into three corresponding conveying channels, so that the apples can enter the subsequent sorting path in a more orderly manner, reducing accumulation, collision and cross-channel phenomena.

[0077] After being conveyed by the feeding conveyor system 1, apples enter the fruit tray rotary conveyor system 3. The fruit tray drive motor 39 outputs power, which is transmitted to the fruit tray chain 313 through the fruit tray drive synchronous pulley 38, fruit tray synchronous belt 37, fruit tray driven synchronous belt pulley 35, fruit tray drive shaft 36, and fruit tray drive sprocket 311, driving multiple fruit trays 312 to run continuously along the conveying direction. After the apples are placed on the fruit trays 312, as the fruit trays are conveyed forward, the fruit trays 312 and fruit tray friction rods 317 engage in frictional contact, causing the fruit trays 312 to rotate, which in turn causes the apples to spin. The fruit tray left baffle 31, fruit tray right baffle 32, and fruit tray baffle 315 limit and constrain the conveying posture of the apples, and the fruit tray friction support plate 314 is used to support and guide the fruit trays 312, so that the apples can move forward and rotate in a relatively stable state.

[0078] When the apple, carried by the rotating transport system 3, moves to the area below the vision recognition system 2, the vision recognition system 2 begins to continuously image the apple. An industrial camera 227 is mounted on a camera adjustment module 23, which includes a mounting section 231, a crossbeam optical axis 232, a column optical axis 233, and an optical axis base 234. The position of the industrial camera 227 can be adjusted according to the detection range and imaging field of view requirements. A light source 216 is mounted on a light source bracket 215 to provide stable illumination for the apple imaging area. The vision recognition system housing 25 protects the recognition area and reduces external environmental interference. The images captured by the industrial camera 227 are transmitted in real time to a processor 241, which is mounted on a vision support mounting bracket 244. A cooling fan 242 is used to cool the processor 241, and a display 243 displays the detection images, detection results, and equipment operating status.

[0079] In this embodiment, the processor 241 pre-stores a visual recognition program. After the industrial camera 227 acquires an image of the apple, the processor 241 first preprocesses the image, then calls the defect detection module to identify blemishes, bruises, pressure marks, punctures, rot, and other appearance defects on the apple's surface. Subsequently, the sorting decision fuses the identification results of the same apple in multiple consecutive frames and outputs the corresponding sorting results. Because the apple continuously spins on the fruit holder 312, the industrial camera 227 can obtain continuous image information from different surfaces of the same apple, thus improving the completeness and reliability of apple surface defect identification.

[0080] When the apples continue to the corresponding station of the defective fruit rejection system 4, the defective fruit rejection system 4 performs a rejection action based on the identification result output by the processor 241. Specifically, the electric air compressor 41 provides compressed air, which is processed by the oil-water separator 42 and then delivered to the solenoid valve module 43 and cylinder 415 through the air pipe 417. When the target apple is judged to be defective, the control system 6 sends a control signal to the solenoid valve module 43, which controls the cylinder 415 to move, causing the cylinder push rod 414 to drive the sorting blade connecting section 410 to rotate via the connecting rod 413, thereby driving the sorting blade 46 to swing around the rejection switch hinge 49. The apples judged to be defective fall into the defective fruit receiving box 47 after losing their original support and pass downward through the defective fruit drop hole 51; the apples not judged to be defective continue to enter the track-type size sorting system 5 under the guidance and support of the apple lower baffle 44 and the cylinder support plate 45.

[0081] After the inferior apples are removed, the normal apples enter the track-type size sorting system 5. The sorting motor 530 outputs power and drives the sorting track pulley shaft 516 to rotate, and the sorting track pulley 531 rotates accordingly, thereby driving the sorting track flexible belt 532 to run continuously. The apples are placed between the two sorting track flexible belts 532 and move forward along the sorting direction under the action of clamping and friction. The size sorting grade control plate 520 and the size sorting grade control rod 521 are set on the upper part of both sides of the track-type size sorting system 5. By adjusting the position of the size sorting grade control rod 521 on the size sorting grade control plate 520, the relative spacing between the sorting track flexible belts 532 can be changed, so that the sorting channel forms a grading structure that gradually widens from narrow to wide along the apple running direction. When the apple runs to a position where the width of the sorting channel is greater than its diameter, the apple loses support and falls into the corresponding grade area, thereby realizing continuous grading according to the size of the fruit. Smaller apples can fall into the extra-small apple receiving box 56, while apples of other grades fall into the corresponding size grading receiving box 59. Larger apples not in the previous section can be exported through the extra-large apple receiving plate 512.

[0082] Through the above process, apples complete the entire process of feeding and conveying, rotating transport, continuous imaging recognition, defective fruit removal, and size sorting in sequence. The cascaded continuous sorting path connected from top to bottom improves sorting efficiency while reducing mechanical damage to apples during the conveying, sorting, and collection process.

Claims

1. A cascaded high-efficiency small-scale intelligent sorting machine, characterized in that: The system includes a feeding conveyor system (1), a vision recognition system (2), a fruit tray rotary conveyor system (3), a defective fruit removal system (4), a track-type size sorting system (5), a control system (6), and a sorting frame (7). The feeding conveyor system (1) is located to the left of the vision recognition system (2) and is used to transport apples to be sorted to the fruit tray rotary conveyor system (3). The vision recognition system (2) is located above the fruit tray rotary conveyor system (3) and is used to collect, recognize, and process images of the apple surface. The defective fruit removal system (4) is located to the right of the vision recognition system (2) and is set corresponding to the fruit outlet end of the fruit tray rotary conveyor system (3) and is used to remove the identified defective fruit from the conveying path. The following are the functions of the sorting system: the track-type size sorting system (5) is located at the bottom of the machine, and its fruit inlet end is connected to the fruit outlet end of the inferior fruit removal system (4), which is used to grade the apples after the inferior fruit removal is completed according to the fruit diameter; the control system (6) is located at the front of the machine, which is used to coordinate and control the feeding conveying system (1), the visual recognition system (2), the fruit tray rotation conveying system (3), the inferior fruit removal system (4) and the track-type size sorting system (5); the sorting frame (7) is used to support, connect and install the feeding conveying system (1), the visual recognition system (2), the fruit tray rotation conveying system (3), the inferior fruit removal system (4), the track-type size sorting system (5) and the control system (6).

2. The cascaded high-efficiency circular small intelligent sorting machine according to claim 1, characterized in that: The sorting frame (7) includes a quality sorting upper left bracket (71), a handrail (72), a quality sorting upper right bracket (73), an outer shell support plate (74), a sorting machine column (75), a size sorting upper bracket (76), a side outer shell support plate (77), a support column (78), a support column fixing plate (79), a sorting machine lower bracket (710), a size sorting rear bracket (711), and a feeding conveyor bracket (712). The quality sorting upper left bracket (71) and the quality sorting upper right bracket (73) are located on the upper sides of the sorting frame (7) and are used to install and support the visual recognition system (2) and components related to quality sorting. The size sorting upper bracket (76) is located in the middle and lower part of the sorting frame (7) and is used to install and support the track-type size sorting system (5). The feeding conveyor bracket (712) is located on one side of the sorting frame (7) and is correspondingly set with the feeding conveyor system (1).

3. The cascaded high-efficiency circular small intelligent sorting machine according to claim 1, characterized in that: The feeding and conveying system (1) includes a feeding and conveying system housing (11), a guide plate (12), a conveying module (13), and a drive module (14). The feeding and conveying system housing (11) covers the outside of the conveying module (13) and is used to support and protect the conveying module (13). The guide plate (12) is located above the conveying module (13) and below the feeding and conveying system housing (11) and is used to limit and guide the apples entering the feeding and conveying system (1). The drive module (14) is located on one side of the conveying module (13) and is connected to the conveying module (13) for driving the conveying module (13) to run.

4. The cascaded high-efficiency circular small intelligent sorting machine according to claim 3, characterized in that: The guide plate (12) includes a side guide plate (121), a forward guide plate (122) and a reverse guide plate (123). The side guide plate (121) is disposed on both sides of the conveying module (13) for lateral limiting of the apples. The forward guide plate (122) and the reverse guide plate (123) are arranged at intervals along the apple conveying direction to divide the conveying area of ​​the feeding conveying system (1) into three corresponding conveying channels, which correspond to the three conveying channels of the fruit tray rotation conveying system (3) respectively.

5. A cascaded high-efficiency circular small intelligent sorting machine according to claim 1, characterized in that: The visual recognition system (2) includes a visual bracket (21), a camera heat dissipation module (22), a camera adjustment module (23), a visual system heat dissipation module (24), and a visual recognition system housing (25). The visual bracket (21) is used to support and install the camera heat dissipation module (22), the camera adjustment module (23), and the visual system heat dissipation module (24). The camera heat dissipation module (22) is used to dissipate heat and cool down the industrial camera (227). The camera adjustment module (23) is used to adjust the installation position of the industrial camera (227). The visual system heat dissipation module (24) is used to dissipate heat from the processor (241). The visual recognition system housing (25) is covered on the outside of the visual bracket (21).

6. A cascaded high-efficiency circular small intelligent sorting machine according to claim 5, characterized in that: The camera heat dissipation module (22) includes a semiconductor cooling module (221), a camera mounting section (222), a camera heat insulation plate (223), an industrial lens (224), a semiconductor cooling fan (225), heat dissipation fins (226), an industrial camera (227), and a camera support (228); the vision system heat dissipation module (24) includes a processor (241), a cooling fan (242), a display (243), and a vision bracket mounting bracket (244).

7. A cascaded high-efficiency circular small intelligent sorting machine according to claim 5, characterized in that: The processor (241) has a pre-stored visual recognition program, which includes image acquisition, image preprocessing, defect detection, sorting decision and control output functional modules. After the industrial camera (227) acquires apple images in real time, the processor (241) preprocesses the images and then calls the defect detection module to identify the apple target and defect area. The sorting decision judges the identification results of the same apple and finally the control output module outputs a control signal to the inferior fruit rejection system (4).

8. A cascaded high-efficiency circular small intelligent sorting machine according to claim 1, characterized in that: The fruit tray rotation conveying system (3) includes a fruit tray left baffle (31), a fruit tray right baffle (32), a bearing seat (33), a fruit tray driven shaft (34), a fruit tray driven synchronous pulley (35), a fruit tray drive shaft (36), a fruit tray synchronous belt (37), a fruit tray drive synchronous wheel (38), a fruit tray drive motor (39), a fruit tray motor bracket (310), a fruit tray drive sprocket (311), a fruit tray (312), a fruit tray chain (313), a fruit tray friction support plate (314), a fruit tray baffle (315), a support frame (316) for the fruit tray left baffle (31) and the fruit tray right baffle (32), and a fruit tray friction rod (317). The fruit tray (312) moves continuously along the conveying direction with the fruit tray chain (313) and rotates when it rubs against the fruit tray friction rod (317) to drive the apples placed on the fruit tray (312) to spin.

9. A cascaded high-efficiency circular small intelligent sorting machine according to claim 1, characterized in that: The defective fruit removal system (4) includes an electric air compressor (41), an oil-water separator (42), a solenoid valve module (43), an apple lower baffle (44), a cylinder support plate (45), a sorting blade (46), a defective fruit receiving box (47), a solenoid valve fixing plate (48), a removal switch hinge (49), a sorting blade connecting section (410), a cylinder connecting section (411), a pin (412), a connecting rod (413), a cylinder push rod (414), a cylinder (415), a cylinder air pipe connector (416), and an air pipe (417). The solenoid valve module (43) receives the control signal sent by the control system (6) and controls the cylinder (415) to move, so that the cylinder push rod (414) drives the sorting blade (46) to swing around the removal switch hinge (49) through the connecting rod (413), thereby removing the defective fruit to the defective fruit receiving box (47).

10. A cascaded high-efficiency circular small intelligent sorting machine according to claim 1, characterized in that: The track-type size sorting system (5) includes a small fruit receiving box (56), a size grading receiving frame fixing plate (57), a size grading baffle (58), a size grading receiving frame (59), a large fruit lower fruit plate (512), a size grading upper baffle (513), a sorting track pulley bearing seat unit (515), a sorting track pulley shaft (516), a size sorting grade control plate (520), a size sorting grade control rod (521), and a grading conveying unit (522). The sorting motor (530), sorting track pulley (531), sorting track flexible belt (532), sorting track flexible belt support frame (533), support frame fixed wheel (534), flexible sponge (535) and size sorting plate (536), the size sorting grade control plate (520) and size sorting grade control rod (521) are used to adjust the relative spacing between the sorting track flexible belt (532) so that the sorting channel forms a gradually opening grade structure along the apple running direction.

11. A cascaded high-efficiency circular small intelligent sorting machine according to claim 10, characterized in that: The grading conveying unit (522) is located below or at the corresponding position of the large and small grading receiving frame (59). The grading conveying unit (522) includes a grading conveying unit support beam (517), a grading conveying unit base (518), a grading conveying unit bearing (519), a conveyor belt motor mounting plate (523), a grading conveying unit aluminum profile (524), a large and small grading receiving frame support rod (525), a large and small grading receiving frame support beam (526), ​​a grading conveying unit motor (527), a grading conveying unit sprocket (528), and a grading conveying unit transmission chain (529), which are used to convey the graded apples to the corresponding collection positions.

12. A cascaded high-efficiency circular small intelligent sorting machine according to claim 7, characterized in that: The defect detection module is used to identify blemishes, bruises, pressure marks, punctures, rot, and other appearance defects on the surface of apples. The defect detection module is implemented using a deep learning-based target detection algorithm, a machine learning-based image classification or recognition algorithm, or a combination of both.

13. A cascaded high-efficiency circular small intelligent sorting machine according to claim 7, characterized in that: The control output module generates a judgment result based on the sorting decision, forms a corresponding execution control instruction, and triggers the inferior fruit removal system (4) action when the target apple runs to the predetermined removal station.

Images