Grape grading and automatic weight matching equipment and method based on three-level RFID tracking

Abstract

The application discloses a grape grading and sorting and automatic weight matching equipment and method based on three-stage RFID tracking, and the equipment comprises an RFID tray, a visual and weight integrated inspection unit, a three-stage RFID identification device, a to-be-queued buffer area, a main sorting line, a universal wheel transmission device and a sorting and packaging table, each RFID tray serves as a record carrier, and the three-stage RFID identification device serves as a data identification device. The application realizes full-automatic grading and weight matching of grapes, realizes double-dimension detection of appearance and weight through the visual and weight integrated inspection unit, realizes seamless tracking and error-proof checking through the three-stage RFID read-only identification node, realizes automatic weight matching combination of grape clusters through the to-be-queued buffer area and a dynamic queuing algorithm, completely eliminates the operation link of repeatedly picking up grape clusters by manual operation, realizes impact-free flexible sorting and conveying of the tray through the main sorting line and the universal wheel transmission device, and thus the mechanical damage rate and the labor cost are greatly reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent sorting and automated packaging technology for agricultural products, and in particular to a grape grading and sorting and automatic counterweighting equipment and method based on three-level RFID tracking. Background Technology

[0002] As a high-value-added agricultural product, the commercialization of fresh grapes requires the sequential completion of key steps such as post-harvest processing, grading and sorting, and fixed-weight packing. With the rapid development of agricultural automation technology, the level of automation in the post-harvest processing of fresh agricultural products such as grapes has been continuously improving. However, in the core steps of grading, sorting, and fixed-weight packing, existing technologies still generally suffer from problems such as dispersed testing stations, rigid weighting strategies, and rigid conveying methods, which restrict the further improvement of the overall automation level.

[0003] Currently, common grape grading, sorting, and packaging production lines in the industry typically employ a workstation layout that separates visual inspection and weight detection. This results in large equipment footprints and limited inspection efficiency. In the fixed-weight packing stage, most companies still rely on manual weighing and replenishment of grapes, which is labor-intensive and inefficient. Although some automation solutions attempt to use fixed-weight pallets or simple buffer queues for fixed-weight combinations, they lack flexible dynamic grouping strategies and precise conveying and diversion control, leading to long waiting times at the packaging station and large fluctuations in system throughput. Furthermore, existing sorting and conveying devices mostly use rigid contact diversion mechanisms such as levers and push plates, which can easily cause mechanical damage to grape bunches.

[0004] The existing technical solutions have the following main drawbacks in practical applications:

[0005] First, manual handling causes severe damage to grapes. Due to the lack of efficient automated balancing solutions, fixed-weight packing has long relied on manual labor to repeatedly pick up, weigh, and replace grape bunches to achieve the target weight. This continuous mechanical contact easily causes bloom shedding, bruising of the berries, and even breakage of the stems, resulting in irreversible damage to the commercial value of the grapes.

[0006] Secondly, the automated counterweighting process is lacking. The few existing grading and sorting devices can only perform preliminary sorting based on appearance or size, and do not integrate automatic weighing and counterweighting functions. After inspection, the grapes still need to be transferred to a manual area for weighing and combination, resulting in a significant reduction in the overall automation level of the production line and low packaging efficiency.

[0007] Third, labor costs are high and recruitment is difficult. Grape sorting and packaging has significant seasonal characteristics, requiring a large number of skilled workers for grading and weighing. With labor costs rising year by year, coupled with the reluctance of young workers to engage in heavy and repetitive agricultural processing work, enterprises are facing a serious labor shortage problem.

[0008] Fourth, the sorting and conveying methods are not compatible with the characteristics of the materials. Existing rigid contact sorting technologies such as push plates and levers are prone to squeezing and damaging the soft grape bunches, and cannot meet the process requirements of fragile agricultural products for flexible conveying and lossless diversion.

[0009] In summary, the core contradiction of existing grape grading, sorting, and fixed-weight packing technologies lies in their failure to simultaneously address the two key issues of automatic counterweighting and flexible conveying in the entire process of automation. Specifically, existing technologies lack both intelligent counterweighting strategies capable of dynamically grouping grapes according to real-time needs and impact-free flexible diversion and conveying methods suitable for fragile bunches, making it difficult to achieve true full-process automation in grape commercialization. Therefore, there is an urgent need for equipment and methods capable of achieving automatic grape grading, sorting, dynamic counterweighting, and damage-free flexible conveying. Summary of the Invention

[0010] This invention provides a grape grading, sorting, and automatic counterweighting equipment and method based on three-level RFID tracking, which solves the core contradiction of existing technologies that fail to simultaneously achieve automatic dynamic counterweighting of grape bunches and non-destructive flexible conveying. It provides an equipment and method that can replace manual operation, reduce mechanical damage, and improve system efficiency.

[0011] In view of the above technical problems, embodiments of the present invention provide a grape grading, sorting, and automatic counterweighting equipment based on three-level RFID tracking, comprising:

[0012] The RFID tray is initially positioned at the exit of the loading station. Each RFID tray has a built-in RFID chip for storing parameters of a single grape bunch in real time. These parameters include the weight, color, and size of the grape bunch. Each RFID tray serves as the physical carrier of the data and moves with the grape bunch throughout the entire process.

[0013] The integrated visual sorting and weight inspection unit is located behind the loading station. It is equipped with visual sensors and weight sensors to perform appearance and weight inspection of individual grape bunches. The integrated visual sorting and weight inspection unit is also equipped with an RFID writing device to write the detection data into the RFID chip of the corresponding RFID tray in real time.

[0014] The first RFID identification device is located at the discharge port of the integrated visual sorting and weight inspection unit. It is used to read the RFID chip with the detection data written on it and upload the data to the central control system.

[0015] The central control system is used to make the first round of pairing decisions based on the data read by the first RFID identification device: if a certain RFID pallet has a matching sorting and packaging station, the pairing is determined to be successful, and the RFID pallet is directly transported to the corresponding sorting and packaging station through the main sorting line; if there is no matching sorting and packaging station, the pairing is determined to be unsuccessful, and the RFID pallet is transported to the waiting-to-be-grouped buffer area through the main sorting line, and the RFID pallet moves counterclockwise in the waiting-to-be-grouped buffer area.

[0016] The second RFID identification device is located at the exit of the waiting-to-be-teamed buffer area and is used to read the RFID data of the RFID trays that have completed teaming to confirm the teaming status.

[0017] The team identification module is used to continuously read the RFID data of each RFID tray in the buffer area to be teamed, and transmit the data to the central control system. Based on the preset teaming rules, the central control system matches the tray combinations that meet the conditions.

[0018] The release control unit responds to the matching success signal from the central control system and the confirmation signal from the second RFID identification device, and controls the opening of the channel to transport the entire RFID tray to the main sorting line, and then to the target sorting and packaging table.

[0019] Multiple sorting and packaging stations, each equipped with a weighing and verification mechanism and an automatic packing robot, are used to receive the grouped grape bunches and complete the fixed-weight packing.

[0020] The third RFID identification device is placed in front of the entrance of each sorting and packaging station to read the RFID data of the RFID trays that arrive at the entrance and confirm whether the RFID tray belongs to the current sorting and packaging station.

[0021] The omnidirectional wheel conveyor is arranged on the conveyor line in front of each sorting and packaging station entrance, at the exit of the second RFID identification device, and on the main sorting line at the exit of the first RFID identification device. It consists of multiple independently controllable omnidirectional wheels and is used to, according to signals from the central control system, send RFID pallets that have not been successfully grouped from the main sorting line into the grouping buffer area, or continue to transport successfully grouped RFID pallets downstream along the main sorting line; send successfully grouped RFID pallets back from the grouping buffer area to the main sorting line, or continue to transport ungrouped RFID pallets counterclockwise along the grouping buffer area; divert successfully grouped RFID pallets from the main sorting line to the corresponding sorting and packaging station entrance, or continue to transport RFID pallets that do not belong to that sorting and packaging station downstream along the main sorting line.

[0022] This invention also provides a method for grading, sorting, and automatic weighing of grapes based on three-level RFID tracking, comprising:

[0023] S1. Place the grape bunches into the RFID tray and send them into the integrated visual sorting and weight inspection unit; the appearance inspection and weight inspection are completed simultaneously by the visual sensor and weight sensor integrated in a single workstation, and the inspection data is written into the RFID chip of the RFID tray in real time to establish the data and physical binding.

[0024] S2. When the RFID tray reaches the discharge port of the integrated visual sorting and weight inspection unit, the first RFID identification device reads the original detection data in the RFID chip and uploads it to the central control system. The central control system performs level determination and path decision: if it matches the real-time empty box demand of the sorting and packaging station, it is directly transported to the target sorting and packaging station via the main sorting line; if it does not match, it is transported to the waiting group buffer area via the main sorting line.

[0025] S3, Dynamic grouping in the buffer area: The grouping identification module continuously performs weight-matching grouping calculations on the RFID pallets in the buffer area to be grouped, and finds pallet combinations that meet the target box weight requirements.

[0026] S4. Team formation confirmation and release: After successful team formation, the RFID pallets in the group pass through the exit of the waiting team buffer area. The second RFID identification device reads and confirms the identity and original detection data of each RFID pallet in read-only mode. The release control unit responds to the confirmation signal, opens the channel, and transports the entire group of RFID pallets to the main sorting line, and then to the target sorting and packaging table.

[0027] S5. Before the RFID pallet reaches the entrance of the target sorting and packaging station, the third RFID identification device reads the pallet ID in read-only mode; the central control system queries the internal grouping record. If the RFID pallet belongs to the current batch of the sorting and packaging station, it controls the universal wheel transmission device to turn the RFID pallet from the main sorting line without impact and send it into the sorting and packaging station; if it does not belong, it controls the universal wheel transmission device to maintain the direction of the main sorting line, so that the RFID pallet continues to be transported downstream.

[0028] S6. Weight verification and automatic packing: The weight verification mechanism in the sorting and packaging station performs a final weight verification on the arriving grape bunches, and the automatic packing robot picks up the verified bunches and puts them into the packaging box.

[0029] The beneficial effects of this invention are mainly reflected in the following aspects:

[0030] First, it achieves a fully contactless process, significantly reducing mechanical damage. After the grape bunches are placed on the RFID tray at the loading station, they are inspected by a vision sorting and weight-integrated inspection unit. The inspection data is written to the chip of the RFID tray in real time and flows with the bunches throughout the entire process. During the subsequent transportation through the main sorting line, the waiting buffer area, and the universal wheel transmission device until the sorting and packaging station completes the boxing, the bunches remain on the RFID tray, eliminating the need for manual handling, weighing, or replacement. This fundamentally eliminates mechanical damage such as bloom shedding, bruising, and stem breakage caused by frequent manual operation, significantly improving the yield of marketable fruit.

[0031] Secondly, it significantly reduces labor costs and reliance on manual labor. Through the collaborative operation of the integrated visual sorting and weight inspection unit, the automated packing robot in the waiting buffer area and sorting and packaging station, the traditional manual weighing and fruit sorting operations are replaced. Only a small number of operators are needed for loading and handling abnormalities, greatly reducing labor costs and effectively alleviating the industry pain points of grape sorting and packaging being highly seasonal and difficult to recruit workers.

[0032] Third, a three-tiered RFID read-only identification system enables end-to-end error prevention and precise traceability. The first RFID identification device is positioned at the outlet of the integrated visual sorting and weight inspection unit for immediate pairing decisions. The second RFID identification device is positioned at the exit of the waiting-to-be-grouped buffer area for identity and data verification before group release. The third RFID identification device is positioned at the entrance of the sorting and packaging station for final verification of whether the RFID tray belongs to the current batch. All three nodes perform read-only operations, without writing new data. Precise end-to-end tracking is achieved through internal records in the central control system, eliminating data confusion and misjudgment, and ensuring that each ear of fruit arrives at the correct sorting and packaging station.

[0033] Fourth, the parallel implementation of both direct-flow and buffered paths improves the overall system throughput. RFID pallets that can be instantly matched with the real-time empty box demand of the sorting and packaging station are directly transported to the corresponding station from the main sorting line, reducing unnecessary buffering. Pallets that cannot be matched immediately enter the cyclic buffer line in the waiting-to-group buffer area to wait for grouping, preventing the entire line from stopping due to insufficient instantaneous demand at a single sorting and packaging station. The parallel operation of these two paths significantly improves the system's continuous operation capability and overall throughput.

[0034] Fifth, a dynamic teaming algorithm balances weighting efficiency and packing accuracy. The teaming identification module performs real-time teaming calculations based on the weight data of each RFID pallet within the teaming buffer area, using the target box weight as the core matching rule. The teaming weight tolerance range is dynamically adjusted according to the load status of the teaming buffer area: when the number of pallets exceeds a first preset threshold or the system sorting speed exceeds 1.2 times the packaging speed, the tolerance is widened to accelerate teaming; when the number of pallets is below a second preset threshold and the sorting speed is below 0.8 times the packaging speed, the tolerance is tightened to ensure packing accuracy. This achieves a dynamic balance between system efficiency and weighting accuracy.

[0035] Sixth, the omnidirectional wheel conveyor system achieves flexible diversion based on impact, avoiding damage from rigid sorting. The omnidirectional wheel conveyor system is located before the entrance of each sorting and packaging station, at the exit of the second RFID identification device, and on the main sorting line at the exit of the first RFID identification device. This flexible diversion method replaces traditional rigid contact sorting methods such as levers and push plates, effectively avoiding squeezing and damage to soft grape bunches, and meeting the process requirements for damage-free transport of fragile agricultural products. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of a grape grading, sorting, and automatic counterweighting equipment based on three-level RFID tracking in one embodiment of the present invention.

[0038] The reference numerals in the accompanying drawings are as follows:

[0039] 1-RFID tray, 2-loading station, 3-integrated visual sorting and weight inspection unit, 4-first RFID identification device, 5-main sorting line, 6-teaming buffer area, 7-second RFID identification device, 8-sorting and packaging table, 9-third RFID identification device, 10-universal wheel transmission device. Detailed Implementation

[0040] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0041] In the description of this invention, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] like Figure 1 As shown, one embodiment of the present invention provides a grape grading, sorting, and automatic counterweighting equipment based on three-level RFID tracking, comprising:

[0044] RFID tray 1 is initially positioned at the exit of loading station 2. Each RFID tray 1 has a built-in RFID chip for storing parameters of a single grape bunch in real time. These parameters include the weight, color, and size of the grape bunch. Each RFID tray 1 serves as the physical carrier of the data and moves with the grape bunch throughout the entire process.

[0045] The integrated visual sorting and weight inspection unit 3 is located behind the loading station 2. It is equipped with visual sensors and weight sensors to perform appearance and weight inspection of individual grape bunches. The integrated visual sorting and weight inspection unit 3 is also equipped with an RFID writing device to write the detection data into the RFID chip of the corresponding RFID tray 1 in real time.

[0046] The first RFID identification device 4 is located at the discharge port of the integrated visual sorting and weight inspection unit 3. It is used to read the RFID chip with the detection data written on it and upload the data to the central control system.

[0047] The central control system is used to make the first round of pairing decisions based on the data read by the first RFID identification device 4: if a certain RFID tray 1 has a matching sorting and packaging station 8, the pairing is determined to be successful, and the RFID tray 1 is directly transported to the corresponding sorting and packaging station 8 through the main sorting line 5; if there is no matching sorting and packaging station 8, the pairing is determined to be unsuccessful, and the RFID tray 1 is transported to the waiting-to-be-grouped buffer area 6 through the main sorting line 5, and the RFID tray 1 moves counterclockwise in the waiting-to-be-grouped buffer area 6.

[0048] The second RFID identification device 7 is located at the exit of the waiting-to-be-teamed buffer area 6 and is used to read the RFID data of the RFID tray 1 that has completed team formation to confirm the team formation status.

[0049] The team identification module is used to continuously read the RFID data of each RFID tray 1 in the teaming buffer area 6, and transmit the data to the central control system. Based on the preset teaming rules, the central control system matches the tray combinations that meet the conditions.

[0050] The release control unit, in response to the matching success signal from the central control system and the confirmation signal from the second RFID identification device 7, controls the opening of the channel to transport the entire RFID tray 1 to the main sorting line 5, and then to the target sorting and packaging table 8.

[0051] Multiple sorting and packaging stations 8, each equipped with a weighing and verification mechanism and an automatic packing robot, are used to receive the grouped grape bunches and complete the fixed-weight packing.

[0052] The third RFID identification device 9 is arranged in front of the entrance of each sorting and packaging station 8 to read the RFID data of the RFID tray 1 arriving at the entrance and confirm whether the RFID tray 1 belongs to the current sorting and packaging station 8. Understandably, each RFID tray 1 serves as a recording carrier, and the first RFID identification device 4, the second RFID identification device 7, and the third RFID identification device 9 all serve as data identification devices.

[0053] The universal wheel conveyor 10 is arranged on the conveyor line in front of the entrance of each sorting and packaging station 8, at the exit of the second RFID identification device 7, and on the main sorting line 5 at the exit of the first RFID identification device 4.

[0054] The omnidirectional wheel conveyor 10, composed of multiple independently controllable omnidirectional wheels, is used to, according to signals from the central control system, send the corresponding RFID pallets 1 that have not been successfully grouped from the main sorting line 5 into the grouping buffer area 6, or continue to transport the successfully grouped RFID pallets 1 downstream along the main sorting line 5; send the corresponding successfully grouped RFID pallets 1 back from the grouping buffer area 6 to the main sorting line 5, or continue to transport the unsuccessfully grouped RFID pallets 1 counterclockwise along the grouping buffer area 6; or divert the corresponding successfully grouped RFID pallets 1 from the main sorting line 5 to the entrance of the corresponding sorting and packaging station 8, or continue to transport RFID pallets 1 that do not belong to the sorting and packaging station 8 downstream along the main sorting line 5. The main sorting line 5 is a continuous conveyor line connecting the integrated visual sorting and weight inspection unit 3, the grouping buffer area 6, and each sorting and packaging station 8, and is used to carry the RFID pallets 1 continuously between the workstations.

[0055] In one embodiment, such as Figure 1 As shown, the vision sensor in the integrated vision sorting and weight inspection unit 3 is a high-resolution industrial camera, and the weight sensor is a pressure sensor or a weighing module; the appearance inspection includes color, size and defect detection.

[0056] The first RFID identification device 4 is used to read data and upload it to the central control system so that the central control system can trigger the first round of pairing decisions. The second RFID identification device 7 is used to confirm the identity of the RFID tray 1 and the original detection data before the group release. The third RFID identification device 9 is used to finally verify whether the RFID tray 1 belongs to the batch being processed by the current sorting and packaging station 8.

[0057] In one embodiment, such as Figure 1 As shown, the pairing decision of the central control system is based on the real-time empty box demand table of each sorting and packaging station 8. The demand table includes the difference between the weight currently placed in the box and the target box weight of each sorting and packaging station 8. The waiting-to-team buffer area 6 is equipped with a circulating buffer line so that the RFID tray 1 moves and waits on the circulating buffer line until the team identification module matches a team partner that meets the conditions.

[0058] In one embodiment, such as Figure 1 As shown, the preset teaming rules of the team identification module are based on weight matching, with a preset target box weight of [missing information]. The allowable team weight tolerance range is: The central control system searches for a set of RFID trays within the waiting-to-be-grouped buffer area, such that the sum of their weights is equal to the total weight of the trays. satisfy .

[0059] In one embodiment, such as Figure 1 As shown, the team weight tolerance range To allow for dynamic parameter adjustment, the system automatically adjusts its parameters based on the load status of the grouping buffer area 6: when the number of RFID trays 1 in the grouping buffer area 6 exceeds a first preset threshold or the system sorting speed is less than 0.8 times the packaging speed, the grouping weight tolerance range is expanded to [a specific value]. ,in When the number of RFID trays 1 in the waiting-to-be-grouped buffer area 6 is less than the second preset threshold and the system sorting speed exceeds 1.2 times the packaging speed, the grouping weight tolerance range is reduced to... ,in .in. Indicates the initial tolerance. ; ; .

[0060] In one embodiment, such as Figure 1 As shown, the universal wheel transmission device 10 is a Mecanum wheel or an omnidirectional wheel array, and each universal wheel is controlled by an independent microcontroller to control its speed and direction.

[0061] In one embodiment, such as Figure 1 As shown, when the third RFID identification device 9 detects that the RFID tray 1 has arrived at the entrance, the corresponding RFID identification device sends a request allocation signal to the central control system. The central control system checks whether the universal wheel area is free. If it is free, it returns an allow allocation signal and performs a steering diversion. If it is busy, it returns a waiting signal and controls the RFID tray 1 to slow down or pause and wait on the main sorting line 5.

[0062] In one embodiment, such as Figure 1 As shown, the weighing and verification mechanism of the sorting and packaging station 8 is used to perform a final weight verification of the grape bunches that have arrived in a group, and the automatic packing robot is used to grab the verified grape bunches and put them into the packaging box.

[0063] Understandably, this invention provides three RFID identification devices: a first RFID identification device 4, a second RFID identification device 7, and a third RFID identification device 9. These three RFID identification devices are three RFID identification nodes, all of which operate in a read-only manner and do not write any new data to the RFID chip.

[0064] The first node is the RFID reader / writer at the discharge port, located at the output end of the integrated visual sorting and weight inspection unit 3. Its function is to read the raw detection data from the chip of the RFID tray 1 that has completed the inspection, upload the data to the central control system, and trigger the first round of pairing decisions.

[0065] The second node is the RFID reader / writer at the buffer area exit, located at the exit of the loop line in the buffer area 6 to be grouped. Its function is to read the raw detection data from the chip of the already grouped RFID tray 1, confirm the tray's identity and the detection data, and the central control system verifies the grouping status based on internal records, triggering a release signal. The chip itself does not contain grouping information.

[0066] The third node is the RFID reader / writer at the entrance of each sorting and packaging station 8 (one for each station), located in front of the entrance of each station. Its function is to read the raw detection data from the chip of the RFID tray 1 arriving at the entrance in read-only mode. The central control system determines whether the tray belongs to the current sorting and packaging station 8 based on the grouping information recorded in the system, and triggers the universal wheel conveyor action.

[0067] Understandably, the layout of the caster wheel transmission device 10 is as follows: taking the setup of three sorting and packaging stations 8 as an example, the main conveyor line 5 is a straight line, and a branch line is connected in parallel at the entrance of each sorting and packaging station 8. At the intersection of the branch lines of the main conveyor line 5, a set of caster wheel transmission devices 10 is arranged. Each caster wheel can be independently controlled in terms of speed and direction. Its working process is as follows, taking the first sorting and packaging station 8 as an example:

[0068] The main conveyor line 5 transports the RFID tray 1 to the entrance of the first sorting and packaging station 8. The third RFID identification device 9 at the entrance of the first sorting and packaging station 8 reads the RFID chip of the RFID tray 1 to obtain the tray ID from its original detection data. The central control system then queries its internal records for the grouping record of the RFID tray 1 based on its ID.

[0069] If the query results show that the RFID tray 1 belongs to the current batch of the first sorting and packaging station 8: the central control system controls the universal wheel transmission device 10 at the entrance of the first sorting and packaging station 8 to drive it along the branch line direction, turn the RFID tray 1 and smoothly send it into the entrance of the RFID tray 1.

[0070] If the query result shows that the pallet does not belong to the RFID pallet 1: the central control system controls the universal wheel transmission device 10 to drive it along the main conveyor line 5, and continues to transport the RFID pallet 1 downstream (to the second sorting and packaging table 8 or the third sorting and packaging table 8).

[0071] After the omnidirectional wheel completes its movement, it returns to its initial state and waits for the next sorting and packaging station 8.

[0072] Understandably, in order to prevent multiple RFID trays 1 from arriving at the entrances of different sorting and packaging stations 8 at the same time and causing conflicts, a request-response anti-collision mechanism based on the global scheduling of the central control system is set up; this mechanism is implemented entirely through the interaction of status flags and signals within the central control system, without writing any data to the RFID chip.

[0073] When the third RFID reader (third RFID identification device 9) in front of a certain packaging station entrance detects that a new RFID tray 1 has arrived, the RFID identification device corresponding to that entrance immediately sends a request allocation signal to the central control system. This signal contains the unique identifier of the RFID tray 1 and information about the target sorting and packaging station 8.

[0074] Upon receiving the request, the central control system checks the status of the area of ​​the universal wheel transfer device 10 in front of the entrance in real time: if the area is idle, the central control system returns an allow allocation signal to the microcontroller and immediately controls the universal wheel to perform a turning action, accurately diverting the RFID tray 1 from the main sorting line 5 to the entrance of the corresponding sorting and packaging station 8; if the area is busy, for example, the previous RFID tray 1 has not completely left the universal wheel area or the entrance is in the process of packing, the central control system returns a waiting signal to the microcontroller, controls the RFID tray 1 to slow down or pause briefly on the main sorting line 5, and at the same time records the waiting status of the RFID tray 1 at the entrance into the scheduling queue of the central control system.

[0075] Once the omnidirectional wheel area is free again, the central control system processes the waiting requests in the current scheduling queue according to the preset priority rules, prioritizes the pallet request with the longest waiting time, and controls the omnidirectional wheels at the corresponding entrance to perform a turning operation until the pallet completely leaves the main conveyor line 5 and enters the branch line of the sorting and packaging station 8.

[0076] This invention also provides a method for grading, sorting, and automatically weighing grapes based on three-level RFID tracking, utilizing the aforementioned equipment for grading, sorting, and automatically weighing grapes based on three-level RFID tracking, comprising:

[0077] S1. Place the grape bunches into the RFID tray 1 and send them into the integrated visual sorting and weight inspection unit 3; the appearance inspection and weight inspection are completed simultaneously by the visual sensor and weight sensor integrated in a single workstation, and the inspection data is written into the RFID chip of the RFID tray 1 in real time to establish the data and physical binding.

[0078] S2. When the RFID tray 1 reaches the discharge port of the integrated visual sorting and weight inspection unit 3, the first RFID identification device 4 reads the original detection data in the RFID chip and uploads it to the central control system. The central control system performs level determination and path decision: if it matches the real-time empty box demand of the sorting and packaging table 8, it is directly transported to the target sorting and packaging table 8 via the main sorting line 5; if it does not match, it is transported to the waiting grouping buffer area 6 via the main sorting line 5.

[0079] S3. Dynamic grouping in the buffer area: The grouping identification module continuously performs weight-matching grouping calculations on the RFID pallets 1 in the buffer area 6 to be grouped, and finds pallet combinations that meet the target box weight requirements.

[0080] S4. Team formation confirmation and release: After successful team formation, the RFID pallet 1 of the group passes through the exit of the waiting team buffer area 6. The second RFID identification device 7 reads and confirms the identity and original detection data of each RFID pallet 1. The release control unit responds to the confirmation signal to open the channel and transport the entire group of RFID pallets 1 to the main sorting line 5, and then to the target sorting and packaging table 8.

[0081] S5. Before the RFID tray 1 reaches the entrance of the target sorting and packaging station 8, the third RFID identification device 9 reads the tray ID. The central control system queries the internal grouping record. If the RFID tray 1 belongs to the current batch of the sorting and packaging station 8, it controls the universal wheel transmission device 10 to turn the RFID tray 1 from the main sorting line 5 without impact and send it into the sorting and packaging station 8. If it does not belong to the batch, it controls the universal wheel transmission device 10 to maintain the direction of the main sorting line 5 so that the RFID tray 1 continues to be transported downstream.

[0082] S6. Weight verification and automatic packing: The weight verification mechanism in the sorting and packaging station 8 performs a final weight verification on the arriving grape bunches, and the automatic packing robot grabs the verified bunches and puts them into the packaging box.

[0083] In one embodiment, the control of the universal wheel transfer device 10 in step S5 also includes a request-response anti-collision mechanism: when the third RFID identification device 9 identifies that the RFID tray 1 has arrived, the corresponding RFID identification device sends a request allocation signal to the central control system; the central control system checks whether the universal wheel area is free. If it is free, it performs a diversion; if it is busy, it controls the tray to pause and wait on the main sorting line 5, and processes it according to the waiting queue priority after the universal wheel area becomes free.

[0084] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A grape grading, sorting, and automatic counterweighting equipment based on three-level RFID tracking, characterized in that, include: The RFID tray (1) is initially set at the exit of the loading station (2). Each RFID tray (1) is equipped with an RFID chip for real-time storage of parameters of a single grape bunch. The parameters include the weight, color and size data of the grape bunch. Each RFID tray (1) serves as the physical carrier of the data and flows with the grape bunch throughout the entire process. The visual sorting and weight integrated inspection unit (3) is set behind the loading station (2). It is equipped with visual sensors and weight sensors to complete the appearance inspection and weight inspection of a single grape bunch. The visual sorting and weight integrated inspection unit (3) is also equipped with an RFID writing device to write the detection data into the RFID chip of the corresponding RFID tray (1) in real time. The first RFID identification device (4) is arranged at the discharge port of the visual sorting and weight integrated inspection unit (3) to read the RFID chip with the detection data written in it and upload the data to the central control system. The central control system is used to make the first round of pairing decisions based on the data read by the first RFID identification device (4): if a certain RFID tray (1) has a matching sorting and packaging station (8), the pairing is determined to be successful, and the RFID tray (1) is directly transported to the corresponding sorting and packaging station (8) through the main sorting line (5); if there is no matching sorting and packaging station (8), the pairing is determined to be unsuccessful, and the RFID tray (1) is transported to the waiting-to-be-grouped buffer area (6) through the main sorting line (5), and the RFID tray (1) moves counterclockwise in the waiting-to-be-grouped buffer area (6); The second RFID identification device (7) is arranged at the exit of the waiting-to-be-teamed buffer area (6) to read the RFID data of the RFID tray (1) that has been teamed up to confirm the teaming status. The team identification module is used to continuously read the RFID data of each RFID tray (1) in the team-up buffer area (6) and transmit the data to the central control system. Based on the preset team-up rules, the central control system matches the tray combinations that meet the conditions. The release control unit responds to the matching success signal from the central control system and the confirmation signal from the second RFID identification device (7), and controls the opening of the channel to transport the entire RFID tray (1) to the main sorting line (5), and then to the target sorting and packaging station (8). Multiple sorting and packaging stations (8), each sorting and packaging station (8) is equipped with a weighing and verification mechanism and an automatic packing robot, used to receive the grouped grape bunches and complete the fixed-weight packing; The third RFID identification device (9) is arranged in front of the entrance of each sorting and packaging station (8) to read the RFID data of the RFID tray (1) that arrives at the entrance and confirm whether the RFID tray (1) belongs to the current sorting and packaging station (8). The universal wheel conveyor (10) is arranged on the conveyor line in front of the entrance of each sorting and packaging station (8), at the entrance of the second RFID identification device (7), and on the main sorting line (5) at the exit of the first RFID identification device (4). It consists of multiple independent and controllable universal wheels and is used to send the corresponding RFID pallets (1) that have not been successfully grouped from the main sorting line (5) into the waiting-to-group buffer area (6) according to the signal of the central control system, or to continue to transport the successfully grouped RFID pallets (1) downstream along the main sorting line (5); to send the corresponding successfully grouped RFID pallets (1) back from the waiting-to-group buffer area (6) to the main sorting line (5), or to continue to transport the unsuccessfully grouped RFID pallets (1) counterclockwise along the waiting-to-group buffer area (6); to divert the corresponding successfully grouped RFID pallets (1) from the main sorting line (5) to the entrance of the corresponding sorting and packaging station (8), or to continue to transport the RFID pallets (1) that do not belong to the sorting and packaging station (8) downstream along the main sorting line (5).

2. The grape grading, sorting, and automatic counterweighting equipment based on three-level RFID tracking according to claim 1, characterized in that, The visual sensor in the integrated visual sorting and weight inspection unit (3) is a high-resolution industrial camera, and the weight sensor is a pressure sensor or a weighing module; the appearance inspection includes color, size and defect detection. The first RFID identification device (4) is used to read data and upload it to the central control system so that the central control system can trigger the first round of pairing decisions. The second RFID identification device (7) is used to confirm the identity and original detection data of the RFID tray (1) before the group release. The third RFID identification device (9) is used to finally verify whether the RFID tray (1) belongs to the batch being processed by the current sorting and packaging station (8).

3. The grape grading, sorting, and automatic counterweighting equipment based on three-level RFID tracking according to claim 2, characterized in that, The pairing decision of the central control system is based on the real-time empty box demand table of each sorting and packaging station (8). The demand table includes the difference between the weight currently placed in the box and the target box weight of each sorting and packaging station (8). The waiting-to-team buffer area (6) is equipped with a circulating buffer line so that the RFID tray (1) moves on the circulating buffer line and waits until the team identification module matches a team partner that meets the conditions.

4. The grape grading, sorting, and automatic counterweighting equipment based on three-level RFID tracking according to claim 3, characterized in that, The preset grouping rules of the grouping identification module are based on weight matching, with a preset target box weight of [missing information]. The allowable team weight tolerance range is: The central control system searches for a set of RFID trays (1) within the waiting-to-be-grouped buffer area (6), such that the sum of their weights is equal to the weights of the trays. satisfy .

5. The grape grading, sorting, and automatic counterweighting equipment based on three-level RFID tracking according to claim 4, characterized in that, The team weight tolerance range To allow for dynamic parameter adjustment, the parameters are automatically adjusted based on the load status of the buffer area (6) to be grouped: when the number of RFID trays (1) in the buffer area (6) to be grouped exceeds a first preset threshold or the system sorting speed is less than 0.8 times the packaging speed, the grouping weight tolerance range is expanded to [missing value]. ,in , This indicates the initial tolerance; when the number of RFID trays (1) in the buffer area (6) to be grouped is lower than the second preset threshold and the system sorting speed exceeds 1.2 times the packaging speed, the grouping weight tolerance range is reduced to... ,in .

6. The grape grading, sorting, and automatic counterweighting equipment based on three-level RFID tracking according to claim 5, characterized in that, The universal wheel transmission device (10) is a Mecanum wheel or an omnidirectional wheel array, and each universal wheel is controlled by an independent microcontroller to control its speed and direction.

7. The grape grading, sorting, and automatic counterweighting equipment based on three-level RFID tracking according to claim 6, characterized in that, When the third RFID identification device (9) identifies that the RFID tray (1) has arrived at the entrance, the corresponding RFID identification device sends a request allocation signal to the central control system. The central control system checks whether the universal wheel area is free. If it is free, it returns an allow allocation signal and performs a turn-by-turn flow. If it is busy, it returns a waiting signal and controls the RFID tray (1) to slow down or pause and wait on the main sorting line (5).

8. The grape grading, sorting, and automatic counterweighting equipment based on three-level RFID tracking according to claim 5, characterized in that, The weighing and verification mechanism of the sorting and packaging station (8) is used to perform a final weight verification of the grape bunches that have arrived in the group, and the automatic packing robot is used to grab the verified grape bunches and put them into the packaging box.

9. A method for grading, sorting, and automatic weighing of grapes based on three-level RFID tracking, characterized in that, The grape grading, sorting, and automatic counterweighting equipment based on three-level RFID tracking as described in any one of claims 1-8 is used, including: S1. Place the grape bunches into the RFID tray (1) and send them into the visual sorting and weight integrated inspection unit (3); the appearance inspection and weight inspection are completed simultaneously by the visual sensor and weight sensor integrated in a single workstation, and the inspection data is written into the RFID chip of the RFID tray (1) in real time to establish the data and physical binding. S2. When the RFID tray (1) reaches the discharge port of the visual sorting and weight integrated inspection unit (3), the first RFID identification device (4) reads the original detection data in the RFID chip and uploads it to the central control system. The central control system performs level judgment and path decision: if it matches the real-time empty box demand of the sorting and packaging station (8), it is directly transported to the target sorting and packaging station (8) through the main sorting line (5); if it does not match, it is transported to the waiting group buffer area (6) through the main sorting line (5). S3, Dynamic grouping of the buffer area: The grouping identification module continuously performs weight-matching grouping calculations on the RFID pallets (1) in the buffer area (6) to be grouped, and finds pallet combinations that meet the target box weight requirements. S4. Team formation confirmation and release: After successful team formation, the RFID pallet (1) passes through the exit of the waiting team buffer area (6). The second RFID identification device (7) reads and confirms the identity and original detection data of each RFID pallet (1). The release control unit responds to the confirmation signal to open the channel and transport the entire RFID pallet (1) to the main sorting line (5) and then to the target sorting and packaging station (8). S5. Before the RFID tray (1) reaches the entrance of the target sorting and packaging station (8), the third RFID identification device (9) reads the tray ID in read-only mode; the central control system queries the internal grouping record. If the RFID tray (1) belongs to the current batch of the sorting and packaging station (8), the universal wheel transmission device (10) is controlled to turn the RFID tray (1) from the main sorting line (5) without impact and send it into the sorting and packaging station (8); if it does not belong to the batch, the universal wheel transmission device (10) is controlled to maintain the direction of the main sorting line (5) so that the RFID tray (1) continues to be transported downstream. S6. Weight verification and automatic packing: The weight verification mechanism in the sorting and packaging station (8) performs a final weight verification on the arriving grape bunches, and the automatic packing robot grabs the verified bunches and puts them into the packing box.

10. The grape grading, sorting, and automatic weighing method based on three-level RFID tracking according to claim 9, characterized in that, The control of the universal wheel transmission device (10) in step S5 also includes a request-response anti-collision mechanism: when the third RFID identification device (9) identifies that the RFID tray (1) has arrived, the corresponding RFID identification device sends a request allocation signal to the central control system; the central control system checks whether the universal wheel area is free. If it is free, it performs a diversion; if it is busy, it controls the tray to pause and wait on the main sorting line (5), and processes it according to the waiting queue priority after the universal wheel area is free.

Images