Coffee fruit intelligent sorting and sorting complete equipment production line

Abstract

The application provides a coffee fresh fruit intelligent sorting and separating complete equipment production line, the whole production line comprises a computer vision part, an automatic control part and a mechanical device part, wherein the main parts are a coffee fresh fruit storage tank, a single column word sorting feeding device, a gap belt transmission type coffee fresh fruit sorting device, a coffee fresh fruit separating device and a high-quality fresh fruit storage box. The coffee fresh fruit intelligent sorting and separating complete equipment production line screens coffee fresh fruits through a gap belt transmission device, screens out fresh fruits with large, medium and small sizes; then uses a depth camera to obtain color and fullness information of the fresh fruits with standard volume, and uses a delta robot to separate the fresh fruits, so that high-quality coffee fresh fruits with standard volume and full maturity are obtained. The application realizes full automation and intelligent size sorting and accurate separating processes of coffee fresh fruits, has high sorting efficiency, can effectively avoid damage of the coffee fresh fruits, and realizes accurate selection and separation of the coffee fresh fruits.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery and automated logistics, and in particular relates to a complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries. Background Technology

[0002] Yunnan Province is a major growing and producing area for high-quality coffee cherries in China, and also an important coffee-producing region globally. Current problems are concentrated in the post-harvest processing of coffee cherries. Due to uneven selection of the cherries, the harvested coffee cherries are of mixed quality. Relying on manual sorting is inefficient in determining the quality of the cherries. Using semi-automated mechanical grading devices can easily damage the cherries, affecting their quality. Therefore, it is necessary for food engineering to emphasize the compatibility between the machinery used in post-harvest processing and the coffee cherries.

[0003] (a) Requirements of post-harvest processing for identifying high-quality coffee cherries Precise sorting of fresh coffee cherries is crucial for controlling their quality from the source. Harvested coffee cherries vary in quality; without sorting, the inconsistent quality makes them unsuitable for food processing. Only by sorting the cherries to identify the higher-quality ones can we ensure a higher and more consistent quality of coffee cherries in subsequent processing. High-quality coffee cherries tend to produce coffee with better flavor, fewer defects, and a superior taste, thus guaranteeing that the final product achieves a high standard in aroma, flavor, and purity. The color and integrity of the coffee cherries are considered appearance quality indicators.

[0004] The color of fresh coffee cherries reflects their ripeness and quality. High-quality coffee cherries exhibit a natural, healthy color, typically a vibrant red or the characteristic color of ripeness. The integrity of the coffee cherries directly indicates whether they have been damaged or broken. High-quality coffee cherries are those that are not squeezed together, maintain a regular shape, are uniform in size, plump and round, have smooth skin, and are free from obvious damage, abrasions, or disease spots. The quality of the coffee cherries is crucial for subsequent food processing.

[0005] From a physicochemical perspective, high-quality coffee cherries should have the appropriate degree of ripeness. The proportions of chemical components (such as sugar and acidity) in coffee cherries directly affect the formation and transformation of flavor compounds during processing; the moisture content of coffee cherries affects the efficiency and energy consumption of food processing steps such as drying and roasting. The physical properties of coffee cherries (hardness and integrity) affect the difficulty of processing and the appearance quality of the finished product. The interaction of these physicochemical factors in coffee cherries jointly determines whether subsequent processing can proceed smoothly and the quality of the final coffee product. Therefore, it is necessary to emphasize the meticulous sorting and selection of coffee cherries.

[0006] (ii) Post-harvest processing of fresh fruit requires improvements to the sorting machine's functions. In existing agricultural machinery, post-harvest processing mainly focuses on material sorting technology. Mechanical sorting and machine vision are common sorting technologies.

[0007] Mechanical sorting equipment primarily employs drum sorters and roller sorters. Both types of mechanical sorters separate coffee cherries based on their size. Their working principle involves the cherries moving along grids or gaps of varying sizes for grading and screening. During this process, smaller cherries pass through the smallest gaps first, followed by larger cherries through the larger gaps; different grades of coffee cherries are then sorted according to the differences in gap size. The disadvantages of mechanical sorters are that the grading gaps cannot be adjusted arbitrarily, and the gaps are rigid. In actual operation, coffee cherries can easily get stuck in the sorting gaps; during transport, they are prone to collisions, causing damage to their surface.

[0008] The advantage of machine vision technology lies in its ability to classify and sort materials based on various attributes such as size, color, and shape, and to rapidly process large amounts of data. Currently, there are relatively few agricultural sorting machines compatible with machine vision technology, and the limited number of conveyor channels results in low sorting efficiency. Therefore, it is necessary to improve agricultural sorting systems based on machine vision technology. Furthermore, for more efficient coffee processing, agricultural machinery design needs to consider the control of three actions: collecting coffee cherries, screening coffee cherries, and sorting and picking coffee cherries. Simultaneously, for the screening and sorting stages of high-quality coffee cherries, the machinery design must consider the ability to quickly assess the quality of the coffee cherries through a built-in system before the mechanical gripper determines its position.

[0009] (III) Current defects in fresh fruit sorting and sorting equipment Chinese invention (CN109158327A, High-Precision Rapid Intelligent Sorting Equipment for Fruits and Vegetables) discloses a high-precision rapid intelligent sorting equipment for fruits and vegetables, including a feeding transmission device, a horizontal conveyor device, and a pneumatic mechanism. The feeding transmission device conveys fruits and vegetables to a horizontal conveyor belt composed of rollers via a feeding plate and a drive unit, with rolling brushes used to comb the fruits and vegetables. The horizontal conveyor device is equipped with an industrial camera and an industrial control computer for monitoring and controlling the transmission and sorting of fruits and vegetables, and fiber optic sensors are used to detect the position and status of the fruits and vegetables. The pneumatic mechanism, in conjunction with a sorting and discharging mechanism located above the horizontal conveyor belt, blows out substandard fruits and vegetables through a vortex cover and air jets. This invention (CN109158327A) still has shortcomings. Its complex structure involves multiple mechanical components and transmission mechanisms, resulting in high manufacturing and maintenance costs. The equipment does not consider the adaptability to the special shape or size of the materials (fruits and vegetables), relying mainly on simple physical sorting techniques such as size and weight, and cannot perform more complex quality assessments, such as evaluating the color vibrancy and blemish ratio of the materials (fruits and vegetables).

[0010] Chinese invention (CN110743819A: Intelligent Coffee Cherry Selection Device with Intelligent Grading and Sorting Function) provides an intelligent coffee cherry selection device with intelligent grading and sorting function, mainly including a feeding and conveying device, a chain conveyor device, a camera detection device, a blowing and sorting device, and a washing device. Fresh coffee cherries enter the chain conveyor device through the feeding and conveying device, where the camera detection device acquires and analyzes images, classifying the coffee cherries based on a neural network-based type recognition method. The chain conveyor device consists of coaxial sprockets, chains, and rollers, enabling the positioning of the coffee cherries during conveying. However, this invention (CN110743819A) still has shortcomings. The feeding and conveying device and sorting mechanism in this invention have complex structures, making the equipment prone to failure during long-term operation and requiring frequent maintenance. The conveying speed and sorting accuracy are also limited, making it unsuitable for high-speed operations. The tension and transmission efficiency of the chain in the chain conveyor device may decrease over time, affecting the overall working efficiency of the equipment; the wear and tear on the chain and rollers is also a serious problem. Summary of the Invention

[0011] The purpose of this invention is to provide a complete intelligent sorting and production line for fresh coffee cherries. This production line integrates traditional mechanical equipment and utilizes the vision technology in a depth camera (41) and the end effector (mechanical gripper) of a Delta robot (42) to achieve precise sorting of fresh coffee cherries. The purpose of this invention is to provide a complete intelligent sorting and production line for fresh coffee cherries that first selects cherries that meet the high-quality standards according to their size, and then uses computer vision technology to intelligently sort them according to color and plumpness.

[0012] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: The first part is to provide a complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries. The complete set of equipment integrates mechanical sorting equipment and Delta robot (42) based on vision technology in depth camera (41). It can automatically sort out coffee cherries with insufficient color or shriveled coffee from the conveyor belt, thereby significantly improving the sorting quality and efficiency of fresh coffee cherries. The second part provides a method for intelligent sorting and sorting of fresh coffee cherries. The method mainly involves using the vision technology of the depth camera (41) in the production line and the Delta robot (42) to perform image processing on the fresh coffee cherries in the coffee cherries sorting device (4) so ​​as to sort out high-quality fresh coffee cherries that meet the appearance quality indicators of fresh coffee cherries.

[0013] The following is a detailed description of the first part of this invention (a complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries): A complete intelligent sorting and sorting production line for fresh coffee cherries includes a mechanical device section, an automatic control section, and a computer vision section. 1. The mechanical device mainly consists of a coffee fresh fruit storage tank (1), a single-row sorting and feeding device (2), a gap belt drive coffee fresh fruit sorting device (3), a coffee fresh fruit sorting device (4), and a high-quality fresh fruit storage box (5). 2. The automatic control part mainly includes a gap belt drive coffee fruit sorting device (3). 3. The computer vision part mainly includes 4 coffee fruit sorting devices.

[0014] Furthermore, the present invention provides a complete set of intelligent sorting and sorting equipment production lines for fresh coffee cherries, the connection method of its main components being as follows: The fresh coffee cherries are first stored in a coffee cherry storage tank (1), then sorted in a single row by a single-row sorting and feeding device (2), and fed to a gap belt drive coffee cherry sorting device (3). In the gap belt drive coffee cherry sorting device (3), the coffee cherries are initially screened by the gap belt drive, and smaller coffee cherries fall into different sorting boxes according to the gap size. Then, the coffee cherries are conveyed to a coffee cherry sorting device (4), where they are intelligently sorted by computer vision. Finally, the high-quality cherries are stored in a high-quality coffee cherry storage box (5). The coffee cherry storage tank (1) is the starting point of the complete set of intelligent sorting and sorting equipment for coffee cherries, and is used to store a large number of unprocessed cherries. The coffee cherries are properly sorted to ensure that the gap belt drive coffee cherry sorting device (3) and coffee cherry sorting device (4) have enough coffee cherries for continuous operation; the coffee cherry storage tank (1) is a large container equipped with an automatic feeding port, which can gradually feed out the coffee cherries to prevent blockage; the coffee cherry storage tank (1) is located at the front end of the production line of the intelligent coffee cherry sorting and sorting equipment of the present invention, and is directly connected to the single-row sorting and feeding device (2), and is adjacent to the inclined conveyor belt (21). The feeding function can be completed by gravity or mechanical means, and the coffee cherries are transported to the single-row sorting and feeding device (2) by gravity or mechanical transmission, so as to store the picked coffee cherries; The single-row sorting and feeding device (2) is used to arrange the fresh coffee cherries taken out of the coffee cherry storage tank (1) in order, and to transport the fresh coffee cherries to the gap belt drive coffee cherry sorting device (3) in cooperation with the inclined conveyor belt (21) and the pulley system (small pulley (32) and large pulley (33)). This can prevent the coffee cherries from piling up and ensure accurate sorting. The single-row sorting and feeding device (2) is a key link in the transmission of fresh coffee cherries. It is located on the right side of the coffee cherry storage tank (1) and is close to the coffee cherry storage tank (1). One end is connected to the coffee cherry storage tank (1) and the other end is connected to the gap belt drive coffee cherry sorting device (3). The coffee cherries are sorted in a single row and then conveyed and fed to the subsequent gap belt drive coffee cherry sorting device (3). The gap belt drive coffee fruit sorting device (3) is located to the right of the single-row sorting and feeding device (2). One end is connected to the end of the inclined conveyor belt (21) of the single-row sorting and feeding device (2), and the other end is connected to the coffee fruit sorting device (4). The coffee fruit with smaller volume is driven by the gap conveyor belt (31). The coffee fruit with smaller volume falls into the sorting and storage boxes (34) of different levels through the different gaps of the gap conveyor belt (31) to sort the coffee fruit. The gap belt drive coffee fruit sorting device (3) is used to perform preliminary sorting of coffee fruit. It mainly separates coffee fruit of different sizes through the gap conveyor belt (31). The gap belt drive coffee fruit sorting device (3) is located at the end of the inclined conveyor belt and is immediately connected to the sorting device. The gapped conveyor belt (31) is the core component of the gapped belt drive coffee cherry sorting device (3), used to carry and sort coffee cherries. The gapped conveyor belt (31) allows for preliminary sorting of coffee cherries based on their size (large, medium, small) during transport; smaller cherries can fall through the gaps into different sorting areas. The pulley system has small pulleys (32) and large pulleys (33), embedded at both ends of the gapped conveyor belt (31), controlling its drive. The small pulleys (32) and large pulleys (33) control the speed and tension of the gapped conveyor belt (31), ensuring smooth operation and maintaining appropriate sorting efficiency. The small pulleys (32) are used for transmission, ensuring the smooth operation of the gapped conveyor belt. (31) Stable operation; large pulley (33) is used to adjust the conveyor speed. The sorting and storage box (34) is located at the end of the conveyor belt (31) with gaps and is used to collect fresh coffee cherries that have been sorted by size; the sorting and storage box (34) can store the fresh coffee cherries that have undergone preliminary screening by size for subsequent processing; The coffee cherry sorting device (4) mainly uses a vision system and a robotic arm to further and accurately sort the coffee cherries, ensuring that the cherries are finely classified according to their quality or appearance characteristics. The coffee cherry sorting device (4) is connected to the gap belt drive coffee cherry sorting device (3) and is located immediately behind the gap belt drive coffee cherry sorting device (3). The coffee cherry sorting device (4) is located to the right of the gap belt drive coffee cherry sorting device (3), with one end connected to the gap belt drive coffee cherry sorting device (3) and the other end connected to the high-quality coffee cherry storage box (5). High-quality coffee cherries are identified through visual recognition technology, and the coffee cherries are finely inspected and sorted based on the image information obtained by the intelligent sorting module of computer vision. The coffee cherries sorting device (4) mainly consists of a depth camera (41), multiple Delta robots (42), and a flexible suction cup (44). The depth camera (41) uses a visual recognition system to capture the appearance, size, and shape of each coffee cherry and sorts them based on this data. The Delta robots (42) are used to quickly grab and sort coffee cherries. Based on the feedback information from the visual system, the Delta robots (42) can accurately grab different types of coffee cherries and place them in the corresponding areas. The flexible suction cup (44) uses a vacuum system to grab the sorted coffee cherries and prevent damage to them during the sorting process. The high-quality fresh fruit storage box (5) is used to store high-quality fresh coffee cherries that have been precisely sorted. The high-quality fresh fruit storage box (5) is the final destination of the intelligent sorting and sorting equipment production line for fresh coffee cherries described in this invention, ensuring that the high-quality fresh cherries that have been screened can be properly stored. The high-quality fresh fruit storage box (5) is located at the rightmost end of the intelligent sorting and sorting equipment production line for fresh coffee cherries described in this invention, and is directly connected to the end of the coffee cherry sorting device (4). As the final collection area for high-quality fresh cherries, it stores the high-quality fresh coffee cherries that have been screened by the coffee cherry sorting device (4).

[0015] Furthermore, the present invention provides a complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries, the main components of which are as follows: Fresh coffee cherry storage tank (1): The fresh coffee cherry storage tank (1) is a large storage container; The fresh coffee cherry storage tank (1) is located at the leftmost end of the sorting system equipment and is directly connected to the single-row sorting and feeding device (2), which transports the fresh coffee cherries to the single-row sorting and feeding device (2) by gravity or mechanical transmission, thereby storing the picked fresh coffee cherries; The fresh coffee cherry storage tank (1) serves as the starting point of the production line and consists of a tank body (11), an automated feeding port (12), an inlet (13), and a base (14); The main body of the storage tank (11) is the main storage device of the coffee fruit storage tank (1), used to contain and store a large number of coffee fruits to prevent the coffee fruits from being crushed or contaminated; the interior of the main body of the storage tank (11) is smooth to ensure that the coffee fruits can flow smoothly; the main body of the storage tank (11) is located at the front end of the production line as the starting point of the entire sorting and sorting process; the main body of the storage tank (11) is a large cylindrical container with a semi-closed structure at the top and a feed inlet (13), and an automatic feed inlet (12) at the bottom; the main body of the storage tank (11) is made of food-grade stainless steel or plastic, with corrosion resistance and oxidation resistance, and a smooth interior to ensure that the coffee fruits are not contaminated or crushed; The automated feeding port (12) can control the discharge speed and flow rate of coffee cherries in the coffee cherry storage tank (1). By adjusting the discharge of coffee cherries through valves or mechanical devices, it ensures that the coffee cherries are evenly transported to the next stage of the production line, avoiding blockage and waste. The automated feeding port (12) is located at the bottom of the coffee cherry storage tank (1) and is connected to the inclined conveyor belt (21), ensuring that coffee cherries can smoothly enter the single-row sorting and feeding device (2) by gravity or mechanical means. The automated feeding port (12) is a funnel-shaped outlet with a mechanical feeding device, such as a valve or conveyor, which can control the discharge speed of coffee cherries. The automated feeding port (12) is made of metal or plastic and contains an adjustable device (such as an electric valve or rotary feeder) to control the output flow rate of coffee cherries and avoid blockage. The feed inlet (13) is used to add fresh coffee cherries to the coffee cherry storage tank (1). The sealing cover can prevent external dust or impurities from entering the coffee cherry storage tank (1) and keep the coffee cherries clean and safe. The sealing cover at the top can ensure that the coffee cherry storage tank (1) is tightly sealed when not in operation. The feed inlet (13) is located at the top of the coffee cherry storage tank (1) and is opened when adding or maintaining coffee cherries. The feed inlet (13) is a large opening at the top of the tank with a sealing cover, which is convenient for adding coffee cherries. The feed inlet (13) adopts a sealing design to prevent external pollution or dust from entering the coffee cherry storage tank (1). The sealing cover can be opened manually or automatically. The base (14) is used to stabilize the coffee cherries storage tank (1), enabling the coffee cherries storage tank (1) to bear the weight of the stored coffee cherries and ensuring that the tank body of the stabilized coffee cherries storage tank (1) maintains a safe distance from the ground, facilitating connection and cleaning and maintenance with the single-row sorting and feeding device (2); the base (14) can ensure the stability of the stabilized coffee cherries storage tank (1) when it is full or partially empty; the base (14) is located at the bottom of the coffee cherries storage tank (1), ensuring that the coffee cherries storage tank (1) is stable and separated from the ground, facilitating pipe connection and operation; the support frame of the base (14) is a four-corner or ring bracket to support the weight of the coffee cherries storage tank (1); the support frame of the base (14) is made of sturdy metal and welded or bolted to the coffee cherries storage tank (1).

[0016] Furthermore, the connection relationship between the various components in the coffee cherry storage tank (1) is as follows: the bottom of the storage tank body (11) and the automatic feeding port (12) are directly connected to the automatic feeding port (12), the outlet of the automatic feeding port (12) is located above the inclined conveyor belt (21), and the coffee cherries enter the inclined conveyor belt (21) through the automatic feeding port (12) under the action of gravity; the automatic feeding port (12) is integrally formed with the storage tank body (11) and is fastened by flanges or bolts, and the automatic feeding port (12) is equipped with valves or other regulators to control the discharge speed of the coffee cherries.

[0017] The connection between the main body (11) of the storage tank and the inlet (13) is as follows: the top opening of the coffee fresh fruit storage tank (1) is provided with an inlet (13), the inlet (13) has a cover plate, and the inlet (13) can be connected to the main body (11) of the storage tank through a sealing cover plate or a sliding door; the inlet (13) is equipped with a sealing cover plate, which can be opened manually or operated by an automatic control system. The cover plate is connected to the main body (11) of the storage tank through a hinge or a slide rail for easy opening and closing; The connection between the tank body (11) and the base (14) is such that the bottom of the tank body (11) is directly installed on the base (14), and the base (14) ensures that the tank body (11) is stable and prevents it from tipping over; the tank body (11) and the base (14) are fixed by welding or bolts, and the bottom of the base (14) and the tank body (11) are tightly connected by mechanical connection to ensure the stability of the tank body (11).

[0018] The single-row sorting and feeding device (2): The single-row sorting and feeding device (2) achieves orderly arrangement and conveying of fresh coffee fruits through the close cooperation of components such as the guide funnel (23), the sorting channel (22), the inclined conveyor belt (21), the adjustment mechanism (24) and the support structure (25), ensuring that the subsequent gap belt drive type fresh coffee fruit sorting device (3) can perform sorting operations efficiently and accurately; the various parts of the single-row sorting and feeding device (2) are closely connected to each other, and achieve efficient automated operation through mechanical connection and transmission device (i.e., pulley system, small pulley (32) and large pulley (33)).

[0019] The single-row coffee sorting and feeding device (2) mainly consists of an inclined conveyor belt (21), a sorting channel (22), a guide funnel (23), an adjustment mechanism (24), and a support structure (25); the single-row coffee sorting and feeding device (2) includes one or more inclined conveyor belts (21) with a separation structure, which arrange fresh coffee cherries in a single row; the single-row coffee sorting and feeding device (2) is located on the right side of the fresh coffee cherry storage tank (1), one end of which is connected to the fresh coffee cherry storage tank (1), and the other end is connected to a conveyor belt (31) with gaps and a fresh coffee cherry sorting device (3), which sorts the fresh coffee cherries in a single row and feeds them to the subsequent gap belt drive fresh coffee cherry sorting device (3) through conveying and feeding. The single-row sorting and feeding device (2) mainly consists of an inclined conveyor belt (21), a sorting channel (22), a guide funnel (23), an adjustment mechanism (24), and a support structure (25); The inclined conveyor belt (21) is used to transport neatly arranged fresh coffee cherries from the sorting channel (22) to the gap belt drive coffee cherry sorting device (3), ensuring that the sorting channel (22) enters the subsequent gap belt drive coffee cherry sorting device (3); the inclined conveyor belt (21) is located at the outlet of the coffee cherry storage tank (1) and transports the coffee cherries at an upward angle; the inclined conveyor belt (21) is inclined and is a long strip conveyor with a certain angle; the inclined conveyor belt (21) is supported by a metal bracket and the surface is a conveyor belt made of wear-resistant material; the inclined conveyor belt (21) is constructed such that the inclined conveyor belt (21) is supported by a pulley system (small pulley (32) and large pulley (33)) and the coffee cherries are transported by a motor drive; The queuing channel (22) arranges the fresh coffee cherries in a single-column order to prevent them from piling up and ensure that each fresh coffee cherry can smoothly enter the inclined conveyor belt (21). The queuing channel (22) is located between the fresh coffee cherry storage tank (1) and the inclined conveyor belt (21) and guides the fresh coffee cherries into the inclined conveyor belt (21) through a mechanical guide structure. The queuing channel (22) is an orderly arranged independent channel to ensure that the fresh coffee cherries can enter the inclined conveyor belt (21) in an orderly manner without piling up. The queuing channel (22) is constructed of multiple small guide rails or supports to guide the fresh coffee cherries into the inclined conveyor belt (21) in a single column. The guide funnel (23) is used to concentrate the fresh coffee cherries from the outlet of the fresh coffee cherry storage tank (1) into the sorting channel (22), preventing excessive spillage of the fresh coffee cherries and ensuring stable flow of the fresh coffee cherries; the guide funnel (23) is located below the fresh coffee cherry storage tank (1) and is part of the fresh coffee cherry storage tank (1) and the sorting channel (22); the guide funnel (23) is funnel-shaped, conical or arc-shaped, and gradually narrows at the bottom; the guide funnel (23) is connected to the outlet of the fresh coffee cherry storage tank (1) and can smoothly guide the fresh coffee cherries into the sorting channel (22). The regulating mechanism (24) is used to regulate the flow rate of fresh coffee cherries, ensuring the stability of the entire single-row sorting and feeding device (2) during the feeding process and preventing the fresh coffee cherries from becoming blocked or excessive during the conveying process; the regulating mechanism (24) is installed at the outlet of the guide funnel (23) or the sorting channel (22) to regulate the flow rate of fresh coffee cherries; the regulating mechanism (24) can be a sliding door or gate structure, with a combination of mechanical and electronic control devices; the regulating mechanism (24) can regulate the speed and flow rate of fresh coffee cherries, preventing excessive fresh coffee cherries from entering the inclined conveyor belt (21). The support structure (25) is the basic structure of the entire single-column sorting and feeding device (2), ensuring the stability of the single-column sorting and feeding device (2) in space; the support structure (25) is frame-shaped, supporting the skeleton of the entire single-column sorting and feeding device (2); the support structure (25) is constructed as a metal bracket or frame, stabilizing the conveying of the entire inclined conveyor belt (21) and the operation of the sorting channel (22).

[0020] Furthermore, the connection relationship between the various components in the single-row sorting and feeding device (2) is as follows: the connection relationship between the guide funnel (23) and the coffee fruit storage tank (1) is that the guide funnel (23) is located below the coffee fruit storage tank (1) and is connected to the outlet of the coffee fruit storage tank (1) through mechanical connection (such as flange or buckle); the guide funnel (23) collects the coffee fruit in the coffee fruit storage tank (1), prevents the coffee fruit from scattering, and guides it into the sorting channel (22). The sorting channel (22) arranges the fresh coffee cherries in a single column to prevent them from piling up and ensure that each fresh coffee cherry can smoothly enter the inclined conveyor belt (21). The sorting channel (22) is connected to the guide funnel (23) in such a way that the lower outlet of the guide funnel (23) is connected to the top of the sorting channel (22), and the fresh coffee cherries output from the guide funnel (23) flow into the sorting channel (22). Since the sorting channel (22) consists of multiple independent channels, it can prevent the fresh coffee cherries from piling up and ensure that they enter the inclined conveyor belt (21) one by one. The connection between the split channel (22) and the inclined conveyor belt (21) is such that the end of the split channel (22) is directly connected to the entrance of the inclined conveyor belt (21), and the fresh coffee berries enter the inclined conveyor belt (21) in sequence. The regulating mechanism (24) is installed at the outlet of the sorting channel (22) or below the guide funnel (23): The regulating mechanism (24) is used to control the speed at which fresh coffee cherries enter the inclined conveyor belt (21) to ensure that the fresh coffee cherries enter the single-row sorting and feeding device (2) according to the required flow rate; The connection between the inclined conveyor belt (21) and the pulley system (small pulley (32) and large pulley (33)) is that the inclined conveyor belt (21) is driven by the motor and the pulley system (small pulley (32) and large pulley (33)) to control the conveying speed and stability of the fresh coffee fruit; The support structure (25) can support the entire single-row sorting and feeding device (2). All components of the single-row sorting and feeding device (2), such as the guide funnel (23), the sorting channel (22), and the inclined conveyor belt (21), are fixed on the support structure (25) to ensure that the single-row sorting and feeding device (2) remains stable during the production process.

[0021] Gap belt drive coffee cherry sorting device (3): The gap belt drive coffee cherry sorting device (3) performs preliminary screening of coffee cherries through a gapped conveyor belt (31). The operation of the gapped conveyor belt (31) is controlled by the transmission of the small pulley (32) and the large pulley (33) in the pulley system. Finally, the coffee cherries that have been sorted by size are sorted into sorting storage boxes (34) that match the different sizes of coffee cherries. Specifically, the gapped conveyor belt (31) is the core component in the coffee cherry sorting process. It is responsible for the continuous transportation and preliminary screening of coffee cherries. The gapped conveyor belt (31) is used to transport coffee cherries and perform preliminary sorting according to the size of large, medium and small cherries. Small cherries will fall into the corresponding sorting storage box (34) through the first gap, medium cherries will continue forward and fall into the corresponding sorting storage box (34) through the second gap, while large cherries will continue to be transported forward and enter the largest size sorting storage box (34). The gap belt drive coffee fruit sorting device (3) mainly consists of a gapped conveyor belt (31), a small pulley (32) and a large pulley (33), and a sorting and storage box (34); The gap belt drive coffee fruit sorting device (3) includes multiple gap conveyor belts (31), small pulleys (32), large pulleys (33), and sorting storage boxes (34). The gap belt drive coffee fruit sorting device (3) is located to the right of the single-row sorting and feeding device (2), with one end connected to the single-row sorting and feeding device (2) and the other end connected to the coffee fruit sorting device (4). The coffee fruit is sorted by using the gap conveyor belts (31) for transmission. Small coffee fruits fall into different levels of sorting storage boxes (34) through different gaps between the gap conveyor belts (31). The gapped conveyor belt (31) is located in the middle of the gapped belt drive coffee fruit sorting device (3), and is supported and driven by a pulley system (small pulley (32) and large pulley (33)); the surface of the gapped conveyor belt (31) is provided with regular gaps, and the width and spacing of the gaps are divided into three sizes: large, medium and small, according to the size of the coffee fruit; the gapped conveyor belt (31) is long and strip-shaped, and can continuously transport coffee fruit; the gapped conveyor belt (31) is made of durable elastic material (such as rubber or polymer), and has regular gaps, which can classify the fruit according to its size; The small pulley (32) is mainly used to drive the conveyor belt (31) with gaps. The small pulley (32) is connected to the motor and transmits the power of the motor to the conveyor belt (31) with gaps, ensuring that the conveyor belt (31) with gaps can run continuously and smoothly. The large pulley (33) is used to adjust the tension of the conveyor belt (31) with gaps, maintain the appropriate tension of the conveyor belt (31) with gaps, and prevent the conveyor belt (31) with gaps from slipping or loosening, thereby ensuring the smooth progress of the sorting process. Both the small pulley (32) and the large pulley (33) are circular gears with grooves, used to drive the conveyor belt with gaps. Belt (31); the small pulley (32) is smaller in size and is installed on one side of the conveyor belt (31) with gaps, while the large pulley (33) is larger in size and is installed on the other side of the conveyor belt (31) with gaps; the small pulley (32) is located at the starting point of the conveyor belt (31) with gaps and controls the transmission direction, while the large pulley (33) is located at the end of the conveyor belt (31) with gaps and ensures the tension and stable operation of the conveyor belt (31) with gaps; the small pulley (32) is used to drive the movement of the conveyor belt and is usually directly connected to the motor, while the large pulley (33) is used to adjust the tension and transmission speed of the conveyor belt (31) with gaps; The sorting and storage box (34) is used to receive and store fresh coffee cherries sorted through the gaps in the conveyor belt (31). Fresh coffee cherries of different sizes fall into different sorting and storage boxes (34) through the gaps in the conveyor belt (31), ensuring that the sorted fresh coffee cherries can be collected correctly. The sorting and storage box (34) is the final destination of the sorted fresh coffee cherries, ensuring that large, medium and small fresh coffee cherries can be properly collected and stored for subsequent processing or transportation. The sorting and storage box (34) is located below or at the end of the conveyor belt (31) with gaps, ensuring that each type of sorted fresh coffee cherries can be collected. The sorting and storage box (34) is a rectangular container that can hold a large number of sorted fresh coffee cherries. Each sorting and storage box (34) corresponds to the sorting of fresh coffee cherries of different sizes, such as large, medium and small.

[0022] Furthermore, the connection relationship between the various components of the gap belt drive coffee fruit sorting device (3) is as follows: The connection between the gapped conveyor belt (31) and the small pulley (32) and large pulley (33) is such that the gapped conveyor belt (31) relies on the operation of the small pulley (32) and large pulley (33) for transmission; the small pulley (32) is directly driven by an electric motor and connected to the gapped conveyor belt (31) through gears or belts, providing power to make the gapped conveyor belt (31) run continuously; while the large pulley (33) is located at the other end of the gapped conveyor belt (31), mainly playing the role of adjusting the tension to ensure that the gapped conveyor belt (31) does not loosen or slip. The gapped conveyor belt (31) is connected to the small pulley (32) and large pulley (33) through slots or clamping systems; the small pulley (32) It can directly drive the gapped conveyor belt (31) to operate, while the large pulley (33) keeps the gapped conveyor belt (31) at a suitable tension. The connection between the gapped conveyor belt (31) and the sorting storage box (34) is such that the sorting storage box (34) is located below the gapped conveyor belt (31). When the coffee cherries pass through the gapped conveyor belt (31) for sorting, coffee cherries of different sizes will fall into the corresponding sorting storage box (34) through the gaps in the gapped conveyor belt (31). The gapped conveyor belt (31) sorts the coffee cherries according to size through the gaps. The sorting storage box (34) is installed below the gapped conveyor belt (31) by a bracket or bottom fixing structure to ensure that coffee cherries of different sizes can fall accurately into the corresponding sorting storage box (34). The connection between the small pulley (32) and the motor is that the small pulley (32) is connected to the motor through a belt, gear or direct shaft drive, and the motor provides power to drive the small pulley (32) to move the conveyor belt (31) with gaps; the connection between the small pulley (32) and the motor adopts a mechanical transmission system, such as belt drive or gear drive, to ensure that the conveyor belt (31) with gaps can operate continuously.

[0023] Coffee cherry sorting device (4): The coffee cherry sorting device (4) includes a depth camera (41), multiple Delta robots (42), a fresh cherry matrix distributed network (43), and flexible suction cups (44); The coffee cherry sorting device (4) is located to the right of the gap belt drive sorting device (3), with one end connected to the gap belt drive sorting device (3) and the other end connected to the high-quality fresh cherry storage box (5); High-quality coffee cherries are identified through visual recognition technology, and the coffee cherries are subjected to fine quality inspection based on the image information obtained by the intelligent sorting module of computer vision. The coffee fruit sorting device (4) achieves automated and precise sorting of coffee fruits through the close cooperation of a depth camera (41), multiple Delta robots (42) and flexible suction cups (44); the depth camera (41) identifies the characteristics of coffee fruits through a vision processing system, the Delta robots (42) quickly perform grasping and sorting actions, and the flexible suction cups (44) ensure that the fruits are not damaged during the sorting process; the various parts of the coffee fruit sorting device (4) are connected through data transmission and mechanical connection, which realizes the efficient operation of the coffee fruit sorting device (4).

[0024] The coffee fruit sorting device (4) consists of a depth camera (41), multiple Delta robots (42) and flexible suction cups (44); The depth camera (41) provides basic visual data and judgment basis for the sorting process of the entire coffee fruit sorting device (4); the depth camera (41) captures the shape, size and appearance characteristics of the coffee fruit in real time through a stable light source and a high-resolution lens; after the data is analyzed by the vision processor, the quality or appearance difference of each coffee fruit can be identified, thereby achieving accurate sorting; the depth camera (41) is installed above the coffee fruit sorting device (4) and faces the conveyor belt (31) with gaps, and is responsible for capturing the appearance and characteristics of the coffee fruit; the depth camera (41) is encapsulated in a rectangular or circular shell, and a light source, lens and imager are installed inside; the structure of the depth camera (41) includes a stable light illumination system (411), an industrial lens (412), a standard resolution camera (413), an image acquisition card (414) and a vision processor (415). Specifically, the stable light illumination system (411) provides a constant light source to ensure consistent lighting conditions during shooting and avoids the influence of ambient light on the recognition effect; the industrial lens (412) is a high-precision lens that can capture clear images, ensuring that the system can accurately judge the subtle differences in fresh coffee berries; the standard resolution camera (413), as the core image acquisition unit of the depth camera (41), is responsible for transmitting visual data to the system for analysis; the image acquisition card (414) can transmit the image data captured by the depth camera (41) to the processing system; the vision processor (415) can process and analyze the images acquired by the depth camera (41) and finally judge the coffee berries. Sorting of fresh coffee fruit; The Delta robot (42) is mainly responsible for performing grasping, moving, and placing actions to achieve automated sorting operations. The Delta robot (42) can quickly and accurately grasp different categories of fresh coffee cherries based on the visual data provided by the depth camera (41) and place them in the corresponding storage area. The Delta robot (42) is located below the depth camera (41) and runs parallel to the conveyor belt (31) with gaps, for quickly grasping and sorting fresh coffee cherries. The Delta robot (42) has a three-arm design with a fixed support. The three mechanical arms (inner balance arm (421) and lower arm (422)) are connected to the drive shaft and end effector (i.e., flexible suction cup (44)) through joints. The Delta robot (42) consists of the inner balance arm (421), the lower arm (422) and the end effector (44). The inner balance arm (421) and the drive shaft (423) are composed of the Delta robot (42) and the drive shaft (423); the inner balance arm (421) can ensure that the Delta robot (42) moves smoothly and quickly during the sorting process, ensure the stability and balance of the Delta robot (42) during operation, and ensure high-speed and high-precision operation; the lower arm (422) is the component responsible for actually grasping and sorting coffee berries, connected to the flexible suction cup (44), responsible for bearing the flexible suction cup (44) and actually performing the grasping action, and directly contacting the coffee berries; the drive shaft (423) can connect the inner balance arm (421) and the lower arm (422) and other moving components, ensuring accurate action and controllable grasping and placement position, coordinating the movement of the inner balance arm (421) and the lower arm (422) of the Delta robot (42), and ensuring the accuracy and stability of the grasping action; The fresh fruit matrix distributed network (43) is designed on the surface of the gapped conveyor belt (31) on the coffee fresh fruit sorting device (4). The gapped conveyor belt (31) is fixed on the base of the coffee fresh fruit sorting device (4) and the coffee fresh fruit moves continuously through the working area of ​​the Delta robot (42). The fresh fruit matrix distributed network (43) evenly distributes the coffee fresh fruit on the gapped conveyor belt (31). Each coffee fresh fruit occupies a position in the preset grid of the fresh fruit matrix distributed network (43). The coffee fresh fruit is neatly arranged into an m×n matrix.

[0025] The flexible suction cup (44) uses vacuum suction to grasp fresh coffee cherries, ensuring that the coffee cherries are not damaged during the grasping process. The flexible suction cup (44) can adapt to fresh cherries of different sizes and shapes, ensuring that the coffee cherries are firmly grasped and accurately placed into the corresponding containers, realizing the flexibility and stability of the sorting action. The flexible suction cup (44) is installed at the end of the Delta robot (42) as the part that contacts the coffee cherries. The suction cup body (441) is connected to the robot arm (inner balance arm (42) by the robot arm). 1) and the lower arm (422) are used for grasping and placing; the suction cup body (441) of the flexible suction cup (44) is circular or elliptical and is connected to the end of the Delta robot (42). The flexible suction cup (44) structure can adapt to coffee cherries of different sizes; the flexible suction cup (44) is composed of a suction cup body (441), a vacuum generator (442), a suction cup connection interface (443), a flexible bracket (444), and a suction cup support ring (445); the suction cup body The body (441) is the part that actually contacts the coffee cherries. It has sufficient flexibility to accommodate coffee cherries of different sizes and can be adjusted according to the size and shape of the coffee cherries. The vacuum generator (442) is used to generate suction to provide the necessary suction for the flexible suction cup (44), so that the flexible suction cup (44) can firmly grasp the coffee cherries. The suction cup connection interface (443) is used to connect the flexible suction cup (44) to the key part of the lower arm (422) of the Delta robot (42), ensuring that the flexible suction cup (44) can be firmly fixed on the robotic arm (inner balance arm (421), lower arm (422)). The flexible bracket (444) can support the suction cup body (441) and provide a certain elasticity, so that the suction cup body (441) remains flexible during movement and can adapt to different grasping angles and positions. The suction cup support ring (445) provides additional structural support for the flexible suction cup (44), ensuring that the coffee cherries are not easily deformed under the action of suction.

[0026] Furthermore, the connection relationship between the various components of the coffee fruit sorting device (4) is as follows: The connection between the depth camera (41) and the Delta robot (42) is such that the depth camera (41) is located above the Delta robot (42), that is, in front of the conveyor belt (31) with gaps, and is responsible for taking pictures and analyzing the appearance and characteristics of fresh coffee berries, and then transmitting the data to the Delta robot (42); the depth camera (41) transmits the image data to the vision processor through a data cable (such as USB, Ethernet), and the processed instructions are transmitted to the Delta robot (42) through the communication system for the next operation; The connection between the Delta robot (42) and the flexible suction cup (44) is that the lower arm (422) of the Delta robot (42) is connected to the flexible suction cup (44) through a mechanical connection interface for gripping and sorting fresh coffee berries; the flexible suction cup (44) is connected to the end of the Delta robot (42) by screws or buckles, and the suction cup connection interface (443) ensures that the connection between the suction cup body (441) and the robotic arm (inner balance arm (421) and lower arm (422)) is tight and stable; The connection between the flexible suction cup (44) and the vacuum system is that the vacuum system is connected to the suction cup body (441) through a hose to generate vacuum suction and ensure that the flexible suction cup (44) can firmly grasp the coffee fruit; the vacuum generator (442) is connected to the suction cup body (441), provides suction through a vacuum pipe, and adjusts the suction of the flexible suction cup (44) through the control system.

[0027] High-quality fresh fruit storage box (5): The high-quality fresh fruit storage box (5) is the last part of the entire sorting system. It is mainly used to receive and store high-quality fresh coffee fruit that has been sorted and sorted. The high-quality fresh fruit storage box (5) is connected to the coffee fruit sorting device (4) through the feed port (52). The main body of the storage box (51) is responsible for holding a large number of high-quality fresh coffee fruit, while the bottom support (53) and wheels provide stability and mobility. The discharge port (54) can control the discharge of high-quality fresh coffee fruit. The cooperation of the various components of the premium fresh fruit storage box (5) ensures that the sorted premium fresh coffee fruit can be safely and efficiently stored and processed. The premium fresh fruit storage box (5) is a large storage box. The premium fresh fruit storage box (5) is located at the far right of the system and is directly connected to the coffee fruit sorting device (4) to store the premium fresh coffee fruit that has been selected by the coffee fruit sorting device (4). The high-quality fresh fruit storage box (5) is mainly composed of the following storage box body (51), inlet (52), bottom support (53) and outlet (54); The storage box body (51) is used to contain and store high-quality coffee cherries, ensuring that the sorted high-quality coffee cherries are properly stored and can provide sufficient storage space for subsequent processing; the storage box body (51) has sufficient strength to bear a large number of high-quality coffee cherries and can maintain cleanliness and hygiene; the storage box body (51) is located at the end of the coffee cherry sorting device (4) and is directly connected to the coffee cherry sorting device (4) or a conveyor belt (31) with gaps, for receiving sorted high-quality coffee cherries; the storage box body (51) is rectangular and is a large container with a closed or semi-closed structure for containing a large number of sorted high-quality coffee cherries; the storage box body (51) is made of a sturdy material (such as stainless steel or food-grade plastic), with a smooth interior for easy cleaning, and a lid or opening on the top for storing high-quality coffee cherries. The feed inlet (52) is located above or to one side of the high-quality fresh fruit storage box (5) and is connected to the discharge port of the coffee fresh fruit sorting device (4); the feed inlet (52) is rectangular and is used to connect to the discharge port of the coffee fresh fruit sorting device (4) to ensure that the sorted high-quality coffee fresh fruit can smoothly enter the high-quality fresh fruit storage box (5); the high-quality fresh fruit storage box (5) is constructed with a flow guiding structure to prevent the high-quality coffee fresh fruit from spilling; the high-quality fresh fruit storage box (5) is equipped with a cover or sliding door to control the feeding of high-quality coffee fresh fruit and avoid accumulation or blockage; The bottom support (53) is located at the bottom of the premium fresh fruit storage box (5) to support the entire box body and ensure its stability; the bottom support (53) is a frame or four-corner support structure, and the premium fresh fruit storage box (5) is equipped with movable sliding wheels for easy movement; the bottom support (53) is made of metal or high-strength plastic and has a sturdy structure to support the weight of the premium fresh fruit storage box (5), while the bottom of the premium fresh fruit storage box (5) is equipped with sliding wheels to facilitate the transfer of the premium fresh fruit storage box (5) to other areas after it is full; The discharge port (54) is used to control the discharge of high-quality coffee cherries from the high-quality coffee cherry storage box (5). Through manual or automatic control, the discharge port (54) can effectively adjust the discharge amount of high-quality coffee cherries, which is suitable for subsequent packaging or processing. The discharge port (54) is located at the bottom or side of the high-quality coffee cherry storage box (5) and is used to discharge high-quality coffee cherries. The discharge port (54) is a small sliding door or valve with a circular or rectangular opening, used to discharge the stored high-quality coffee cherries. The discharge port (54) is equipped with a manual or automatic control switch system, which can control the discharge of high-quality coffee cherries from the high-quality coffee cherry storage box (5) as needed.

[0028] Furthermore, the connection relationship between the various components of the high-quality fresh fruit storage box (5) is as follows: The connection between the storage box body (51) and the feed inlet (52) is that the feed inlet (52) is the upper opening of the storage box body (51), used to connect the coffee fruit sorting device (4) or the conveyor belt (31) with gaps, to ensure that the coffee fruit can smoothly enter the high-quality fresh fruit storage box (5); the storage box body (51) and the feed inlet (52) are integrally formed and installed on the storage box body (51) by mechanical connection or fasteners. The feed inlet (52) is equipped with a flow guide device or cover plate to control the speed and position of the high-quality coffee fruit entering. The connection between the storage box body (51) and the bottom support (53) is such that the bottom support (53) supports the weight of the entire high-quality fresh fruit storage box (5), ensuring that the high-quality fresh fruit storage box (5) remains stable when fully loaded; the sliding wheels on the bottom support (53) can be fixed to the bottom of the storage box body (51) by buckles or bolts, and the bottom support (53) is welded or bolted to the storage box body (51); the bottom support (53) is fixed to the four corners or bottom of the storage box body (51) by welding or screws, and the sliding wheels on the bottom support (53) are fixed to the storage box body (51) by bearings, which facilitates movement; The connection between the storage box body (51) and the discharge port (54) is that the discharge port (54) is connected to the bottom or side of the high-quality fresh fruit storage box (5), and the output of high-quality fresh coffee fruit is controlled by a sliding door or valve; the discharge port (54) is connected to the storage box body (51) through an opening or sliding structure, and the switch can be controlled by a manual or electric device to ensure the discharge speed of high-quality fresh coffee fruit.

[0029] Furthermore, the present invention provides a complete set of intelligent sorting and sorting equipment production lines for fresh coffee cherries, the main components of which are as follows: The main body of the storage tank (11) is a cylindrical vertical tank with an opening at the top and an interface at the bottom; the coffee cherries storage tank (1) is connected to the single-row sorting and feeding device (2) via an inclined conveyor belt (21), and the coffee cherries are pushed to the single-row sorting and feeding device (2) by gravity and mechanical force; the main body of the storage tank (11) is a large vertical tank with a height of about 2 meters and a diameter of about 1.7 meters, which can hold 2 tons of coffee cherries.

[0030] The inclined conveyor belt (21) is connected to the coffee cherry storage tank (1) and drives the coffee cherries to move upward. The coffee cherries are then conveyed to the gap belt drive coffee cherry sorting device (3) via a single-row sorting and feeding device (2). The inclined conveyor belt (21) is equipped with 16-18 partitions (guide rails). The inclined conveyor belt (21) is arranged in a single row, and the spacing between the inclined conveyor belts (21) is 0.2-0.5cm. Each inclined conveyor belt (21) arranges approximately 50kg of coffee cherries in a straight line. The conveying speed of the inclined conveyor belt (21) is less than 2m / s. The inclination angle of the inclined conveyor belt (21) is 10°-15° upward, and the conveying angle does not exceed 10°-15°.

[0031] The gapped conveyor belt (31) is installed at the center of the coffee fruit sorting device (3) and spans across both sides of the coffee fruit sorting device (3). The gapped conveyor belt (31) is fixed and passes around the small pulley (32) and the large pulley (33), so that the gapped conveyor belt (31) moves under the guidance of the small pulley (32) and the large pulley (33). The gapped conveyor belt (31) is directly connected to the single-row sorting and feeding device (2) through the conveying system. The coffee fruit moves from the single-row sorting and feeding device (2) to the gapped belt drive coffee fruit sorting device (3). The width of the gapped conveyor belt (31) is 2cm, the material is a rubber round belt, and the conveying speed is less than 2m / s.

[0032] The small pulleys (32) have a diameter of less than 2 cm and a number of less than 40; the movement direction of the small pulleys (32) is clockwise, and the rotation speed of the roller is 1911 RPM; the large pulleys (33) have a diameter of more than 2 cm and a number of less than 40; the movement direction of the large pulleys (33) is clockwise, and the rotation speed of the roller is 1911 RPM.

[0033] The sorting and storage box (34) is installed on the gap belt drive coffee fruit sorting device (3); the volume of the sorting and storage box (34) is 1.43-2.5 cubic meters.

[0034] The depth camera (41) is mounted on the coffee fruit sorting device (4), located directly above the coffee fruit sorting device (4), and is securely mounted above the sorting area of ​​the Delta robot (42) by a bracket, directly facing the coffee fruit located on the conveyor belt (31) with gaps; the high frame rate of the depth camera (41) is 30-60 frames.

[0035] There are two Delta robots (42), which are installed on the coffee fruit sorting device (4) and located on both sides of the gapped conveyor belt (31), respectively, and fixed on the ground or Delta robot (42) platform; each Delta robot (42) has a flexible suction cup (44) that can extend above the gapped conveyor belt (31).

[0036] The high-quality fresh fruit storage box (5) is connected to the coffee fresh fruit sorting device (4) via a conveyor belt below the coffee fresh fruit sorting device (4) to receive the sorted high-quality coffee fresh fruit; the coffee fresh fruit that is confirmed by the coffee fresh fruit sorting device (4) to meet the quality standards will be directed into the main body of the storage box (51); the volume of the main body of the storage box (51) is 1.43-2.5 cubic meters and the capacity is 0.8-1.2 tons.

[0037] Furthermore, the present invention provides a complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries, the main components of which are as follows: The gap (311) is a hollow design with a gapped conveyor belt (31). The gap (311) is the opening between the belts of the conveyor belt, with a width ranging from 1.0 to 2.4 cm, a maximum of 2.4 cm, and a minimum of 1.0 cm. The size of the gap (311) varies depending on the size of the fresh coffee cherries. (1) The opening size range is 1.0-1.3cm, which can pass through the gap (311) of coffee cherries; (2) The opening size range is 1.5-1.6cm, which can pass through the gap (311) of the coffee fruit; (3) The opening size range is 2.0-2.2cm, which can pass through the gap (311) of the coffee fruit.

[0038] The depth camera (41) has a built-in image acquisition module, which includes five components: a stable light illumination system, an industrial lens, a standard resolution camera, an image acquisition card, and a vision processor. The stable light illumination system, the industrial lens, the standard resolution camera, and the image acquisition card acquire information to provide real-time instructions to the vision processor. The vision processor processes the information through vision image analysis software, which has functions of image acquisition and display, image preprocessing, image processing, analysis of processing results, and data display and storage.

[0039] The depth camera (41) has a built-in image acquisition module that uses Gaussian blur technology to reduce noise in new image information. Combined with current image recognition technology, it can distinguish most high-quality fresh coffee cherries from bad cherries (or damaged cherries). The corner detection added to the built-in image acquisition module of the depth camera (41) is mainly for the orientation processing of the shape of high-quality fresh coffee cherries.

[0040] The Delta robot (42) includes an inner balancing arm (421), a lower arm (422), a drive shaft (423), and a flexible suction cup (44). The Delta robot (42) is provided with an inner balancing arm (421) and a drive shaft (423). One end of the lower arm is rotatably connected to the inner balancing arm (421), and the other end is rotatably connected to the bottom layer of the Delta robot (42). One end of the drive shaft (423) is rotatably connected to the Delta robot (42). The flexible gripper is a flexible suction cup (44), and the spatial position of the adsorption center is determined by three parallel servo axes. The initial state of the flexible suction cup (44) is normally open.

[0041] The working principle of the intelligent sorting and sorting equipment production line for fresh coffee cherries of the present invention includes: Fresh coffee cherries are first stored in a fresh coffee cherry storage tank (1) as the source of fresh coffee cherries for subsequent processing steps. Then, a single-row sorting and feeding device (2) feeds the fresh coffee cherries orderly from the inclined conveyor belt (21) into a gap belt drive type fresh coffee cherry sorting device (3); the gap belt drive type fresh coffee cherry sorting device (3) sorts the fresh coffee cherries into large, medium and small sizes according to their volume through the cooperation of a gapped conveyor belt (31), a small pulley (32) and a large pulley (33), and the fresh coffee cherries that meet the standards fall into the sorting storage box (34). The computer vision-based fresh coffee cherry sorting device (4) uses a depth camera (41) to capture images of the fresh coffee cherries on the conveyor belt, and arranges the fresh cherries (43) into an m×n matrix through a matrix grid, so that each fresh coffee cherry obtains a unique matrix coordinate. Delta robots (42) reject substandard coffee cherries based on color and saturation identified by a vision system. Sorting efficiency can be improved by adding multiple Delta robots (42). Finally, high-quality cherries are stored in a high-quality cherry storage box (5).

[0042] The following is a method for intelligent sorting and sorting of fresh coffee cherries, as described in Part II of this invention. The specific steps are as follows: S1, the coffee cherries are pre-processed by the coffee cherry storage tank (1) and the single-row sorting and feeding device (2), and the coffee cherries to be sorted are conveyed to the gap belt drive coffee cherry sorting device (3) to wait for sorting. S2, after the gap belt drive coffee fruit sorting device (3) completes the initial sorting of coffee fruit, the coffee fruit is transported to the coffee fruit sorting device (4). The coffee fruit sorting device (4) receives the position and status information of the coffee fruit from the vision system. The coffee fruit is on the conveyor belt as the sorted object. The image acquisition module in the depth camera (41) always captures the coffee fruit in the plane of the conveyor belt. The lighting system in the depth camera (41) can increase the contrast between the coffee fruit and the coffee fruit image acquired by the depth camera (41) and obtain high contrast pixel coffee fruit image information. S3, when the high-contrast pixel coffee fruit image information is identified as a local maximum, hysteresis thresholding is performed to confirm the edge points, retain the edge points within the threshold range, and then the edge points within the threshold are judged a second time. If the edge points are continuous, they are retained; if they are discontinuous, they are discarded, thus obtaining a coffee fruit image data with processed pixels. During the hysteresis thresholding process, the coffee fruit image information undergoes multiple processing with different thresholds, thereby reducing the noise of the coffee fruit image information and obtaining the final edge detection result. S4, the flexible suction cup (44) at the bottom of the Delta robot (42) can adsorb high-quality coffee cherries. The flexible suction cup (44) is normally open at the beginning. When the bottom plane of the flexible suction cup (44) is lower than the corresponding threshold, it closes. After the flexible suction cup (44) adsorbs the coffee cherries, the Delta robot (42) lifts the coffee cherries to a height threshold and moves them horizontally. The flexible suction cup (44) is equipped with a mechanical sensor to determine the weight of the adsorbed coffee cherries. Thus, the mechanical sensor on the flexible suction cup (44) determines the classification and sorting. Finally, the Delta robot (42) lifts the coffee cherries to a height threshold and moves them horizontally. The coffee cherries identified in the high-quality coffee cherries storage box (5) will be poured back in and periodically automatically rejected. The coffee cherries sorting device (4) re-enters the sorting process. This cycle continues until accurate sorting is completed.

[0043] The beneficial effects of this invention, a complete intelligent sorting and sorting equipment production line for fresh coffee cherries and its sorting and sorting method, include: This invention employs advanced mechanical transmission and computer vision technology to precisely sort and reject coffee cherries based on their volume, color, and plumpness, thereby improving sorting efficiency and quality and ensuring the efficient utilization of high-quality fresh cherries. This sorting system is of great significance in improving the processing efficiency and product quality of fresh coffee cherries and has broad application prospects in automated agricultural production.

[0044] Firstly, the advantages of a complete intelligent sorting and sorting production line for fresh coffee cherries are as follows: The production line of the present invention utilizes a single-row sorting and feeding device (2) and a gap belt drive coffee fruit sorting device (3) to achieve rapid and orderly transmission and sorting of coffee fruits. Through the cooperation of mechanical transmission and a gap conveyor belt (31), coffee fruits of different sizes can be effectively distinguished, thereby improving the speed and efficiency of coffee fruit sorting.

[0045] The coffee fruit sorting device (4) in the production line of the present invention adopts computer vision technology, and uses a depth camera (41) to capture images of coffee fruits on the conveyor belt, and performs fine quality inspection and sorting on each coffee fruit; the visual recognition technology can accurately identify the color and fullness of the coffee fruits, ensuring that only high-quality coffee fruits that meet the standards enter the next processing stage, thereby improving the accuracy of sorting.

[0046] The production line described in this invention employs automated mechanical devices and intelligent sorting technology from material feeding and sorting to sorting, greatly reducing manual intervention and lowering labor intensity and labor costs. Furthermore, by adding Delta robots (42), sorting efficiency can be further improved to adapt to different production demands.

[0047] The production line described in this invention achieves multi-level sorting and fine sorting through a gap belt drive coffee fruit sorting device (3) and a coffee fruit sorting device (4). The system can effectively remove unqualified coffee fruits and ensure that the coffee fruits entering the high-quality coffee fruit storage box (5) meet the high-quality standards. This not only improves the quality of the final product, but also provides higher quality coffee fruits for subsequent processing.

[0048] The intermittent belt drive coffee cherry sorting device (3) in the production line of the present invention can classify small coffee cherries and store them in sorting and storage boxes (34) of different levels. The classification of coffee cherries is beneficial for food engineering classification. Therefore, the substandard cherries that are finely sorted and rejected can also be reprocessed or otherwise treated to further improve the resource utilization rate of coffee cherries.

[0049] The computer vision-based coffee cherry sorting device (4) in the production line described in this invention utilizes a Delta robot (42). The flexible suction cup (44) equipped with the Delta robot (42) can precisely open (adsorb) and close according to the weight and size of the coffee cherries. The mechanical sensor can detect the weight of the adsorbed coffee cherries in real time, ensuring the accuracy and safety of the adsorption action and avoiding damage to the coffee cherries.

[0050] The production line described in this invention is a rationally laid-out complete machine system. From left to right, it consists of a coffee fruit storage tank (1), a single-row sorting and feeding device (2), a gap belt drive sorting device (3), a computer vision-based coffee fruit sorting device (4), and a high-quality coffee fruit storage box (5). The components are connected by a reasonable mechanical transmission method to ensure the continuity and efficient operation of the entire system.

[0051] Secondly, the advantages of a smart sorting and sorting method for fresh coffee fruit are as follows: the sorting and sorting method focuses on the coffee fruit sorting device (4).

[0052] The sorting and picking method described in this invention can acquire high-contrast image information. The computer vision-based coffee fruit sorting device (4) uses a depth camera (41) to photograph the coffee fruits on the conveyor belt and increases the image contrast through an illumination system. The high-contrast pixel image information makes image processing and edge detection more accurate, which helps to improve the accuracy of visual recognition.

[0053] The sorting and picking method described in this invention utilizes advanced image processing technology, employing delayed thresholding to perform multiple processing steps with different thresholds. This reduces noise in the image information and achieves high-precision edge detection results. This ensures that the vision system can accurately identify the edges and features of fresh coffee cherries, improving sorting accuracy.

[0054] The sorting and sorting method described in this invention achieves automated and intelligent sorting and sorting of fresh coffee cherries. After the Delta robot (42) picks up high-quality fresh coffee cherries, it sorts and grades them by horizontal movement and stores them in the high-quality fresh cherry storage box (5). During the sorting process, unqualified fresh coffee cherries are reprocessed and automatically rejected to ensure efficient circulation of the sorting process and ultimately achieve the effect of accurate sorting.

[0055] The sorting and sorting method described in this invention can operate cyclically. By periodically and automatically rejecting and re-entering the sorting process, the entire sorting and sorting method can control the continuous and efficient operation of the production line, ensuring that each batch of fresh coffee cherries undergoes precise sorting and sorting, thereby maximizing the system's work efficiency and processing capacity. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of the overall structure of a complete set of intelligent sorting and sorting equipment production line for fresh coffee fruit according to the present invention; Figure 2 The right view of the overall structure of the first three parts of the intelligent sorting and sorting equipment production line for fresh coffee fruit described in this invention (coffee fruit storage tank (1), single-row sorting and feeding device (2), and gap belt drive coffee fruit sorting device (3)); Figure 3This is a left view of the overall structure of the first three parts of the intelligent sorting and sorting equipment production line for fresh coffee fruit described in this invention (coffee fruit storage tank (1), single-row sorting and feeding device (2), and gap belt drive coffee fruit sorting device (3)). Figure 4 This is a schematic diagram of the overall structure of the gap belt drive coffee fruit sorting device (3) of the present invention; Figure 5 This is a side view of the overall structure of the gap belt drive coffee fruit sorting device (3) of the present invention; Figure 6 This is a top view of the overall structure of the gap belt drive coffee fruit sorting device (3) of the present invention; Figure 7 This is a top view of the overall structure of the sorting and storage box (34) of the present invention; Figure 8 This is a schematic diagram of the overall structure of the Delta robot (42) described in this invention; Figure 9 This is a schematic diagram of the overall structure of the flexible suction cup (44) of the present invention; Figure 10 This is a schematic diagram of the built-in structure of the flexible suction cup (44) of the present invention; Figure 11 This is a schematic diagram of the built-in structure of the depth camera (41) of the present invention; Figure 12 This is a schematic diagram of the coffee fruit (high-quality fresh fruit, green fruit, and bad fruit) sorting process in the fresh fruit matrix distributed network (43) of the present invention. Figure 13 This is a schematic diagram of the overall structure of the fresh fruit matrix distributed network (43) described in this invention; Figure 14 This is a side view of the overall structure of the fresh fruit matrix distributed network (43) described in this invention; Figure 15 This is a schematic diagram of the overall operation of the intelligent sorting and sorting equipment production line for fresh coffee fruit as described in this invention, including its storage, feeding, and loading processes. Figure 16 This is a schematic diagram of the overall operation of the intelligent sorting and sorting equipment production line for fresh coffee cherries as described in this invention. Figure 17 This is a schematic diagram of the overall operation of a complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries as described in this invention. Figure 18 This is a schematic diagram of the Delta robot (42) operating in the process of sorting fresh coffee cherries in the intelligent sorting and sorting equipment production line of fresh coffee cherries described in this invention. Figure 19This is a schematic diagram illustrating the sorting process of a complete set of intelligent sorting and sorting equipment production line for fresh coffee fruit as described in this invention. Figure 20 This is a schematic diagram of the CNC interface of a complete set of intelligent sorting and sorting equipment production line for fresh coffee fruit as described in this invention.

[0057] [Attached Figure Labels]: Coffee cherry storage tank (1), tank body (11), automated feeding port (12), feed inlet (13), base (14); Single-row sorting and feeding device (2), inclined conveyor belt (21), sorting channel (22), guide funnel (23), adjusting mechanism (24), support structure (25); Gap belt driven coffee cherry sorting device (3), gapped conveyor belt (31), small pulley (32), large pulley (33), sorting and storage box (34), gap (311); Coffee cherry sorting device (4), depth camera (41), Delta robot (42) Fresh fruit matrix distributed network (43), flexible suction cup (44); stable light illumination system (411), industrial lens (412), standard resolution camera (413), image acquisition card (414), vision processor (415); inner balance arm (421), lower arm (422) and drive shaft (423); suction cup body (441), vacuum generator (442), suction cup connection interface (443), flexible bracket (444), suction cup support ring (445); high-quality fresh fruit storage box (5), storage box body (51), inlet (52), bottom bracket (53), outlet (54). Detailed Implementation

[0058] The present invention describes a production line for sorting and classifying fresh coffee cherries using computer vision technology. By introducing advanced computer vision technology and Delta robots, it is possible to achieve a comprehensive and accurate assessment of the color, size, and fullness of fresh coffee cherries, thereby overcoming the shortcomings of existing technologies and achieving high-efficiency and high-quality selection of fresh coffee cherries.

[0059] Figure 1 This invention demonstrates the overall structure of a complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries. The system consists of multiple modules and components, and its purpose is to automate the processing of fresh coffee cherries from storage to sorting.

[0060] like Figure 1As shown, the coffee cherry storage tank (1) is used to store fresh coffee cherries. The tank includes a tank body (11), an automatic feeding port (12), and a feed inlet (13). The automatic feeding port (12) ensures that the coffee cherries can be automatically and orderly fed to the production line. The single-row sorting and feeding device (2) transports the coffee cherries from the coffee cherry storage tank (1) to the subsequent sorting device through an inclined conveyor belt (21) to ensure that the coffee cherries are arranged neatly. This device includes components such as a sorting channel (22) and a guide funnel (23), which helps to guide fresh coffee cherries onto the conveyor belt for further processing; the gap belt drive coffee cherry sorting device (3) uses a gap conveyor belt (31), driven by a small pulley (32) and a large pulley (33), which can perform preliminary sorting of fresh coffee cherries, ensuring that coffee cherries of different sizes can be diverted to different sorting storage boxes (34) through different gaps; the coffee cherry sorting device (4) is the core module of the production line, responsible for high-precision sorting of fresh coffee cherries through the cooperation of a depth camera (41) and a Delta robot (42); the high-quality fresh cherry storage box (5) is the final storage module, which is specifically used to store the sorted high-quality fresh coffee cherries. The high-quality fresh cherry storage box (5) includes a main body (51), an inlet (52), a bottom support (53), and an outlet (54), ensuring that the sorted fresh coffee cherries can be collected and discharged in an orderly manner.

[0061] Furthermore, the depth camera system (41) includes components such as an industrial lens (412) and an image acquisition card (414). It acquires images of fresh coffee cherries on a conveyor belt (31) with gaps using a standard resolution camera (413), and processes and analyzes them using a vision processor (415). The Delta robot (42) performs coffee cherry grasping operations using data transmitted from the vision processing system. The Delta robot includes an inner balance arm (421), a lower arm (422), and a drive shaft (423), and grasps the fresh coffee cherries to the corresponding sorting and storage positions using a flexible suction cup (44). The intelligent sorting and sorting equipment production line for fresh coffee cherries described in this invention constitutes a complete coffee cherry processing chain through automated feeding, sorting, sorting, and final storage modules.

[0062] Figure 2 and Figure 3 The right and left views of the overall structure of the first three parts of the intelligent sorting and sorting equipment production line of fresh coffee fruit shown in this invention are displayed. The working mechanisms of the fresh coffee fruit storage tank (1), the single-row sorting and feeding device (2), and the gap belt drive fresh coffee fruit sorting device (3) are shown respectively. Figure 2 and Figure 3The system also demonstrates the workflow of the first three parts of the equipment, from the storage and sorting of fresh coffee cherries to preliminary sorting. The system first stores and orderly transports fresh coffee cherries through storage tanks (1) to a single-row sorting and feeding device (2), which arranges the fresh coffee cherries neatly through an inclined conveyor belt (21) and a sorting channel (22). Subsequently, the fresh coffee cherries enter a gap belt drive sorting device (3), where they are initially sorted according to their size through different gaps.

[0063] like Figure 2 and Figure 3 As shown, the working principle of the first three parts of the intelligent sorting and sorting equipment production line for fresh coffee cherries described in this invention is as follows: The coffee cherries storage tank (1) is the starting point of the entire intelligent sorting and sorting equipment production line system. Its main function is to store a large number of coffee cherries and supply them to the subsequent parts of the production line as needed. The automated feeding port (12) and the inlet (13) inside the coffee cherries storage tank (1) ensure that the coffee cherries will not be blocked or accumulated during feeding. The coffee cherries storage tank (1) operates by having the coffee cherries enter the coffee cherries storage tank (1) through the inlet (13). Then, when the production line needs to supply materials, the automated feeding port (12) opens and the coffee cherries are orderly transferred from the bottom of the tank body (11) to the next stage through the single-row sorting and feeding device (2).

[0064] The single-row sorting and feeding device (2) arranges the fresh coffee cherries from the coffee cherry storage tank (1) into a single row so that they can be sorted efficiently and accurately in subsequent processing. Through the inclined conveyor belt (21) and the sorting channel (22), the fresh coffee cherries are sorted from a messy state into a single row to ensure smooth transport. The operation of the single-row sorting and feeding device (2) is that the fresh coffee cherries enter the inclined conveyor belt (21) from the guide funnel (23), and the inclined conveyor belt (21) makes the fresh coffee cherries roll forward automatically under the action of gravity. The sorting channel (22) ensures that the fresh coffee cherries are arranged in a single row, and further adjusts the width and height through the adjustment mechanism (24) to ensure that fresh coffee cherries of different sizes can smoothly enter the next sorting step. The support structure (25) provides mechanical stability for the entire device and ensures that the inclined conveyor belt (21) remains stable under high load.

[0065] The gap-belt drive coffee cherry sorting device (3) performs preliminary sorting of coffee cherries. Through the gap-belt drive (31), coffee cherries of different sizes are sorted and transported according to their size and shape. Smaller coffee cherries fall through the gaps in the belt (31) to the corresponding sorting storage box (34), while larger coffee cherries continue to be transported to the corresponding sorting storage box (34). The operation of the gap-belt drive coffee cherry sorting device (3) involves the coffee cherries entering the gap-belt drive (31) from the sorting and feeding device. The gapped conveyor belt (31) is driven by small pulleys (32) and large pulleys (33), and the coffee cherries move along the gapped conveyor belt (31). Because the gapped conveyor belt (31) is designed with gaps of different sizes, smaller coffee cherries will fall through these gaps and enter different sorting and storage boxes (34); while larger coffee cherries continue to move forward and are conveyed to the corresponding sorting and storage box (34). The sorting process of the entire gapped belt drive coffee cherry sorting device (3) ensures that the coffee cherries can be sorted and classified more accurately in the subsequent processing steps.

[0066] Figure 4 , Figure 5 , Figure 6 , Figure 7 All of them show detailed descriptions of the operation of the gap belt drive coffee fruit sorting device (3). Figure 4 The overall structure of the gap belt drive coffee fruit sorting device (3) is shown; Figure 5 A side view of the sorting device is shown, further demonstrating the operating principle of the gap belt drive coffee fruit sorting device (3); Figure 6 The structure of a gap belt drive coffee fruit sorting device (3) is provided from a top view, showing the layout of the gap conveyor belt (31) and the gap (311). Figure 7 The overall structure of the sorting storage box (34) is shown in the top view. The design of the sorting storage box (34) simplifies the storage operation after the sorting process. Through the automated lifting and moving device, the operating efficiency of the production line can be effectively improved.

[0067] like Figure 4As shown, the overall structure and operation of the gap belt drive coffee fruit sorting device (3) is as follows: the gap belt (31) is the core component of the gap belt drive coffee fruit sorting device (3), responsible for carrying and conveying coffee fruit; the gap belt (31) is driven by the small pulley (32) and the large pulley (33), and the pulley system (large pulley (33) and small pulley (32) of the overall gap belt drive coffee fruit sorting device (3) ensures that the gap belt (31) can run smoothly and gradually transport the coffee fruit to different gap areas; then the sorting storage box (34) is located below the gap belt (31) and is used to receive coffee fruit of different sizes; when the coffee fruit falls through the gap of the gap belt (31), it will automatically fall into different sorting storage boxes (34) according to its size, and the sorting operation is completed.

[0068] like Figure 5 As shown in the diagram, from the side view, the overall structure of the gap belt drive coffee cherry sorting device (3) is as follows: During operation, the coffee cherries enter the gap belt (31) and are continuously conveyed along the track formed by the small pulley (32) and the large pulley (33). The gap (311) on the gap belt (31) continuously increases, causing smaller coffee cherries to fall into the sorting and storage box (34) below through the smaller gap near the small pulley (32); while larger coffee cherries continue forward and fall into the corresponding sorting and storage box (34) at a further gap (311). The entire conveying process utilizes gravity and pulley drive to achieve natural sorting and separation of coffee cherries by size.

[0069] like Figure 6 As shown, the gap belt drive coffee cherry sorting device (3) viewed from above clearly demonstrates the layout of the gap belt (31) and the gaps (311) on the belt, thus showing the operation path of the entire conveyor system. The gap arrangement above the gap belt (31) helps to accurately sort coffee cherries of different sizes into the sorting storage box (34) below. The gap belt (31) moves along the pulley system (large pulley (33) and small pulley (32)) at both ends; the gap belt (31) can smoothly carry the coffee cherries, with multiple gaps (311) of different widths to ensure that coffee cherries of different sizes can be separated; the gaps (311) on the gap belt (31) are arranged from narrow to wide, and the coffee cherries will fall into the storage box (34) below at different gaps (311) according to their size. In this way, smaller coffee cherries fall at the front and larger coffee cherries fall at the back, ensuring that coffee cherries can be sorted according to size (large, medium, small) and improving the efficiency of automated sorting.

[0070] like Figure 7 The diagram shows a top view of the overall structure of the sorting and storage box (34). The sorting and storage box (34) is used to store coffee cherries of different sizes that have been sorted by the gap belt drive coffee cherry sorting device (3). The sorting and storage box (34) has multiple independent storage compartments, each corresponding to coffee cherries falling from different gaps on the conveyor belt of the gap belt drive coffee cherry sorting device (3), ensuring that coffee cherries of different sizes are stored separately to avoid confusion. The sorting and storage box (34) has a lifting and moving mechanism at the bottom so that the position of the storage box can be flexibly adjusted for subsequent processing or replacement.

[0071] like Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the working principle of the gap belt drive coffee cherry sorting device (3) is that the gap belt (31) moves and the coffee cherries are sorted according to their size. When the coffee cherries enter the gap belt drive coffee cherry sorting device (3), the gap belt (31) is driven by the small pulley (32) and the large pulley (33), and the coffee cherries are moved forward along the gap belt (31). The gap (311) on the gap belt (31) gradually increases according to the size of the coffee cherries. Smaller coffee cherries will fall into the corresponding sorting storage box (34) near the pulley through the small gap, while larger coffee cherries will continue to move to a further part and fall into the corresponding sorting storage box (34) through the larger gap. The fallen coffee cherries are automatically distributed to the sorting storage box (34) below according to their size, thus completing the automated initial sorting process of coffee cherries. Through this sorting process, fresh coffee cherries can be automatically classified according to their size and stored in different sorting storage boxes (34), which helps to simplify subsequent processing steps and improve the efficiency of the entire sorting line.

[0072] Figures 8 to 14 This demonstrates the collaborative operation of core mechanical and vision components in a complete intelligent sorting and distribution production line for fresh coffee cherries. This is achieved through a Delta robot (…). Figure 8 ), flexible suction cup ( Figure 9 , Figure 10 ), depth camera ( Figure 11 ) and Fresh Fruit Matrix Distributed Network ( Figure 12-14 With the cooperation of [unclear], the entire intelligent sorting and classification production line for fresh coffee cherries can accurately and efficiently sort and classify coffee cherries.

[0073] like Figure 8As shown, the overall structure of the Delta robot (42) is illustrated. The inner balance arm (421), the lower arm (422), and the drive shaft (423) together form the Delta robot. This robot is used to quickly grasp and process fresh coffee cherries. Through the coordinated work of these robotic arms (inner balance arm (421) and lower arm (422)), the Delta robot can move flexibly and at high speed in multiple dimensions to ensure accurate grasping and positioning of fresh coffee cherries. Furthermore, combined with the visual data obtained by the depth camera (41), the Delta robot (42) can accurately sort fresh coffee cherries, grasp qualified high-quality fresh coffee cherries, and place them in designated locations. The Delta robot (42) is the core actuator of the system and has high-speed and precise three-dimensional movement capabilities. The Delta robot (42) achieves flexible movement and positioning through the connected robotic arms (inner balance arm (421), lower arm (422), and drive shaft (423)). The Delta robot (42) uses the visual information provided by the depth camera to perform rapid picking operations based on the position information of the fresh coffee cherries. The Delta robot (42) can perform multiple picking actions in a short time, improving the sorting speed of the system. The Delta robot (42) can cover a large area and grasp accurately, making it suitable for handling multiple fresh coffee fruits distributed on the conveyor belt, thus improving the overall efficiency of the sorting line.

[0074] like Figure 9 As shown, the overall structure of the flexible suction cup (44) is illustrated. The flexible suction cup (44) is an important component of the Delta robot (42) end effector, specifically designed for grasping irregularly shaped and soft-surfaced coffee cherries. The flexible suction cup (44) allows it to adhere closely to the surface of the coffee cherries during the grasping process, using negative pressure generated by the vacuum generator (442) for non-destructive grasping. The flexible suction cup (44) is suitable for grasping coffee cherries of various sizes, ensuring that the coffee cherries are not damaged during operation. The flexible suction cup (44) is made of flexible material, which can adapt to the surface of coffee cherries of different shapes and sizes, avoiding pressure damage or injury to the coffee cherries. The flexible suction cup (44) uses negative pressure to adsorb coffee cherries, achieving non-destructive grasping and ensuring that the coffee cherries will not slip during grasping or handling. The vacuum generator inside the flexible suction cup (44) uses suction... The main body of the suction cup (441) and the suction cup connection interface (443) create negative pressure to adsorb fresh coffee cherries. The suction cup support ring (445) ensures the stability of the suction cup during gripping, and through its deformable structural design, the flexible suction cup (44) can adaptively adjust the contact area according to the shape of the fresh coffee cherries, further improving the stability and effectiveness of gripping. The flexible suction cup (44) can flexibly grip fresh coffee cherries of various sizes and shapes, ensuring that the fresh coffee cherries are not damaged during the sorting process.

[0075] like Figure 10As shown, the internal structure of the flexible suction cup (44) is illustrated. The suction cup body (441) and the suction cup connection interface (443) are the core structures of the flexible suction cup (44). The flexible suction cup (44) can deform according to the shape of the coffee-related items through its internal structure, thereby achieving a more stable grip. The vacuum generator (442) generates negative pressure through the suction cup connection interface (443) to ensure the adsorption of fresh coffee berries. The suction cup support ring (445) provides additional mechanical support, enabling the flexible suction cup (44) to stably support coffee berries of different sizes, especially in cases of irregular shapes.

[0076] like Figure 11 As shown, the built-in structure of the depth camera (41) is illustrated. The depth camera (41) is the core vision component of a complete set of intelligent sorting and sorting equipment for fresh coffee cherries. It mainly consists of a stable light illumination system (411), an industrial lens (412), and a standard resolution camera (413). The vision processor (415) is responsible for processing the captured images in real time, analyzing the size, color, and shape of the fresh coffee cherries through algorithms to identify high-quality fresh coffee cherries from substandard cherries (green or bad cherries). The industrial lens (412), in conjunction with a high-resolution image sensor, ensures that the vision system can accurately identify and classify fresh coffee cherries in complex environments. Depth camera ( Figure 11 The camera has visual capture and processing capabilities; a stable illumination system (411) ensures that the camera can obtain stable images under any lighting conditions; an industrial lens (412) and a standard resolution camera (413) can capture high-precision images of fresh coffee cherries on the conveyor belt; a visual processor (415) analyzes the shape, size, color, and other features of the fresh coffee cherries through algorithms and classifies the fresh coffee cherries; and a depth camera ( Figure 11 The main function of the depth camera is to provide accurate image data and identify high-quality fresh coffee cherries and substandard green or bad cherries; Figure 11 The high-resolution image processing capability ensures the accurate classification and sorting of fresh coffee cherries.

[0077] like Figure 12 As shown, the sorting process of coffee cherries (high-quality cherries, green cherries, and bad cherries) in the fresh cherry matrix distributed network (43) is demonstrated, showing the distribution of various coffee cherries in the fresh cherry matrix distributed network (43). Through the visual recognition system of the depth camera (41), high-quality coffee cherries are accurately classified with green cherries and bad cherries; the Delta robot (42) sorts different types of coffee cherries according to the recognition results, placing high-quality coffee cherries in designated locations, while green or bad cherries will enter different processing flows. Figure 12The distribution of high-quality fresh coffee cherries, green cherries, and damaged cherries in the fresh cherry matrix distributed network (43) is shown. Through visual recognition and analysis by a depth camera (41), the Delta robot (42) is able to place different categories of fresh coffee cherries in different grids.

[0078] like Figure 13 As shown, the overall structure of the Fresh Fruit Matrix Distributed Network (43) is as follows. The Fresh Fruit Matrix Distributed Network (43) divides each cell into an independent area so that the Delta robot (42) can accurately place different types of fresh coffee cherries in the corresponding positions; and each cell on the Fresh Fruit Matrix Distributed Network (43) is used to classify and store different grades of fresh coffee cherries, ensuring that the entire sorting process is orderly. Figure 13 A top view of the entire Fresh Fruit Matrix Distributed Network (43) is shown. The Fresh Fruit Matrix Distributed Network (43) is divided into multiple independent cells for storing different types of classified fresh coffee fruits; each cell corresponds to a specific classification result.

[0079] like Figure 14 As shown in the side view of the overall structure of the fresh fruit matrix distributed network (43), it can be seen that each cell in the fresh fruit matrix distributed network (43) presents a cone-shaped mesh corresponding to the volume of the fresh coffee fruit, which helps the fresh coffee fruit to fall to the bottom of the cell when placed, reducing rolling or movement, and ensuring that the fresh coffee fruit can be safely transferred and processed in subsequent operations, reducing mechanical intervention damage to the fresh coffee fruit. Figure 14 The side view of the fresh coffee cherries matrix distributed network (43) is shown. The internal cone-shaped design allows for better centralized placement of fresh coffee cherries and reduces movement or rolling. The fresh coffee cherries matrix distributed network (43) is used to store sorted fresh coffee cherries, ensuring that each type of coffee cherry is placed in the correct position for subsequent processing or packaging. The fine cell design of the fresh coffee cherries matrix distributed network (43) ensures that each fresh coffee cherry is stored securely.

[0080] Figures 8 to 14 This demonstrates the overall collaborative workflow of a complete intelligent sorting and sorting production line for fresh coffee cherries. Depth camera ( Figure 11 ) captures and processes image data of fresh coffee cherries on the conveyor belt, identifies high-quality cherries, green cherries, and bad cherries through visual algorithms, and provides location information to the Delta robot (42) (e.g. Figure 8 ); and then the Delta robot (42) uses the position information provided by the camera and the flexible suction cup (44) (e.g. Figure 9 , Figure 10The flexible suction cup (44) precisely picks up different coffee cherries from the conveyor belt and uses a flexible design and negative pressure adsorption system to pick up the coffee cherries without damage and safely transport them to the cherry matrix distributed network (43). Figures 12 to 14 The corresponding cells in the ); the Fresh Fruit Matrix Distributed Network (43) classifies and stores different types of fresh coffee fruits after sorting, ensuring that subsequent packaging and processing can be carried out. It proceeded smoothly.

[0081] like Figure 15 The diagram illustrates the process of storing, feeding, and loading coffee cherries, ensuring that fresh coffee cherries are orderly transported from the coffee cherry storage tank (1) to the single-row sorting and loading device (2), and then prepared to enter the gap belt drive coffee cherry sorting device (3). Specifically, the storage, feeding, and loading process is as follows: the coffee cherry storage tank (1) is loaded with a large quantity of fresh coffee cherries; passing through the bottom of the coffee cherry storage tank (1), the fresh coffee cherries sequentially enter the feeding channel and fall onto the single-row sorting and loading device (2); the single-row sorting and loading device (2) then uses an inclined conveyor belt (21) to neatly transport the scattered fresh coffee cherries to the entrance of the gap belt drive coffee cherry sorting device (3). This process ensures that the fresh coffee cherries can be orderly transported to the next processing stage; furthermore, the angle and conveying speed of the inclined conveyor belt (21) are adjustable, ensuring the continuity and stability of the loading process.

[0082] like Figure 16 The diagram illustrates how the gap belt conveyor coffee cherry sorting device (3) sorts coffee cherries of different sizes through the gaps (311) of the gapped conveyor belt (31). The specific operation process of the gap belt conveyor coffee cherry sorting device (3) is as follows: the coffee cherries conveyed by the single-row sorting and feeding device (2) enter the gap belt conveyor coffee cherry sorting device (3); the gap belt conveyor coffee cherry sorting device (3) separates coffee cherries of different sizes through the different gaps (311) on the gapped conveyor belt (31); smaller coffee cherries fall into the corresponding sorting storage box (34) through the smaller gaps (311), while larger coffee cherries continue to be conveyed to the corresponding sorting storage box (34). The entire sorting process is automated, and the continuous operation of the gapped conveyor belt (31) ensures that the coffee cherries can be effectively separated.

[0083] like Figure 17As shown, this demonstrates how the coffee cherry sorting device (4) and Delta robots (42) can more accurately identify and sort the sorted coffee cherries. The specific process of sorting coffee cherries is as follows: After sorting, the coffee cherries enter the sorting device (4) and are conveyed to the Delta robots (42) via the sorting conveyor belt. The sorting device (4) consists of multiple Delta robots (42), which, combined with the visual detection system of the depth camera (41), can further identify the state, color, and size of the coffee cherries; then, the Delta robots (42) use flexible suction cups (44) to grab the high-quality coffee cherries that meet the requirements and place them into the designated high-quality coffee cherry storage box (5).

[0084] like Figure 18 As shown, the Delta robot (42) is highlighted in the sorting process, classifying qualified coffee cherries using gripping tools. The specific process of the Delta robot (42) in sorting coffee cherries is as follows: the Delta robot (42) works in conjunction with the fresh cherry matrix distributed network (43) to perform sorting operations; guided by visual data, the Delta robot (42) quickly and accurately grabs high-quality coffee cherries and places them in the predetermined positions of the matrix. In the intelligent sorting and sorting equipment production line for coffee cherries, coffee cherries can be automatically classified according to their size and condition; the Delta robot (42) moves at high speed and accurately on the conveyor belt, and can complete multiple gripping actions in an instant, and the three-dimensional motion range of the Delta robot (42) ensures that it can grab any coffee cherries on the conveyor belt.

[0085] The key to this process is the Delta robot's (42) efficient gripping capability and the non-destructive gripping design of the flexible suction cup (44), which ensures that the fresh coffee cherries are not damaged during sorting.

[0086] like Figure 19 The diagram illustrates the process of placing fresh coffee cherries after sorting, ensuring that the cherries are correctly placed into the designated premium cherry storage box (5). The sorting process is as follows: Delta robot (42) completes the sorting task, placing the fresh coffee cherries into the designated premium cherry storage box (5). Delta robot (42) places the fresh coffee cherries into a storage bin, and the system automatically places the sorted cherries into the corresponding designated premium cherry storage box (5) according to preset conditions (e.g., type and quality of the coffee cherries). Finally, all sorted premium coffee cherries are safely placed into the premium cherry storage box (5), awaiting further processing or packaging.

[0087] Figure 20This invention showcases the CNC interface of a complete intelligent sorting and sorting production line for fresh coffee cherries. The CNC interface allows for real-time monitoring and statistical analysis of various parameters of the fresh coffee cherries and their sorting results. It is divided into two main parts: "Real-time Parameters" and "Statistical Results." The CNC interface provides detailed monitoring and statistical information for the coffee cherry production line. Real-time parameters help operators understand the current quality status of the cherries, while the statistical results provide a complete analytical view of the summarized data after sorting. This data can further help optimize the sorting process and production efficiency.

[0088] like Figure 20 As shown, the real-time parameters provide various quality and appearance indicators for each coffee cherry during the operation of the intelligent sorting and sorting equipment production line. These data provide key information for judging the quality of coffee cherries and performing automated sorting. The system can accurately classify coffee cherries based on their quality and appearance characteristics, ensuring that high-quality coffee cherries are sorted out while removing unripe or damaged cherries.

[0089] like Figure 20 As shown, the statistical results provide an analysis of the summary information on the high-quality coffee cherries sorted after the entire intelligent coffee cherry sorting and sorting equipment production line has been completed. This statistical data can be used to optimize the production process and subsequent decision-making, and assist the intelligent coffee cherry sorting and sorting equipment production line in evaluating production efficiency and sorting quality. Example 1: A complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries according to the present invention.

[0090] In one specific embodiment, the intelligent sorting and sorting equipment production line for fresh coffee cherries includes the following main components: a fresh coffee cherry storage tank (1), a single-row sorting and feeding device (2), a gap belt drive fresh coffee cherry sorting device (3), a fresh coffee cherry sorting device (4), and a high-quality fresh cherry storage box (5).

[0091] Specifically, the coffee cherry storage tank (1) is used to store the picked coffee cherries, ensuring a continuous supply of coffee cherries to the sorting system; the single-row sorting and feeding device (2) is responsible for neatly arranging the coffee cherries and conveying them to the gap belt drive coffee cherry sorting device (3), ensuring the efficiency and accuracy of subsequent processing. The gap belt drive coffee cherry sorting device (3) performs preliminary screening of the coffee cherries through a gapped conveyor belt (31) with different gaps. Smaller cherries fall into different levels of sorting and storage boxes (34) through the gaps, while larger cherries continue to be conveyed to the coffee cherry sorting device (4); the coffee cherry sorting device (4) includes a depth camera (41) and a delta robot (42), which is used to accurately sort the coffee cherries based on computer vision technology; a distributed network (43) of cherries matrix is ​​arranged on the conveyor belt, and the delta robot (42) removes cherries that do not meet the standards according to the instructions of the vision system; the high-quality cherries storage box (5) is used to store the high-quality coffee cherries after sorting, ensuring the high quality of the final product.

[0092] Specifically, the operation process of the intelligent sorting and sorting production line for fresh coffee cherries is as follows: First, the fresh coffee cherries are stored and initially transported. The fresh coffee cherry storage tank (1) is a large, vertical cylindrical container used to store fresh cherries picked from the coffee tree; the fresh coffee cherry storage tank (1) has an opening at the top for loading fresh coffee cherries, and an interface at the bottom for transporting the fresh cherries to the next stage via gravity or mechanical transport system; the storage tank has a capacity of about 2 tons, which is sufficient to store a large quantity of fresh coffee cherries.

[0093] Next, single-row sorting and feeding is carried out. The coffee cherries in the coffee cherry storage tank (1) are transported to the single-row sorting and feeding device (2) via the inclined conveyor belt (21); the inclined conveyor belt (21) has 16-18 partitions (guide rails), which make the coffee cherries move in a single row; here, the inclined angle of the inclined conveyor belt (21) is 10°-15°, and the conveying speed is less than 2 meters / second, which can ensure that the coffee cherries move steadily and avoid rolling or damage.

[0094] Then, a preliminary sorting is performed using a gap belt drive. The gap belt drive coffee cherry sorting device (3) enables the conveyor belt to transport coffee cherries from the single-row sorting and feeding device (2) to the gap belt drive coffee cherry sorting device (3). The sorting device uses a gapped conveyor belt (31) and performs screening through the hollow design of the gapped conveyor belt (31). During the sorting process, the sorting belt is divided into three levels of gaps (311): small cherries (1.0-1.3cm), medium cherries (1.5-1.6cm), and large cherries (2.0-2.2cm). Coffee cherries of different sizes will fall into the sorting storage box (34) through the corresponding gaps (311) according to their size.

[0095] Next, intelligent sorting is performed using the coffee cherry sorting device (4). Coffee cherries of different sizes are conveyed to the coffee cherry sorting device (4), which includes a depth camera (41) and Delta robots (42). The depth camera (41) is installed above the sorting area and uses a stable light illumination system (411), an industrial lens (412), a standard resolution camera (413), an image acquisition card (414), and a vision processor (415). The acquired images are processed by the vision processor (415) to analyze the characteristics of the coffee cherries, such as the depth of the cherries, the condition of the stems, the damaged area, and the area of ​​the spots. Then, the image information is sent to two Delta robots (42) through sensors, and the two Delta robots (414) are kept in close contact with each other. 2) The obtained image information is not confused or repeated; Finally, the delta robot (42) operates according to the instructions provided by the vision system. The flexible suction cup (44) can accurately locate the coffee fruit position on the matrix grid of the fresh fruit matrix distributed network (43) and complete the precise grasping of coffee fruit by suction force. During the process of grasping coffee fruit by suction force, green fruit and bad fruit are sorted into two large buckets. The high-quality coffee fruit is kept on the conveyor belt and transported to the outlet of the coffee fruit sorting device (4). The high-quality coffee fruit is transported in batches to the next stage by the transport cart prepared on the production line. The large buckets loaded with green fruit and bad fruit are transported to the food industrial waste treatment room for sorting and cleaning at regular intervals.

[0096] Finally, the high-quality fresh coffee cherries, selected by the delta robot (42) and depth camera (41), are directed into the high-quality fresh coffee cherry storage box (5). This storage box (5) has a capacity of 1.43-2.5 cubic meters and can hold 0.8-1.2 tons of high-quality fresh coffee cherries, ensuring sufficient storage space throughout the entire sorting process. The entire intelligent fresh coffee cherry sorting production line achieves efficient and precise sorting and storage of fresh coffee cherries through automated transmission and screening mechanisms combined with intelligent visual sorting technology. This ensures the excellent quality of the sorted fresh coffee cherries, providing a reliable guarantee for subsequent fresh coffee cherry production and processing. Example 2: Operation process of a complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries under different coffee cherry yield scenarios.

[0097] (1) Specific implementation methods for high-yield scenarios (seasonal peaks) In high-yield coffee cherry scenarios, the harvest is plentiful and the raw material supply is abundant. Therefore, intelligent sorting and sorting production lines for fresh coffee cherries need to have higher processing capacity and storage capacity to ensure the handling of large quantities of fresh coffee cherries. The following is a detailed implementation plan for high-yield operations: The capacity of the coffee cherry storage tank (1) needs to be increased. The original storage tank capacity is about 2 tons. Under high production conditions, the capacity should be increased to more than 4 tons to meet the needs of more raw material storage. Multiple coffee cherry storage tanks (1) can be used in parallel on large production lines to avoid the space limitation of a single storage tank, so as to meet the needs of efficient batch storage of coffee cherries and ensure the continuity and stability of intelligent sorting and sorting of coffee cherries. The coffee cherry storage tank (1) is equipped with an automatic replenishment system. The sensor monitors the number of cherries in the storage tank and automatically replenishes when the storage is insufficient to avoid production interruption caused by short-term shortage of coffee cherries.

[0098] The single-row sorting and feeding device (2) needs to increase the feeding speed and finely adjust the speed of the conveyor belt to 3-4 m / s to meet the feeding requirements of high output and improve feeding efficiency. The fine arrangement mechanism (rectangular grid) of the single-row sorting and feeding device (2) introduces a finer arrangement structure, increases the density of the partitions or adjusts the height of the partitions to ensure that the fresh coffee fruit can be evenly arranged and conveyed to the sorting device. Under high output conditions, the single-row sorting and feeding device (2) needs to reserve connection components and interfaces for multiple conveyor belt channels in the mechanical design to meet the multi-channel feeding, realize parallel feeding, and further improve feeding efficiency.

[0099] The gap belt drive coffee fruit sorting device (3) increases the width of the conveyor belt to 3-4 cm and the speed to more than 3 m / s to handle a larger flow of fresh fruit; the gap belt drive coffee fruit sorting device 3 can set multiple gap levels, and through a more refined gap adjustment mechanism, ensure that coffee fruits of different sizes can be accurately sorted, achieve further refined sorting, and reduce the error rate.

[0100] The depth camera in the coffee fruit sorting device (4) can be replaced with a higher resolution depth camera (such as 4K resolution) to improve the image acquisition accuracy under high-speed transmission and ensure that the subtle features of the fresh fruit can be accurately captured and analyzed; the coffee fruit sorting device (4) can be increased to 4 or more Delta robots to improve the sorting speed and processing capacity of the intelligent sorting and sorting complete equipment production line, and the suction force of each Delta robot can be adjusted by the pressure of the suction device to improve the sorting accuracy; the coffee fruit sorting device (4) introduces more advanced machine learning algorithms into the visual recognition system to further improve the accuracy of identifying high-quality fresh fruit.

[0101] The premium fresh fruit storage box (5) can expand the storage box capacity to 3-5 cubic meters to meet the storage needs under high production; the premium fresh fruit storage box (5) is equipped with an automatic box changing system. When the storage box is about to be full, the system can automatically switch to an empty box to ensure the continuous operation of the production line; the premium fresh fruit storage box (5) is equipped with a temperature and humidity control system to ensure a suitable storage environment and extend the shelf life of premium coffee fresh fruit.

[0102] Through these adjustments and optimizations, the entire intelligent sorting and sorting production line for fresh coffee cherries can operate efficiently under high-volume conditions, ensuring the sorting and storage of large quantities of high-quality fresh coffee cherries, and improving overall production efficiency and product quality.

[0103] (2) Specific implementation methods for low-yield scenarios In low-volume scenarios, system design needs to be flexible enough to accommodate smaller processing volumes while effectively controlling resources and costs. The following is a detailed implementation plan for low-volume operations: The coffee cherries storage tank (1) can be a smaller coffee cherries storage tank (1) with a capacity of about 500 kg to meet the needs of low production and avoid waste of storage space and accumulation of fresh cherries; and adopt a modular design so that the number of coffee cherries storage tanks (1) can be flexibly increased or decreased when the demand changes.

[0104] The single-row sorting and feeding device (2) can reduce the speed of the conveyor belt to 1 m / s, reduce energy consumption, and ensure the smooth operation of the intelligent sorting and sorting equipment production line. Therefore, it needs to be equipped with an adjustable speed motor to flexibly adjust the speed according to the actual production demand and optimize energy consumption. In the single-row sorting and feeding device 2, partitions can be used flexibly to reduce the number of partitions or increase the spacing between partitions to adapt to the lower fresh fruit flow and avoid blockage or damage caused by excessive dense arrangement.

[0105] The gap belt drive coffee fruit sorting device (3) uses a conveyor belt with a width of about 1.5 cm to accommodate a small flow of fresh fruit, reducing equipment and maintenance costs; then the conveyor belt speed is adjusted to 0.5-1.0 m / s to reduce power consumption; due to the low production scenario, the gap belt drive coffee fruit sorting device can be set with two or three belt gap levels to meet the basic size sorting requirements and moderately simplify the equipment structure.

[0106] The coffee fruit sorting device (4) can be reduced from multiple depth cameras to 1-2 to save equipment costs and energy consumption; at the same time, the working frequency of the cameras is reduced accordingly, and the frame rate of image acquisition is dynamically adjusted according to actual needs; in order to match the working of the depth cameras, the working frequency of the Delta robots needs to be adjusted, and the number of Delta robots is reduced to 1; at this time, an intelligent control strategy needs to be implemented to adjust the working frequency and sleep time of the Delta robots according to the real-time production situation, and further optimize resource utilization.

[0107] The high-quality fresh fruit storage box (5) is selected with a small capacity of about 1 cubic meter to reduce the floor space and storage cost; the high-quality fresh fruit storage box (5) is equipped with modular storage units, and the number of storage boxes can be flexibly adjusted according to the actual amount of fresh fruit after sorting; in the case of low production, the automatic box changing system can be simplified or omitted, and manual or semi-automatic box changing methods can be adopted to further reduce the complexity and cost of the system.

[0108] (3) Small-scale processing or laboratory testing In small-scale processing or laboratory testing environments, the system needs simplified configuration to reduce costs and provide flexibility to meet experimental conditions. The following is a specific implementation plan: Coffee cherry storage tank (1) Select a storage tank with a capacity of about 200 kg to meet the needs of small batch processing; use a coffee cherry storage tank (1) with a smaller capacity that is lightweight and easy to move, suitable for layout adjustment in the laboratory.

[0109] The single-column sorting and feeding device (2) adopts a basic single-column conveyor belt feeding device, which is suitable for small-scale feeding needs; the conveyor belt speed on the single-column sorting and feeding device 2 is set to 1 m / s, which is sufficient to handle a small amount of fresh fruit in the laboratory test environment; the single-column sorting and feeding device 2 can be simplified in structure, using modular components, which is convenient for assembly and disassembly.

[0110] The gap belt drive coffee fruit sorting device (3) uses a small conveyor belt with a width of 1 cm to adapt to the compact space of the laboratory; the gap setting of the gap belt drive coffee fruit sorting device (3) is adjusted, and the reasonable gap adjustment range is usually between 2 mm and 10 mm, so that it can flexibly adapt to the sorting needs under different experimental conditions.

[0111] (1) Minimum gap (about 2 mm): suitable for sorting smaller coffee cherries or sorting tasks that require high precision; (2) Maximum gap (about 10 mm): suitable for sorting larger coffee cherries or for sorting precision requirements. The task is not demanding.

[0112] The small conveyor belts on the gap belt-driven coffee cherry sorting device (3) can change the gap between the conveyor belts by adjusting the tension of the conveyor belts or the position of the supports, thus changing the gap size to meet different sorting criteria in coffee cherry processing. Specifically, the gap belt-driven coffee cherry sorting device (3) is equipped with tensioning devices, such as tensioning bolts or adjusting wheels; these devices can be loosened or tightened to adjust the tension of the conveyor belts; increasing the tension can reduce the gap, while decreasing the tension can increase the gap. Specifically, the support structure (support) of the conveyor belt can usually move horizontally or vertically; by moving the support, the distance (gap) between the conveyor belts can be changed, and the bolts can be tightened again to fix the support.

[0113] The coffee fruit sorting device (4) selects a laboratory version of the depth camera, which has basic imaging functions and is relatively small in size; the laboratory version of the Delta robot uses a small Delta robot, which is equipped with a simplified gripping device, suitable for sorting a small number of samples under experimental conditions, and the working frequency of the Delta robot can be appropriately reduced to save energy.

[0114] The premium fresh fruit storage box (5) uses a small storage box with a capacity of about 100 kg, which is convenient for sample collection and analysis. The premium fresh fruit storage box (5) is designed with transparent or semi-transparent materials to facilitate the observation and recording of sorting results by the experimenters. The premium fresh fruit storage box (5) has an opening for easy sampling, which is suitable for multiple sampling and analysis during the experiment. The premium fresh fruit storage box (5) is equipped with a partition inside for classifying and storing coffee fresh fruit samples of different sorting grades.

[0115] Example 3 illustrates the operation of a complete intelligent sorting and sorting production line for fresh coffee cherries in a scenario requiring precise sorting for premium quality. In one specific embodiment, the goal of the intelligent coffee cherry sorting and separation production line is to sort out premium-grade coffee cherries, ensuring high precision and efficiency in the sorting process. This invention, by integrating high-precision mechanical and image recognition equipment, can accurately separate cherries of different grades to meet market demands for high quality.

[0116] (1) Fine sorting scenarios required for premium quality products The coffee cherries storage tank (1) maintains its original storage capacity and continues to use large-capacity storage tanks (such as 2-ton capacity) to ensure the stability and continuity of raw material supply. The coffee cherries storage tank (1) adopts an automatic monitoring system to monitor the quantity and quality of coffee cherries in the storage tank in real time, ensuring that the entire system of the coffee cherries intelligent sorting and sorting equipment production line is always in the best operating state.

[0117] The single-row sorting and feeding device (2) is equipped with high-precision sensors and an automatic adjustment system to ensure that the coffee cherries are neatly arranged on the conveyor belt. The high-precision sensors include laser sensors for accurately measuring the size and shape of the coffee cherries, which can provide high-precision distance measurement data and are suitable for detecting the precise positioning and arrangement of the coffee cherries; photoelectric sensors can also be used to detect the presence or absence of coffee cherries and to determine the number of coffee cherries on the conveyor belt, which is suitable for detection on high-speed production lines. The single-row sorting and feeding device (2) is equipped with an automatic adjustment system. The servo motor, in conjunction with the high-precision controller, can accurately control the speed of the conveyor belt and the position of the partitions; and by adjusting the speed of the conveyor belt and the spacing between the partitions in real time, it can ensure that each coffee cherry is neatly arranged in a single row; the single-row sorting and feeding device (2) can use pneumatic actuators to adjust the position and height of the partitions, quickly respond to the data from the sensors, and dynamically adjust the partitions to accommodate cherries of different sizes. The single-row coffee sorting and feeding device (2) can preferably use a fuzzy control algorithm. During the feeding process, the fuzzy control algorithm can handle complex control problems caused by uncertain factors such as the size and shape of the coffee cherries. It can dynamically adjust the conveying speed and the position of the partition through fuzzy rules. The single-row coffee sorting and feeding device (2) needs to use an adaptive control algorithm to automatically adjust the control parameters to adapt to changes in the characteristics of the coffee cherries. This algorithm can improve the robustness and adaptability of the system and ensure the stability and accuracy during the feeding process. The single-row coffee sorting and feeding device (2) is equipped with a linear vibrating screen with a vibration screening mechanism. It uses a vibrator driven by an electric motor to generate high-frequency vibration, so that the coffee cherries vibrate and move forward on the screen. The opening size of the screen is set to allow large, medium and small holes that can pass through unqualified coffee cherries or impurities. These unqualified coffee cherries and impurities will be screened out. The vibration screening mechanism is connected to a vibrating table. Combined with the adjustment of the tilt angle and vibration frequency, the coffee cherries are distributed on the table according to the differences in quality and shape, so as to further screen out unqualified coffee cherries.

[0118] The gap belt drive coffee cherry sorting device (3) can precisely adjust the gap of the gapped conveyor belt (31), which can be precisely adjusted to meet the sorting requirements of different grades of coffee cherries. In order to meet the sorting requirements of different grades of coffee cherries, the precise adjustment range of the gap of the gapped conveyor belt (31) can be set between 1 mm and 15 mm; as follows: (1) Minimum gap (about 1 mm): Suitable for sorting very small coffee cherries or sorting occasions that require very high precision. The smaller gap can effectively separate coffee cherries smaller than the standard size. (2) Intermediate gap range (about 5 mm): suitable for sorting regular-sized coffee cherries, and can be adjusted to a suitable gap according to the actual sorting standards; (3) Maximum gap (about 15 mm): Suitable for sorting larger coffee cherries, or when the goal is to remove unqualified large cherries.

[0119] The gap belt drive coffee fruit sorting device (3) employs a precision mechanical adjustment mechanism to ensure the accuracy of gap adjustment, thereby reducing the processing pressure on subsequent sorting devices. It also features multiple gap settings to differentiate coffee fruits of different qualities based on size and shape. Specifically, the precision mechanical adjustment mechanism on the gap belt drive coffee fruit sorting device (3) includes a fine-tuning screw, a linear guide rail, a servo motor, and a position sensor. The fine-tuning screw precisely controls the gap between the conveyor belts; rotating the screw allows for fine adjustments to the conveyor belt position. The conveyor belt or separator moves along the linear guide rail, ensuring a smooth and accurate adjustment process. The guide rail system reduces friction, improving the accuracy and stability of the adjustment. The servo motor drives the movement of the fine-tuning screw, providing precise position control and enabling fine adjustments while maintaining a stable set position. The position sensor monitors the conveyor belt position in real time, ensuring the accuracy of gap adjustment. The position sensor provides feedback data to the control system for correction and confirmation of adjustments. Specifically, the methods used by the gap belt drive coffee cherry sorting device (3) to reduce the processing pressure on subsequent sorting devices include pre-screening, uniform arrangement and orientation, and reduction of error accumulation. In the pre-screening function, precise adjustment of the conveyor belt gap can pre-separate unqualified fresh cherries (such as coffee cherries that are too large or too small). The coffee cherries will be directly screened out or guided to different processing paths (large cherries, medium cherries, small cherries), thereby reducing the number and diversity of fresh cherries that the subsequent sorting device needs to process and reducing complexity. Adjusting the conveyor belt gap can ensure that the coffee cherries are evenly arranged and oriented into the next stage, enabling the subsequent sorting device to identify and process them more efficiently. Through precise gap adjustment, it is ensured that all coffee cherries entering the subsequent processing are within a specific size and shape range. This reduces the errors and malfunctions of the subsequent equipment (coffee cherry sorting device (4)) due to processing coffee cherries that exceed the preset range, thereby improving the reliability and efficiency of the entire system.

[0120] The gap belt drive coffee fruit sorting device (3) is equipped with a high-precision depth camera. It is equipped with a high-resolution depth camera (such as 8K resolution) to enhance the detection capability of surface and internal features of fresh fruit. It also uses advanced machine learning algorithms (such as convolutional neural network CNN and deep residual network ResNet) to analyze the color, texture and shape features of fresh fruit and perform fine classification. The high-precision depth camera introduces multispectral imaging technology to evaluate the internal quality of fresh fruit, such as maturity and blemish ratio.

[0121] The gap belt drive coffee fruit sorting device (3) is equipped with a sensitive Delta robot (42). The Delta robot (42) is equipped with a flexible suction cup (44) with flexible adsorption force. Through the precision adjustment of the negative pressure device, it can adsorb, wrap around and open coffee fruits of different sizes and shapes. The flexible suction cup (44) is made of flexible material, such as silicone, which can reduce damage to the surface of the coffee fruit.

[0122] The high-quality fresh fruit storage box (5) can increase the number of storage boxes and use storage boxes of different sizes and configurations to store fresh coffee fruits of different qualities and grades separately; and through a computer classification and marking system, it can ensure that fresh fruits of different grades are clearly distinguished, which is convenient for subsequent processing and market positioning; throughout the coffee fresh fruit workshop, an environmental control system and a cleaning system (fresh fruit sorting bins) are provided. The environmental control system can regulate temperature and humidity to maintain the best quality of fresh fruits, ensure the hygiene of coffee fresh fruit production, and form a self-cleaning food processing ecosystem.

[0123] Furthermore, for the refined sorting scenarios required for premium quality products, an intelligent management system is introduced into the CNC system of the entire production line to track and record the source, sorting grade, and storage conditions of each batch of fresh fruit, thereby improving the accuracy of management and quality control. In addition, the system can automatically generate reports, providing detailed coffee-related sorting and storage data.

[0124] Specifically, on the computer control panel in the production workshop, the data control interface of the intelligent sorting and sorting equipment production line for fresh coffee cherries is divided into two main parts: real-time parameters and statistical results. The real-time parameters are as follows: Specifically, on the computer control panel in the production workshop, the data control interface of the intelligent sorting and sorting equipment production line for fresh coffee cherries is divided into two main parts: real-time parameters and statistical results. The specific statistical results are as follows: To accurately extract and analyze these parameters, model training is necessary before building a built-in system for sorting and classifying high-quality coffee cherries. By collecting a large amount of labeled data, deep learning algorithms can learn the relationship between different coffee cherry characteristics and their corresponding parameters. For example, the color intensity of coffee cherries can be obtained through RGB image analysis; the hardness of coffee cherries needs to be inferred by combining ultrasonic or optical sensor data; and parameters such as the weight and thickness of coffee cherries can be estimated by combining volume information with a density model. Damage and spots on the coffee cherry peel need to be identified and calculated using image segmentation and feature extraction techniques.

[0125] Furthermore, the prerequisite for building the system is training the model, and then integrating the trained model into the system is the implementation of a hybrid sorting strategy. For efficient sorting systems, if the visual model has sufficient real-time recognition capabilities and is highly compatible with the work of robots and conveyor belts, then hybrid sorting is the optimal choice. This allows for the simultaneous processing of unripe and damaged fruit, maximizing the system's sorting efficiency and throughput.

[0126] During the model training phase, a large number of labeled datasets are required for supervised learning of fresh coffee cherries, enabling the model to infer and calculate these parameters in real time during practical applications. This process not only improves the accuracy of the built-in system for sorting and classifying high-quality fresh coffee cherries, but also ensures robustness and reliability under different environments and conditions. Through the effective application of multimodal data fusion and deep learning algorithms, the depth camera (41) can achieve real-time and accurate acquisition and analysis of parameters of various fresh coffee cherries in actual operation, thereby meeting complex sorting requirements. The design of the coffee cherry storage container described in Example 4 takes into account the collection range of the coffee cherries.

[0127] In the intelligent sorting and sorting production line for fresh coffee cherries provided by this invention, the function of the fresh coffee cherry storage container is to store fresh coffee cherries to be processed after harvest. Therefore, the fresh coffee cherry storage container is set in multiple places on the production line and is mainly used in three components: fresh coffee cherry storage tank (1), gap belt drive fresh coffee cherry sorting device (3), and high-quality fresh cherries storage box (5).

[0128] Firstly, the coffee cherry storage tank (1) is a large storage container, presented as a large vertical tank with a top opening for filling with coffee cherries and a bottom interface for discharging the coffee cherries. The required storage tank volume and size (1) are estimated based on the intended use of the coffee cherries. From a material perspective, the bulk density of the coffee cherries determines the volume of the coffee cherry storage tank. The bulk density of the coffee cherries can be... The density varies depending on factors such as variety, processing method, and moisture content, and is generally estimated to be between 400 and 700 kg / m³. In food engineering, the average bulk density of fresh coffee cherries is 550 kg / m³, and the production process requires the storage of 2000 kg of fresh coffee cherries. Based on the production line conditions, the coffee cherry storage tank is determined to be cylindrical, and its diameter and height are then determined accordingly. Ultimately, the coffee cherry storage tank (1) of this invention is determined to contain a large storage container with dimensions of approximately 2 meters high and approximately 1.7 meters in diameter, forming a cylindrical storage tank with a capacity of 2 tons of fresh coffee cherries.

[0129] Secondly, the gap belt drive coffee cherry sorting device (3) includes a static sorting and storage box (34). The sorting and storage box (34) is located below the drive device and is stabilized in the appropriate position by a bracket or fixing mechanism to collect coffee cherries. The structure of the sorting and storage box (34) is that the top opening is large to ensure that all coffee cherries falling from the gap above can be collected smoothly to withstand the weight and impact of the falling cherries. In terms of the collection range of coffee cherries, the density of coffee cherries (including the skin and pulp) is generally low because coffee cherries contain more moisture and air gaps. Depending on the source and estimates, the bulk density of coffee cherries is approximately between 400 and 700 kg per cubic meter. Therefore, the volume of the sorting and storage box (34) is approximately between 1.43 and 2.5 cubic meters, and this size depends on the actual bulk density of the coffee cherries.

[0130] Thirdly, the premium fresh coffee storage box (5) is located on the far right of the entire system and receives the sorted coffee cherries. The premium fresh coffee storage box (5) is a large container or multiple small boxes used to store the selected premium coffee cherries; as the final stage of the sorting and production line, it is a key component to ensure that the selected coffee cherries are properly handled. The premium fresh coffee storage box (5) collects materials (premium coffee cherries) that have been identified as meeting quality standards by the sorting device (the Delta robot (42) and the vision inspection system mentioned above) and directed them into the premium fresh coffee storage box (5). The premium fresh coffee storage box (5) receives the coffee cherries transported from the conveyor belt during the sorting process. The premium fresh coffee storage box (5) can also be designed as a single large container or divided into multiple small boxes; the premium fresh coffee storage box varies depending on the type. Coffee cherries should be sorted and stored according to size. Considering the high moisture and air content of coffee cherries, the bulk density of coffee cherries is approximately 400 to 700 kg per cubic meter. 0.8-1.2 tons of coffee cherries would have a volume of approximately 1.43 to 2.5 cubic meters.

[0131] If the high-quality fresh fruit storage box (5) is divided into multiple small boxes, each small box is arranged in a horizontal direction (in order), and the volume of each small box is 1m×1m×0.6m, it can hold 200 kg of coffee fresh fruit that meets the quality standards.

[0132] From the perspective of the final quality assessment of premium fresh coffee cherries, the quality standard for premium fresh coffee cherries is that they are bright and uniformly red or yellow in color, without signs of insect bites, mold, or other diseases, and without obvious cracks, bruises, or other physical damage. Therefore, the premium fresh coffee cherry storage box (5), as a conveyor belt transport tool, must move horizontally at a uniform speed to ensure that the fresh coffee cherries are less damaged during mechanical movement. At the same time, the capacity of the premium fresh coffee cherry storage box (5) should not be too large. Therefore, the volume of the premium fresh coffee cherry storage box (5) needs to be controlled between 1.43 and 2.5 cubic meters, holding 0.8-1.2 tons; and the width of the conveyor belt below the premium fresh coffee cherry storage box (5) is 2m; the horizontal movement speed is <2m / s. The design of the single-row sorting and feeding device (2) described in Example 5 takes into account the stability of the fresh coffee cherries during the conveying process.

[0133] In the intelligent sorting and sorting production line for fresh coffee cherries provided by this invention, such as... Figure 1 As shown, the single-row sorting and feeding device (2) is located on the right side of the coffee cherry storage tank, serving as the first-stage processing device. The single-row sorting and feeding device (2) is connected to the coffee cherry storage tank (1) via an inclined conveyor belt (21), through which the coffee cherries are conveyed to the next intermittent belt-driven coffee cherry sorting device (3). The single-row sorting and feeding device (2) includes one or more inclined conveyor belts (21) with a separating structure for sorting the coffee cherries into a single row. The inclined conveyor belt (21) drives the coffee cherries upward, arranging them into a single row.

[0134] The single-row sorting and feeding device (2) includes an inclined conveyor belt (21) to transport fresh coffee cherries one by one to the sorting device, maintaining a continuous supply of fresh coffee cherries. The inclined conveyor belt (21) is installed at a certain angle to the horizontal plane, so that the fresh coffee cherries can be transported with the aid of gravity. In order to prevent the fresh coffee cherries from slipping back, the conveying angle of the inclined conveyor belt (21) does not exceed 10° to 15°.

[0135] The inclined conveyor belt (21) slides downwards naturally under gravity, while the movement of the inclined conveyor belt (21) pushes the coffee cherries in a set direction. The speed and direction of the coffee cherries are controlled to ensure smooth transfer from the storage tank to the intermittent belt-driven coffee cherry sorting device (3). The conveying speed of the inclined conveyor belt (21) is set according to the requirement that the coffee cherries be stable and not easily dropped during transport. 2 m / s; and the inclination angle is not upward 10°-15°. The inclined conveyor belt (21) is provided with a partition structure, which is a partition (or guide rail) set on the inclined conveyor belt (21), forming a physical interval on the inclined conveyor belt (21) to guide the fresh coffee fruit into the machine's field of vision or operating area in a single row. According to the size requirements of the inclined conveyor belt (21) and the single-row sorting and feeding device (2), it is best to set 16-18 partitions or guide rails on the inclined conveyor belt (21).

[0136] The inclined conveyor belt (21) is designed to prevent coffee cherries from stacking or mixing. Therefore, the single-row arrangement function of the inclined conveyor belt (21) allows coffee cherries to be placed on the inclined conveyor belt (21) and arranged in a row, with each coffee cherry maintaining a certain distance from the others, forming a regular straight-line sequence; the spacing between the single rows is 0.2-0.5 cm; approximately 50 kg of coffee cherries are arranged on a straight-line sequence of the inclined conveyor belt (21). Example 6: Gap belt drive coffee cherry sorting device (3) can sort coffee cherries of different sizes.

[0137] The present invention provides a complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries, which includes a series of mechanical devices from a single-row sorting and feeding device (2) to a gap belt drive type fresh coffee cherry sorting device (3) and an inclined conveyor belt (21) for moving fresh coffee cherries between different processing stages, so as to ensure that fresh coffee cherries can smoothly transition to different processing units.

[0138] In the intelligent sorting and sorting production line for fresh coffee cherries provided by this invention, such as... Figure 1 As shown, the gap belt drive coffee cherry sorting device (3) is immediately followed by the single-row sorting and feeding device (2) for further sorting of coffee cherries. The gap belt drive coffee cherry sorting device (3) includes multiple conveyor belts (31) with gaps of different sizes for classifying coffee cherries according to their size.

[0139] Firstly, the design of the conveyor belt (31) with gaps and the gaps (311).

[0140] like Figure 2As shown, the gaps (311) on the gapped conveyor belt (31) are designed to allow coffee cherries of a certain size to pass through. Coffee cherries of different sizes will fall into different collection areas through gaps of different sizes, thereby achieving preliminary sorting of coffee cherries (size sorting). The gapped conveyor belt (31) has a specific gap (311) design. The gaps (311) on the gapped conveyor belt (31) are openings between the belts, which allow materials smaller than a certain size to pass through, while larger materials continue to move forward on the belt. The gap (311) is the opening between the belts, and coffee cherries of different sizes are classified by the size of the gap (311) opening.

[0141] Based on the size of fresh coffee cherries, they can be roughly divided into three types: First, small coffee cherries have a diameter of about 1 cm. This is the size of Arabica coffee cherries from the Yunnan coffee-producing region. Therefore, to accommodate the needs of Arabica coffee cherries, the gap (311) opening size ranges from 1.0 to 1.3 cm, allowing coffee cherries with an opening size of less than 1.0 cm to pass through. Second, medium-sized coffee cherries have a diameter of about 1.5 cm. This is the size of Arabica coffee cherries. Therefore, to accommodate the needs of Arabica coffee cherries, the gap (311) opening size ranges from 1.5 to 1.6 cm, allowing coffee cherries with an opening size of less than 1.5 cm to pass through. Third, large coffee cherries can have a diameter of 2 cm or more. Larger. This is typically for extra-large coffee cherries, such as certain Robusta varieties or Arabica cultivated using special techniques. Therefore, to accommodate the needs of extra-large coffee cherries, the gap (311) opening size ranges from 2.0 to 2.2 cm, allowing coffee cherries with opening sizes smaller than 2.0 cm to pass through. Consequently, the gapped conveyor belts are designed to be arranged in parallel, with each belt potentially having three different gap widths to accommodate the sorting needs of coffee cherries of different sizes. The first conveyor belt might sort out the smallest coffee cherries, the second conveyor belt sorts out medium-sized coffee cherries, and so on. Ultimately, the width range of the gap (311) was determined to be 1.0–2.4 cm, with a maximum of 2.4 cm and a minimum of 1.0 cm.

[0142] Secondly, the design of the pulley system (small pulley (32) and large pulley (33)). For example... Figure 2As shown, the small pulleys (32) are located at both ends of the gapped belt drive coffee fruit sorting device (3) and are positioned at a low level. The small pulleys (32) are in direct contact with the gapped conveyor belt (31) to assist in the movement and tension adjustment of the gapped conveyor belt (31). The small pulleys (32) rotate under the drive of the large pulleys (33) to guide the gapped conveyor belt (31) to run smoothly. The small pulleys (32) are small wheels with a diameter smaller than that of the large pulleys (33). By maintaining the correct tension and direction of the gapped conveyor belt (31), they ensure the stable operation of the gapped conveyor belt (31) and thus the correct distribution of coffee fruits. The small pulleys (32) are 2m in size and serve as support rollers to provide support for the conveyor belt, ensuring the stability of the conveyor belt and reducing sagging. The direction of the small pulley (32) is clockwise; the diameter of the idler roller of the small pulley (32) is 0.02 meters, and the speed of the conveyor belt is 2 meters / second, so the rotation speed of the idler roller is designed to be approximately 1911 RPM.

[0143] like Figure 2 As shown, the large pulley (33) is located at one end of the gapped belt drive coffee fruit sorting device (3), and its relative position is relatively high. The large pulley (33) is connected to the motor via a shaft, providing power to the conveying system. The large pulley (33) is the driving pulley, driven by the motor to rotate, driving the entire gapped conveyor belt (31) to move, providing power to the entire conveying system. The large pulley (33) is designed to provide sufficient torque and force to drive the rubber belt. After the motor starts, the large pulley (33) rotates, driving the gapped conveyor belt (31) through physical contact, completing the conveying and sorting of coffee fruits. The large pulley (33) is mounted on a shaft, which is directly or through some mechanical transmission components (such as gears, belts, etc.) connected to the output shaft of the motor. The power of the motor can be efficiently transmitted to the large pulley (33), and through the rotation of the motor, the movement of the entire gapped conveyor belt (31) is driven. The motor provides sufficient torque to overcome static and dynamic friction in the system and to drive the load (rubber belt and coffee berries). Therefore, the present invention designs the number of large pulleys (33) to be less than 40, and the diameter of each large pulley (33) is greater than 2 cm; the direction of movement of the large pulleys (33) is clockwise.

[0144] Thirdly, the gap belt drive coffee cherry sorting device (3) of the present invention has taken into account the material sorting function in its design. In order to ensure that coffee cherries of a certain size can fall through the gap on the conveyor belt and be collected into the container below, the container below is designed as a cylindrical storage tank with a height of about 1 meter and a diameter of about 1.2 meters, which can hold about 0.8 tons of coffee cherries. This design allows coffee cherries with an opening wider than the gap width to continue moving on the conveyor belt to the coffee cherry sorting device (4).

[0145] The coffee cherry sorting device (4) described in Example 7 is designed to sort coffee cherries based on their quality according to the obtained image information. The coffee cherry sorting device (4) is connected to the preceding gap belt-driven coffee cherry sorting device (3) via a horizontal conveyor belt. The coffee cherry sorting device (4) is equipped with two Delta robots (42) and a depth camera (41) for high-precision selection and classification of coffee cherries based on computer vision analysis results. The coffee cherry sorting device (4) includes a computer vision-based intelligent sorting module. The coffee cherry sorting device (4) contains a depth camera (41) for photographing the coffee cherries on the conveyor belt. The conveyor belt is equipped with a 44-matrix grid for arranging the coffee cherries in a matrix according to their size; its length (m) and width (n) can be adjusted according to actual production conditions. Two Delta robots (42) are used to remove coffee cherries that do not meet the color and fullness standards.

[0146] The depth camera (41) captures images of fresh coffee cherries on the conveyor belt and analyzes their quality based on their color and shape using algorithms. The Delta robot (42) selects and removes non-compliant coffee cherries based on the data provided by the camera, while compliant coffee cherries are conveyed to the next stage. The depth camera (41) is a key vision device used to capture images of fresh coffee cherries on the conveyor belt. By analyzing these images, the camera can identify the size, shape, color, and possible defects of each coffee cherry. The depth camera (41) is located above the device, directly aimed at the coffee cherries on the conveyor belt, and is securely mounted above the robot sorting area using a bracket or fixing device to ensure that images of all coffee cherries on the conveyor belt can be captured. The depth camera (41) is equipped with high resolution and depth detection capabilities, enabling it to generate accurate 3D images. The depth camera (41) captures image information of coffee cherries on the conveyor belt, providing data for the computer vision system to analyze the size, shape, and integrity of the coffee cherries. The depth camera (41) optimizes image capture by adjusting the focal length or angle, achieving a high frame rate of 30-60 frames per second.

[0147] The Delta robot (42) is capable of accurately picking up and classifying coffee cherries based on data provided by the depth camera (41). Two Delta robots (42) are located on either side of the conveyor belt, allowing them to manipulate the coffee cherries on the belt. The Delta robots (42) are fixed to the ground or machine platform, with highly flexible robotic arms that can extend above the conveyor belt. Both Delta robots (42) employ a deep learning model to analyze image data from the depth camera (41) to identify coffee cherries in the image, thus distinguishing the contours and shapes of different coffee cherries and identifying their location and size. The depth camera (41) provides 3D data about the distance to objects, helping the robot understand the exact location of the object in space. Once the grasping point is determined, a path planning algorithm calculates the optimal path from the current robot position to the grasping position. This includes collision avoidance and optimizing motion efficiency. During the grasping and moving of objects, real-time feedback control ensures that the Delta robots (42) accurately execute predetermined paths and actions. Dynamic adjustments to the Delta robots (42) based on sensor feedback ensure the accuracy and reliability of the task. Example 8: Key technologies of the built-in system for sorting and separating high-quality fresh coffee cherries provided by this invention.

[0148] In one specific embodiment, to achieve accurate identification and sorting of fresh coffee cherries, the fresh coffee cherry sorting device (4) requires the coordinated operation of several key components. The following are the necessary components and their operating methods: The depth camera (41) has an image acquisition unit, an image processing unit, and an image output unit. The image acquisition unit can capture two-dimensional images and depth information of fresh coffee cherries for analyzing the characteristics of fresh coffee cherries (real-time parameters in the data control interface). The image acquisition unit of the depth camera (41) captures images and depth information of fresh coffee cherries. The image processing unit is used to process image and depth data, apply image processing algorithms to identify the boundaries, size, shape, and color of fresh coffee cherries, and detect defects and quality attributes on the surface of fresh coffee cherries through pattern recognition technology and machine learning models. The image output unit can generate operation commands based on the processing results and send them to the control system and the Delta robot (42). The image output unit generates operation commands based on the processing results to instruct the Delta robot (42) to complete the actions and displacements of grasping and transporting fresh coffee cherries. These commands include grasping position, grasping force, and transport path. The computer vision processing system includes advanced image processing algorithms and machine learning models. Advanced image processing algorithms, including edge detection, color analysis, and object recognition, are used for the accurate identification and classification of fresh coffee cherries. Machine learning models, as pre-trained models, are used to improve the accuracy of identifying fresh coffee cherries, especially in detecting defects and distinguishing different fresh coffee cherries.

[0149] The Delta robot (42) is equipped with a robotic arm and a flexible suction cup (44). The robotic arm can move the grasped coffee cherries, while the flexible suction cup (44) provides the necessary grasping force to directly adsorb unripe and damaged cherries that need to be sorted out. The control system of the Delta robot (42) is implemented by a computer, which can receive commands from the image output unit and control the movements of the robotic arm and the flexible suction cup (44). The Delta robot (42) performs grasping and handling operations according to the instructions of the image output unit; the flexible suction cup (44) ensures the stability of the coffee cherries during the grasping process to avoid damage. The positioning system of the Delta robot (42) ensures the accuracy of the robot during movement and operation, avoiding mis-picking of coffee cherries; Delta The robot (42) positioning system ensures the precise positioning of the robotic arm, especially when handling sensitive and fragile materials.

[0150] The fresh fruit matrix distributed network (43) arranges the materials in an m×n matrix to ensure that the position of each material is predictable, which is convenient for the vision system to identify. The fresh fruit matrix distributed network (43) is connected to a gapped conveyor belt (31). The coffee berries are arranged in an m×n matrix, and the fresh fruit matrix distributed network (43) is welded to the gapped conveyor belt (31). The fresh fruit matrix distributed network (43) and the conveyor belt 45 have synchronous conveying technology to ensure that the speed and movement of the gapped conveyor belt (31) are synchronized with the operation of the Delta robot (42) to prevent the coffee berries from shifting position between recognition and grasping.

[0151] The entire intelligent sorting and sorting production line for fresh coffee cherries has a central control system. The data integration and analysis unit can integrate data from all components, perform real-time analysis and decision-making. The operation coordination system can coordinate the operation of each component, adjust sorting strategies based on real-time data, ensure efficient and accurate operation, monitor the production process in real time, and coordinate the operation of each component, including overall production scheduling, anomaly detection and handling optimization.

[0152] First, computer vision technology is used to identify fresh coffee cherries. This is accomplished by the image acquisition unit, image processing unit, and image output unit built into the depth camera (41). The image acquisition unit captures images and depth information of the fresh coffee cherries, which are used to analyze the position, size, shape, and other features of each cherry. Next, the image processing unit receives the data transmitted from the depth camera (41) and processes it to identify the exact position and other relevant features of each fresh coffee cherry. The image processing unit has powerful built-in image processing algorithms. First, it receives raw image and depth information data from the depth camera. This includes two-dimensional images of the fresh coffee cherries and the distance information of each cherry relative to the camera. Then, the image processing unit uses various image processing algorithms to analyze the data, including identifying the boundaries of the fresh coffee cherries, estimating the size of the fresh coffee cherries, and analyzing their shape and color. These analyses help determine the precise position of the fresh coffee cherries and their quality attributes. Through pattern recognition technology, the image processing unit can identify fresh coffee cherries of different sizes and even detect defects on the surface of the fresh coffee cherries. To meet the speed requirements of the production line, the image processing unit must be able to process large amounts of data quickly. The image processing unit uses advanced machine learning models to improve the accuracy of recognition and reduce processing complexity. The model is trained to stably recognize fresh coffee cherries under various conditions. The image processing unit runs advanced vision processing software, including but not limited to edge detection, color analysis, and object recognition algorithms. Therefore, the image processing algorithm can effectively perform visual edge finding on images of fresh coffee cherries and carriers, determine the material marking coordinate system and the positioning points of the carriers, perform joint calibration based on the coffee cherry marking coordinate system and the positioning points, obtain joint calibration coefficients, determine the boundaries of the coffee cherries based on the material marking coordinate system, estimate their size, and analyze their shape and color. Finally, the image output unit generates specific operation commands for the Delta robot (42) based on the output of the image processing unit. The image output unit has real-time data processing capabilities, enabling it to make quick decisions and send precise control signals to the Delta robot (42).

[0153] Second, the fresh fruit matrix distributed network (43) is integrated with the Delta robot (42) equipped with computer vision. The fresh fruit matrix distributed network (43) ensures that the position of each coffee fruit is predictable, so that the computer vision system can quickly and accurately identify the specific position and state of each coffee fruit. The matrix arrangement of the fresh fruit matrix distributed network (43) is such that the coffee fruits are arranged on a conveyor belt to form a regular m×n matrix, with each coffee fruit located in a fixed matrix coordinate. The fresh fruit matrix distributed network (43) is installed on a conveyor belt (31) with gaps. The conveyor belt (31) with gaps has synchronous conveying technology, so the speed and movement of the conveyor belt (31) with gaps are strictly synchronized with the operation of the Delta robot (42) to avoid errors during the grasping process. This ensures that the position of the coffee fruit remains unchanged during the process from the visual system's recognition to the Delta robot (42) actually grasping it, thereby improving the grasping accuracy of the flexible suction cup (44).

[0154] Example 9: The present invention can ensure that each Delta robot (42) can efficiently process the correct image information through region division and time window methods. In one specific embodiment, a coffee cherry sorting system based on a depth camera (41) is provided. The depth camera (41) is used to detect coffee cherries on a conveyor belt (31) with gaps, and transmits the detected image data to a Delta robot (42) for sorting. The entire system ensures efficient operation by coordinating the cooperation between the depth camera (41), the conveyor belt (31) with gaps, and the depth camera (41) while ensuring accurate identification of coffee cherries and avoiding image data confusion and duplication.

[0155] The depth camera (41) is positioned 50 cm above the coffee cherries. At this height, based on the horizontal field of view (HFOV) and vertical field of view (VFOV) of the depth camera (41), its coverage area can be calculated to be approximately 68.4 cm (width) and 36.4 cm (length) respectively (according to formulas s1 and s2). Under these conditions, the depth camera (41) needs to have sufficient resolution to ensure effective identification of the coffee cherries. For example, with a resolution of 1280x720, approximately 18.7 pixels can be resolved horizontally per centimeter, which meets the minimum feature recognition requirement. In addition, the speed of the gapped conveyor belt (31) and the shooting frequency of the depth camera (41) need to be coordinated to ensure that no coffee cherries are missed due to the conveying speed of the gapped conveyor belt (31). The layout of the depth camera (41) and the delta robot should place the camera upstream of the gapped conveyor belt (31) to ensure that image processing and sorting operations have sufficient time to be completed. Taking all these factors into account, adjusting the height of the depth camera (41), the shooting frequency, and the conveyor belt speed appropriately can help optimize the overall performance of the sorting system.

[0156] Furthermore, the field of view (FOV) of the depth camera depends on the specifications of the depth camera (41), such as the horizontal field of view (HFOV) and the vertical field of view (VFOV). These angles are typically specified in the technical parameters of the depth camera (41). Assuming the HFOV and VFOV are 70 degrees and 40 degrees respectively, the coverage area of ​​the depth camera (41) at a height of 50 cm is as follows: ; ; Substituting the values, the depth camera (41) is able to cover an area of ​​approximately 68.4 cm (width) and 36.4 cm (length) on the conveyor belt.

[0157] In the built-in system of a complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries, in order to ensure that each Delta robot (42) receives correct and non-repeating image information, the following two methods can be used: The first method is the area division method. The working area on the conveyor belt is divided into two independent parts, each corresponding to a Delta robot (42). The overall image captured by the depth camera (41) can be segmented by software, and the different parts of the image are sent to the corresponding Delta robot (42). For example, the image data of the left half is sent to the first Delta robot (42), and the image data of the right half is sent to the second Delta robot (42). This method ensures that each Delta robot (42) processes the coffee cherries within its assigned area, avoiding data confusion and duplication.

[0158] The second method is the time window method. Tasks are divided into time windows; for example, images are sent alternately to the two Delta robots (42) at regular time intervals (e.g., every 0.5 seconds). This ensures that each Delta robot (42) can process different portions of the coffee cherries moving continuously on the conveyor belt and avoids processing the same data repeatedly. The time window can be adjusted based on the speed of the conveyor belt (31) with gaps and the processing speed of the Delta robots (42) to ensure efficient operation of both Delta robots (42). Depending on the speed of the conveyor belt (31) with gaps and the processing speed of the Delta robots (42), the time window can be appropriately adjusted to ensure that the two Delta robots (42) can effectively process different batches of coffee cherries.

[0159] Furthermore, the use of region division or time window methods addresses the need for two Delta robots (42) to work simultaneously. In this configuration, the image information received by each Delta robot (42) is segmented or processed in a time-division manner, so the Delta robots (42) can work independently in their respective regions simultaneously without waiting for each other.

[0160] Two Delta robots (42) can perform sorting operations simultaneously, each processing coffee cherries in different areas, thus improving the overall efficiency of the coffee cherry sorting device (4). Since the image information has been divided according to region or time window, it ensures that the cherries processed by each Delta robot (42) are unique and non-repetitive, thereby avoiding task overlap and confusion. In this setup, the Delta robots (42) do not need to wait for each other because their tasks are independent; the conveyor belt can run continuously, and the Delta robots (42) operate in real time within their respective areas based on the assigned information. This method effectively utilizes the capabilities of two Delta robots (42), ensuring efficient system operation and stability, while avoiding time loss and inefficiency caused by waiting.

[0161] In the actual production of a complete set of intelligent sorting and sorting equipment for fresh coffee cherries, the depth camera (41) adopts time-segmented shooting. The strategy of time-segmented shooting is implemented considering the high frame rate of the depth camera (41). (30 or higher), the conveyor belt (31) with gaps does not pause during shooting, and takes pictures once at intervals instead of continuously. The conveyor belt (31) with gaps is equipped with a trigger mechanism so that the depth camera (41) takes pictures only when the coffee cherries reach a certain position, effectively reducing unnecessary image capture and optimizing the sorting and distribution requirements of coffee cherries.

[0162] The gapped conveyor belt (31) and the depth camera (41) can achieve synchronized movement and shooting. This system uses continuous shooting mode, with the gapped conveyor belt (31) maintaining a constant speed. The coffee cherries are photographed when they enter the field of view of the depth camera (41). The shooting frequency of the depth camera (41) is closely matched to the conveyor belt speed to ensure that no coffee cherries are missed. When it is necessary to temporarily pause the gapped conveyor belt (31) for shooting, the pause time should be less than 0.1 seconds to maintain the system's efficiency. However, in a time-segmented shooting scheme, it is not necessary to pause the gapped conveyor belt (31).

[0163] The depth camera (41) can adjust its position according to the specific width of the gapped conveyor belt (31) and the field of view of the depth camera (41) to ensure coverage of the entire width of the gapped conveyor belt (31) and maintain the best shooting effect. The depth camera (41) has excellent image processing efficiency. Through high-resolution image capture and software area division, it can accurately detect and identify each coffee cherry on the gapped conveyor belt (31) and ensure that the image data distribution does not overlap or become confused.

[0164] The depth camera (41) and the gapped conveyor belt (31) can achieve a balance between shooting frequency and conveyor belt speed. By reasonably adjusting the speed of the gapped conveyor belt (31) and the shooting frequency of the depth camera (41), the processing efficiency of the system can be maximized and the occurrence of missed shots can be avoided. Example 10: This invention provides a method for sorting and classifying high-quality fresh coffee cherries.

[0165] This invention provides a method for sorting and classifying high-quality fresh coffee cherries within a complete intelligent sorting and classification equipment production line. This method primarily utilizes the function of the fresh coffee cherry sorting device (4).

[0166] First, the method for identifying, guiding, and locating fresh coffee cherries using the depth camera (41). The depth camera (41) can accurately measure the spatial position of each fresh coffee cherry on the conveyor belt, providing the necessary coordinate information for the sorting operation of the Delta robot (42). The specific steps are as follows: S1. Ensure initialization: When the machine is started, first calibrate the depth camera (41) to ensure that its measurement accuracy meets the sorting requirements; S2. Image capture: The depth camera (41) periodically captures images and depth information of the coffee cherries on the conveyor belt. This operation is performed continuously throughout the entire process of the coffee cherries passing through the conveyor belt, ensuring that all coffee cherries on the conveyor belt can be captured.

[0167] S3. Data processing: The outline of each coffee cherry is identified from the image obtained by the depth camera (41) using an edge detection algorithm; the three-dimensional coordinates of each coffee cherry are calculated using depth measurement technology; and finally, the coffee cherry is calibrated to mark its specific position on the conveyor belt (coordinates in an m×n matrix).

[0168] S4. Coordinate Transmission: The coordinates of the identified and measured fresh coffee cherries are transmitted to the control system of the whole machine in real time.

[0169] Second, a coordinate positioning method based on a fresh fruit matrix distributed network (43). This is a highly automated and refined vision-guided sorting method that uses advanced computer vision and robotics technology to precisely process coffee cherries and their containers. The high-precision vision system can accurately identify and position the coffee; it also has real-time image processing capabilities, quickly processing large amounts of image data and generating operation instructions without delay. The specific steps are as follows: S1. Image Information Acquisition: First, a depth camera (41) is used to capture images of the coffee cherries to be sorted and their containers. The high-resolution camera function of the depth camera (41) captures images of the coffee cherries to ensure that sufficiently clear image information of the coffee cherries is obtained; S2. Visual edge finding and coordinate determination: Visual edge finding is performed based on the obtained coffee fruit image information, that is, image processing algorithms are used to identify the edges of coffee fruit and the container, thereby determining the line coordinate system of the fruit matrix distributed network (43) and the positioning point of the container; the edge finding technology involves edge detection algorithms, which can extract the outline of coffee fruit in the image; S3. Joint calibration and coefficient acquisition: The coordinate system of the fresh fruit matrix distributed network (43) and the positioning point of the carrying container are jointly calibrated, the relationship between the two is calculated, and the joint calibration coefficient is acquired. S4. Coffee Fruit Positioning: Using the calibration coefficients and line coordinate system of the fresh fruit matrix distributed network (43) obtained in the previous step, determine the specific positioning coordinates of the coffee fruit on the material line coordinate system of the fresh fruit matrix distributed network (43) and perform the positioning operation. S5. Re-determine the positioning point: After the coffee cherries and the carrier container have completely entered the sorting unit, the system re-determines the positioning point of the carrier container to confirm its precise location. S6. Determination and execution of sorting coordinates: Combine all the acquired coffee fruit image information to determine the sorting coordinates, and then perform precise sorting operations on the coffee fruit according to the coordinates of the fresh fruit matrix distributed network (43); the control system sends precise operation instructions to the Delta robot (42), and the Delta robot (42) performs grasping, moving, opening and closing operations according to these instructions.

[0170] Third, the method of visually guided sorting using Delta robots. The two Delta robots (42) need to be equipped with high-precision servo motors to achieve precise position control. The overall control system should have high-speed real-time processing capabilities to quickly respond to the data output of the image processing unit. The purpose is to use Delta robots (42) for precise selection and sorting based on the coordinates of the fresh coffee cherries obtained through the positioning method. The specific steps are as follows: S1. Receiving coordinate data: The whole machine control system of the coffee fruit sorting device (4) can receive the coordinate information of each coffee fruit on the fresh fruit matrix distributed network (43), analyze whether it meets the sorting standards (such as size, color, fullness), and sort out high-quality coffee fruits. S2. Path planning: Based on the location coordinates of the fresh coffee fruit, calculate the optimal movement path of the Delta robot (42) to ensure the efficiency and accuracy of the suction action of the flexible suction cup (44); at the same time, the control system can adjust the position of the end effector (flexible suction cup (44)) of the Delta robot (42) to prepare for the start of the suction action. S3. Perform adsorption and sorting actions: Delta robot (42) moves above the designated fresh coffee fruit according to the control instructions; the end effector flexible suction cup (44) on Delta robot (42) can accurately descend and adsorb the target fresh coffee fruit, and then move the fresh coffee fruit to the corresponding high-quality fresh fruit storage box (5). S4. Error handling and optimization: The whole machine control system in Delta robot (42) monitors the success rate and efficiency of each adsorption in real time and realizes automatic adjustment of gripping parameters, such as adsorption force, speed and angle; if adsorption failure or incorrect adsorption operation is found in Delta robot (42), an instruction is immediately issued to correct Delta robot (42) and flexible suction cup (44) and record event information to optimize sorting line operation.

Claims

1. A complete set of intelligent sorting and separation equipment production line for fresh coffee cherries, characterized in that, The entire production line includes mechanical equipment, automatic control, and computer vision components. The mechanical device mainly consists of five parts: a coffee cherry storage tank (1), a single-row sorting and feeding device (2), a gap belt drive coffee cherry sorting device (3), a coffee cherry sorting device (4), and a high-quality coffee cherry storage box (5); the automatic control part mainly consists of three parts: a single-row sorting and feeding device (2), a gap belt drive coffee cherry sorting device (3), and a coffee cherry sorting device (4); the computer vision technology part mainly includes the coffee cherry sorting device (4). In the mechanical device section, fresh coffee cherries are first stored in a fresh coffee cherry storage tank (1), then sorted in a single row by a single-row sorting and feeding device (2), and fed to a gap belt drive fresh coffee cherry sorting device (3); in the gap belt drive fresh coffee cherry sorting device (3), the fresh coffee cherries are initially screened by a conveyor belt (31) with gaps, and smaller fresh coffee cherries fall into different sorting and storage boxes (34) according to the gap size; then, the fresh coffee cherries are conveyed to a fresh coffee cherry sorting device (4), and intelligent sorting is performed by computer vision, and finally, high-quality fresh coffee cherries are stored in a high-quality fresh coffee cherry storage box (5). The automatic control part is mainly realized through built-in sensors, controllers and computer vision technology; First, the single-row sorting and feeding device (2) detects the state of fresh coffee fruit through sensors, and the controller controls the mechanical movement of sorting and feeding to ensure that the fresh coffee fruit passes through in a single row, thereby realizing the automatic sorting and feeding of fresh coffee fruit; the gap belt drive type fresh coffee fruit sorting device (3) automatically sorts fresh coffee fruit of different volumes through the transmission belt and gap belt system; the controller adjusts the speed and gap size of the transmission belt according to the feedback of the sensor to ensure that the fresh coffee fruit falls accurately into different levels of sorting boxes; the fresh coffee fruit sorting device (4) has a built-in intelligent sorting control system to obtain the quality results (image processing information) of fresh coffee fruit identified by the camera and image processing algorithm, and sorts high-quality fresh coffee fruit to the designated location 5 high-quality fresh fruit storage box by controlling the inner balance arm (421), lower arm (422) and flexible suction cup (44) on the fresh coffee fruit sorting device (4); The computer vision component is mainly implemented through a depth camera (41) in the coffee fruit sorting device (4). The coffee fruit sorting device (4) uses an industrial lens (412) and a standard resolution camera (413) to capture images of each coffee fruit passing through the conveyor belt in real time. Then, based on the images captured by the camera, the image processing unit analyzes them using machine learning and computer vision technology to identify the appearance characteristics of the coffee fruit (such as color, size, shape, and fruit integrity). Next, based on the image processing results, the quality detection unit uses built-in algorithms (edge ​​detection and morphological processing) to further identify the quality grade of the coffee fruit. Finally, the image processing results are transmitted to the control system, which controls the sorting machinery according to the preset classification standards. By controlling the inner balance arm (421), lower arm (422), drive shaft (423), and flexible suction cup (44) on the coffee fruit sorting device (4), the high-quality coffee fruit is sorted into the designated high-quality coffee fruit storage box (5).

2. The intelligent sorting and separation production line for fresh coffee cherries according to claim 1, characterized in that, The coffee cherry storage tank (1) is a large storage container that serves as the starting point of the intelligent sorting and sorting equipment production line for coffee cherries. It is used to store a large number of unprocessed coffee cherries, ensuring that the intermittent belt-driven coffee cherry sorting device (3) and the coffee cherry sorting device (4) have enough coffee cherries for continuous operation. The coffee cherry storage tank (1) is a large container equipped with an automated feeding port, which can gradually feed out the coffee cherries to prevent blockage. The coffee cherry storage tank (1) is located at the front end of the intelligent sorting and sorting equipment production line for coffee cherries of the present invention. It is directly connected to the single-row sorting and feeding device (2) and is adjacent to the inclined conveyor belt (21). The feeding function can be completed by gravity or mechanical means. The coffee cherries are transported to the single-row sorting and feeding device (2) by gravity or mechanical means, thereby storing the picked coffee cherries. The single-row sorting and feeding device (2) is used to arrange the fresh coffee cherries taken out from the coffee cherry storage tank (1) in order, and to transport the fresh coffee cherries to the gap belt drive coffee cherry sorting device (3) in cooperation with the inclined conveyor belt (21) and the pulley system (small pulley (32) and large pulley (33)). This can prevent the coffee cherries from piling up and ensure accurate sorting. The single-row sorting and feeding device (2) is a key link in the transmission of fresh coffee cherries. It is located on the right side of the coffee cherry storage tank (1) and is close to the coffee cherry storage tank (1). One end is connected to the coffee cherry storage tank (1) and the other end is connected to the gap belt drive coffee cherry sorting device (3). The coffee cherries are sorted in a single row and then conveyed and fed to the subsequent gap belt drive coffee cherry sorting device (3). The gap belt drive coffee cherry sorting device (3) is located to the right of the single-row sorting and feeding device (2). One end is connected to the end of the inclined conveyor belt (21) of the single-row sorting and feeding device (2), and the other end is connected to the coffee cherry sorting device (4). The coffee cherries with smaller volumes are driven by the gap conveyor belt (31) and fall into different levels of sorting and storage boxes (34) through different gaps of the gap conveyor belt (31) to sort the coffee cherries. The gap belt drive coffee cherry sorting device (3) is used to perform preliminary sorting of coffee cherries. It mainly separates coffee cherries of different sizes through the gap conveyor belt (31). The gap belt drive coffee cherry sorting device (3) is located at the end of the inclined conveyor belt and is immediately connected to the sorting device. The gapped conveyor belt (31) is the core part of the gapped belt drive coffee cherry sorting device (3), used to carry and sort coffee cherries. The gapped conveyor belt (31) allows for preliminary sorting of coffee cherries according to their size (large, medium, small) during the conveying process. Smaller coffee cherries can fall into different sorting areas through the gaps. The pulley system has small pulleys (32) and large pulleys (33), which are embedded at both ends of the gapped conveyor belt (31) to control the drive of the gapped conveyor belt (31). The small pulleys (32) and large pulleys (33) can control the movement speed and tension of the gapped conveyor belt (31) to ensure smooth operation and maintain appropriate sorting efficiency. The small pulleys (32) are used for transmission to ensure stable operation of the gapped conveyor belt (31). The large pulleys (33) are used to adjust the conveying speed. The sorting and storage box (34) is located at the end of the gapped conveyor belt (31) and is used to collect fresh coffee cherries that have been sorted by size. The sorting and storage box (34) can store the fresh coffee cherries that have undergone preliminary screening by size for subsequent processing. The coffee cherry sorting device (4) mainly uses a vision system and a robotic arm to further and accurately sort the coffee cherries, ensuring that the cherries are finely classified according to their quality or appearance characteristics. The coffee cherry sorting device (4) is connected to the gap belt drive coffee cherry sorting device (3) and follows closely behind the gap belt drive coffee cherry sorting device (3). The coffee cherry sorting device (4) is located to the right of the gap belt drive coffee cherry sorting device (3), with one end connected to the gap belt drive coffee cherry sorting device (3) and the other end connected to the high-quality coffee cherry storage box (5). High-quality coffee cherries are identified through visual recognition technology, and the coffee cherries are finely inspected and sorted based on the image information obtained by the intelligent sorting module of computer vision. The coffee cherry sorting device (4) mainly consists of a depth camera (41), multiple Delta robots (42), and a flexible suction cup (44). The depth camera (41) uses a visual recognition system to capture the appearance, size, and shape of each coffee cherry and sorts them based on this data. The Delta robots (42) are used to quickly grab and sort coffee cherries. Based on the feedback information from the visual system, the Delta robots (42) can accurately grab different types of coffee cherries and place them in the corresponding areas. The flexible suction cup (44) uses a vacuum system to grab the sorted coffee cherries and prevent damage to them during the sorting process. The high-quality fresh fruit storage box (5) is used to store high-quality fresh coffee cherries that have been precisely sorted. The high-quality fresh fruit storage box (5) is the final destination of the intelligent sorting and sorting equipment production line for fresh coffee cherries described in this invention, ensuring that the high-quality fresh cherries that have been screened can be properly stored. The high-quality fresh fruit storage box (5) is located at the rightmost end of the intelligent sorting and sorting equipment production line for fresh coffee cherries described in this invention, and is directly connected to the end of the coffee cherry sorting device (4). As the final collection area for high-quality fresh cherries, it stores the high-quality fresh coffee cherries that have been screened by the coffee cherry sorting device (4).

3. A complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries according to claim 1 or 2, characterized in that, The coffee cherries storage tank (1) consists of a tank body (11), an automated feeding port (12), a feeding port (13), and a base (14); The main body of the storage tank (11) is the main storage device of the coffee fruit storage tank (1), used to contain and store a large number of coffee fruits to prevent the coffee fruits from being crushed or contaminated; the inside of the main body of the storage tank (11) is smooth to ensure that the coffee fruits can flow smoothly; the main body of the storage tank (11) is located at the front end of the production line as the starting point of the entire sorting and sorting process; the main body of the storage tank (11) is a large cylindrical container with a semi-closed structure at the top and a feed inlet (13), and an automatic feed inlet (12) at the bottom; the main body of the storage tank (11) is made of food-grade stainless steel or plastic, with corrosion resistance and oxidation resistance, and a smooth inside to ensure that the coffee fruits are not contaminated or crushed; The automated feeding port (12) can control the discharge speed and flow rate of coffee cherries in the coffee cherry storage tank (1). By adjusting the discharge of coffee cherries through valves or mechanical devices, it ensures that the coffee cherries are evenly transported to the next stage of the production line, avoiding blockage and waste. The automated feeding port (12) is located at the bottom of the coffee cherry storage tank (1) and is connected to the inclined conveyor belt (21), ensuring that coffee cherries can smoothly enter the single-row sorting and feeding device (2) by gravity or mechanical means. The automated feeding port (12) is a funnel-shaped outlet with a mechanical feeding device, such as a valve or conveyor, which can control the discharge speed of coffee cherries. The automated feeding port (12) is made of metal or plastic and contains an adjustable device (such as an electric valve or rotary feeder) to control the output flow rate of coffee cherries and avoid blockage. The feed inlet (13) is used to add fresh coffee cherries to the coffee cherry storage tank (1). The sealing cover can prevent external dust or impurities from entering the coffee cherry storage tank (1) and keep the coffee cherries clean and safe. The sealing cover at the top can ensure that the coffee cherry storage tank (1) is tightly sealed when not in operation. The feed inlet (13) is located at the top of the coffee cherry storage tank (1) and is opened when adding or maintaining coffee cherries. The feed inlet (13) is a large opening at the top of the tank with a sealing cover, which is convenient for adding coffee cherries. The feed inlet (13) adopts a sealing design to prevent external pollution or dust from entering the coffee cherry storage tank (1). The sealing cover can be opened manually or automatically. The base (14) is used to stabilize the coffee cherries storage tank (1), enabling the coffee cherries storage tank (1) to bear the weight of the stored coffee cherries and ensuring that the tank body of the stabilized coffee cherries storage tank (1) maintains a safe distance from the ground, facilitating connection and cleaning and maintenance with the single-row sorting and feeding device (2); the base (14) ensures the stability of the stabilized coffee cherries storage tank (1) when it is full or partially empty; the base (14) is located at the bottom of the coffee cherries storage tank (1), ensuring that the coffee cherries storage tank (1) is stable and separated from the ground, facilitating pipe connection and operation; the support frame of the base (14) is a four-corner or ring bracket to support the weight of the coffee cherries storage tank (1); the support frame of the base (14) is made of sturdy metal and welded or bolted to the coffee cherries storage tank (1).

4. A complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries according to claim 1 or 2, characterized in that, The single-row sorting and feeding device (2) mainly consists of an inclined conveyor belt (21), a sorting channel (22), a guide funnel (23), an adjustment mechanism (24), and a support structure (25); The inclined conveyor belt (21) is used to transport neatly arranged fresh coffee cherries from the sorting channel (22) to the gap belt drive coffee cherry sorting device (3), ensuring that the sorting channel (22) enters the subsequent gap belt drive coffee cherry sorting device (3); the inclined conveyor belt (21) is located at the outlet of the coffee cherry storage tank (1) and transports the coffee cherries at an upward angle; the inclined conveyor belt (21) is inclined and is a long strip conveyor with a certain angle; the inclined conveyor belt (21) is supported by a metal bracket and the surface is a conveyor belt made of wear-resistant material; the inclined conveyor belt (21) is constructed such that the inclined conveyor belt (21) is supported by a pulley system (small pulley (32) and large pulley (33)) and the coffee cherries are transported by a motor drive; The queuing channel (22) arranges the fresh coffee cherries in a single-column order to prevent them from piling up and ensure that each fresh coffee cherry can smoothly enter the inclined conveyor belt (21). The queuing channel (22) is located between the fresh coffee cherry storage tank (1) and the inclined conveyor belt (21) and guides the fresh coffee cherries into the inclined conveyor belt (21) through a mechanical guide structure. The queuing channel (22) is an orderly arranged independent channel to ensure that the fresh coffee cherries can enter the inclined conveyor belt (21) in an orderly manner without piling up. The queuing channel (22) is constructed of multiple small guide rails or supports to guide the fresh coffee cherries into the inclined conveyor belt (21) in a single column. The guide funnel (23) is used to concentrate the fresh coffee cherries from the outlet of the fresh coffee cherry storage tank (1) into the sorting channel (22), preventing excessive spillage of the fresh coffee cherries and ensuring stable flow of the fresh coffee cherries; the guide funnel (23) is located below the fresh coffee cherry storage tank (1) and is part of the fresh coffee cherry storage tank (1) and the sorting channel (22); the guide funnel (23) is funnel-shaped, conical or arc-shaped, and gradually narrows at the bottom; the guide funnel (23) is connected to the outlet of the fresh coffee cherry storage tank (1) and can smoothly guide the fresh coffee cherries into the sorting channel (22); The regulating mechanism (24) is used to regulate the flow rate of fresh coffee cherries, ensuring the stability of the entire single-row sorting and feeding device (2) during the feeding process and preventing the coffee cherries from becoming blocked or excessive during the conveying process; the regulating mechanism (24) is installed at the outlet of the guide funnel (23) or the sorting channel (22) to regulate the flow rate of fresh coffee cherries; the regulating mechanism (24) can be a sliding door or gate structure, with a combination of mechanical and electronic control devices; the regulating mechanism (24) can regulate the speed and flow rate of the coffee cherries, preventing excessive coffee cherries from entering the inclined conveyor belt (21); The supporting structure (25) is the basic structure of the entire single-row sorting and feeding device (2), ensuring the stability of the single-row sorting and feeding device (2) in space; The support structure (25) is a frame-like structure that supports the skeleton of the entire single-row sorting and feeding device (2); the support structure (25) is constructed as a metal bracket or frame to stabilize the conveying of the entire inclined conveyor belt (21) and the operation of the sorting channel (22).

5. A complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries according to claim 1 or 2, characterized in that, The gap belt drive coffee fruit sorting device (3) mainly consists of a gapped conveyor belt (31), a small pulley (32) and a large pulley (33), and a sorting and storage box (34); The gap belt drive coffee fruit sorting device (3) includes multiple gap conveyor belts (31), small pulleys (32), large pulleys (33), and sorting storage boxes (34). The gap belt drive coffee fruit sorting device (3) is located to the right of the single-row sorting and feeding device (2), with one end connected to the single-row sorting and feeding device (2) and the other end connected to the coffee fruit sorting device (4). The coffee fruit is sorted by using the gap conveyor belts (31) for transmission. Small coffee fruits fall into different levels of sorting storage boxes (34) through different gaps between the gap conveyor belts (31). The gapped conveyor belt (31) is located in the middle of the gapped belt drive coffee fruit sorting device (3), and is supported and driven by a pulley system (small pulley (32) and large pulley (33)); the surface of the gapped conveyor belt (31) is provided with regular gaps, and the width and spacing of the gaps are divided into three sizes: large, medium and small, according to the size of the coffee fruit; the gapped conveyor belt (31) is long and strip-shaped, and can continuously transport coffee fruit; the gapped conveyor belt (31) is made of durable elastic material (such as rubber or polymer), and has regular gaps, which can classify the fruit according to its size; The small pulley (32) is mainly used to drive the conveyor belt (31) with gaps to operate. The small pulley (32) is connected to the motor and transmits the power of the motor to the conveyor belt (31) with gaps to ensure that the conveyor belt (31) with gaps can run continuously and smoothly. The large pulley (33) is used to adjust the tension of the conveyor belt (31) with gaps to maintain the appropriate tension of the conveyor belt (31) with gaps and prevent the conveyor belt (31) with gaps from slipping or loosening, thereby ensuring the smooth progress of the sorting process. Both the small pulley (32) and the large pulley (33) are circular gears with grooves and are used to drive the conveyor belt with gaps. Belt (31); the small pulley (32) is smaller in size and is installed on one side of the conveyor belt (31) with gaps, while the large pulley (33) is larger in size and is installed on the other side of the conveyor belt (31) with gaps; the small pulley (32) is located at the starting point of the conveyor belt (31) with gaps and controls the transmission direction, while the large pulley (33) is located at the end of the conveyor belt (31) with gaps and ensures the tension and stable operation of the conveyor belt (31) with gaps; the small pulley (32) is used to drive the movement of the conveyor belt and is usually directly connected to the motor, while the large pulley (33) is used to adjust the tension and transmission speed of the conveyor belt (31) with gaps; The sorting and storage box (34) is used to receive and store fresh coffee cherries sorted through the gaps in the conveyor belt (31). Fresh coffee cherries of different sizes fall into different sorting and storage boxes (34) through the gaps in the conveyor belt (31), ensuring that the sorted fresh coffee cherries can be collected correctly. The sorting and storage box (34) is the final destination of the sorted fresh coffee cherries, ensuring that large, medium and small fresh coffee cherries can be properly collected and stored for subsequent processing or transportation. The sorting and storage box (34) is located below or at the end of the conveyor belt (31) with gaps, ensuring that each type of sorted fresh coffee cherries can be collected. The sorting and storage box (34) is a rectangular container that can hold a large number of sorted fresh coffee cherries. Each sorting and storage box (34) corresponds to the classification of fresh coffee cherries of different sizes, such as large, medium and small.

6. A complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries according to claim 1 or 2, characterized in that, The coffee fruit sorting device (4) consists of a depth camera (41), multiple Delta robots (42) and flexible suction cups (44); The depth camera (41) provides basic visual data and judgment basis for the sorting process of the entire coffee fruit sorting device (4); the depth camera (41) captures the shape, size and appearance characteristics of the coffee fruit in real time through a stable light source and a high-resolution lens; after the data is analyzed by the vision processor, the quality or appearance difference of each coffee fruit can be identified, thereby achieving accurate sorting; the depth camera (41) is installed above the coffee fruit sorting device (4) and faces the conveyor belt (31) with gaps, and is responsible for capturing the appearance and characteristics of the coffee fruit; The Delta robot (42) is mainly responsible for performing grasping, moving and placing actions to realize automated sorting operations. The Delta robot (42) can quickly and accurately grasp different types of fresh coffee cherries based on the visual data provided by the depth camera (41) and place them in the corresponding storage area. The Delta robot (42) is located below the depth camera (41) and runs parallel to the conveyor belt (31) with gaps to quickly grasp and sort fresh coffee cherries. The Delta robot (42) has a three-arm design with a fixed support. The three mechanical arms (inner balance arm (421) and lower arm (422)) are connected to the drive shaft and end effector (i.e., flexible suction cup (44)) through joints. The fresh fruit matrix distributed network (43) is designed on the surface of the gapped conveyor belt (31) on the coffee fresh fruit sorting device (4). The gapped conveyor belt (31) is fixed on the base of the coffee fresh fruit sorting device (4) and moves the coffee fresh fruit through the working area of ​​the Delta robot (42) in a continuous manner. The fresh fruit matrix distributed network (43) evenly distributes the coffee fresh fruit on the gapped conveyor belt (31). Each coffee fresh fruit occupies a position in the preset grid of the fresh fruit matrix distributed network (43), and the coffee fresh fruit is neatly arranged into an m×n matrix. The flexible suction cup (44) uses vacuum suction to grab the fresh coffee cherries, ensuring that the fresh coffee cherries will not be damaged during the grabbing process. The flexible suction cup (44) can adapt to fresh cherries of different sizes and shapes, ensuring that the fresh coffee cherries are firmly grabbed and accurately placed into the corresponding containers, realizing the flexibility and stability of the sorting action. The flexible suction cup (44) is installed at the end of the Delta robot (42) as the part that contacts the fresh coffee cherries. The suction cup body (441) is grabbed and placed by the robotic arm (inner balance arm (421) and lower arm (422)). The suction cup body (441) of the flexible suction cup (44) is circular or elliptical and is connected to the end of the Delta robot (42). The structure of the flexible suction cup (44) can adapt to fresh coffee cherries of different sizes.

7. A complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries according to claim 1 or 2, characterized in that, The high-quality fresh fruit storage box (5) is mainly composed of the following storage box body (51), inlet (52), bottom support (53) and outlet (54); The storage box body (51) is used to contain and store high-quality coffee cherries, ensuring that the sorted high-quality coffee cherries are properly stored and can provide sufficient storage space for subsequent processing; the storage box body (51) has sufficient strength to bear a large number of high-quality coffee cherries and can maintain cleanliness and hygiene; the storage box body (51) is located at the end of the coffee cherry sorting device (4) and is directly connected to the coffee cherry sorting device (4) or a conveyor belt (31) with gaps, for receiving sorted high-quality coffee cherries; the storage box body (51) is rectangular and is a large container with a closed or semi-closed structure for containing a large number of sorted high-quality coffee cherries; the storage box body (51) is made of a sturdy material (such as stainless steel or food-grade plastic), with a smooth interior for easy cleaning, and a lid or opening on the top for storing high-quality coffee cherries; The feed inlet (52) is located above or to one side of the high-quality fresh fruit storage box (5) and is connected to the discharge port of the coffee fruit sorting device (4); the feed inlet (52) is rectangular and is used to connect to the discharge port of the coffee fruit sorting device (4) to ensure that the sorted high-quality coffee fruit can smoothly enter the high-quality fresh fruit storage box (5); the high-quality fresh fruit storage box (5) is constructed with a flow guide structure to prevent the high-quality coffee fruit from spilling; the high-quality fresh fruit storage box (5) is equipped with a cover or sliding door to control the feeding of high-quality coffee fruit and avoid accumulation or blockage; The bottom support (53) is located at the bottom of the premium fresh fruit storage box (5) and is used to support the entire premium fresh fruit storage box (5) and ensure its stability. The bottom support (53) is a frame or four-corner support structure. The premium fresh fruit storage box (5) is equipped with movable sliding wheels for easy movement. The bottom support (53) is made of metal or high-strength plastic and has a sturdy structure to support the weight of the premium fresh fruit storage box (5). The premium fresh fruit storage box (5) is equipped with sliding wheels at the bottom so that the premium fresh fruit storage box (5) can be moved to other areas after it is full. The discharge port (54) is used to control the discharge of high-quality coffee cherries from the high-quality coffee cherry storage box (5). Through manual or automatic control, the discharge port (54) can effectively adjust the discharge amount of high-quality coffee cherries, which is suitable for subsequent packaging or processing. The discharge port (54) is located at the bottom or side of the high-quality coffee cherry storage box (5) and is used to discharge high-quality coffee cherries. The discharge port (54) is a small sliding door or valve with a circular or rectangular opening, used to discharge the stored high-quality coffee cherries. The discharge port (54) is equipped with a manual or automatic control switch system, which can control the discharge of high-quality coffee cherries from the high-quality coffee cherry storage box (5) as needed.

8. A complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries according to claim 2 or 6, characterized in that, The depth camera (41) is encapsulated in a rectangular or circular shell, and contains a light source, lens, and imager. The depth camera (41) comprises a stable illumination system (411), an industrial lens (412), a standard resolution camera (413), an image acquisition card (414), and a vision processor (415). Specifically, the stable illumination system (411) provides a constant light source to ensure consistent lighting conditions during shooting and prevent ambient light from affecting the recognition effect. The industrial lens (412) is a high-precision lens capable of capturing clear images, ensuring the system accurately judges subtle differences in fresh coffee cherries. The standard resolution camera (413), as the core image acquisition unit of the depth camera (41), is responsible for transmitting visual data to the system for analysis. The image acquisition card (414) transmits image data captured by the depth camera (41) to the processing system. The vision processor (415) processes and analyzes the images acquired by the depth camera (41) to ultimately determine the sorting of fresh coffee cherries. The Delta robot (42) consists of an inner balance arm (421), a lower arm (422), and a drive shaft (423). The inner balance arm (421) ensures that the Delta robot (42) moves smoothly and quickly during the sorting process, ensuring the stability and balance of the Delta robot (42) during operation, and guaranteeing high-speed and high-precision operation. The lower arm (422) is the component responsible for actually grasping and sorting fresh coffee berries. It is connected to the flexible suction cup (44), responsible for supporting the flexible suction cup (44) and actually performing the grasping action, and directly contacting the fresh coffee berries. The drive shaft (423) can connect the inner balance arm (421) and the lower arm (422) to ensure precise action and controllable grasping and placement positions, coordinate the movement of the inner balance arm (421) and the lower arm (422) of the Delta robot (42), and ensure the accuracy and stability of the grasping action. The flexible suction cup (44) consists of a suction cup body (441), a vacuum generator (442), a suction cup connection interface (443), a flexible bracket (444), and a suction cup support ring (445). The suction cup body (441) is the part that actually contacts the coffee cherries. It has sufficient flexibility to accommodate coffee cherries of different sizes and can be adjusted according to the size and shape of the coffee cherries. The vacuum generator (442) is used to generate suction to provide the necessary suction for the flexible suction cup (44), so that the flexible suction cup (44) can firmly grasp the coffee cherries. The suction cup connection interface (443) is used to connect the flexible suction cup (44) to the key part of the lower arm (422) of the Delta robot (42), ensuring that the flexible suction cup (44) can be firmly fixed on the robotic arm (inner balance arm (421), lower arm (422)); the flexible bracket (444) can support the suction cup body (441) and provide a certain elasticity, so that the suction cup body (441) remains flexible during movement and can adapt to different gripping angles and positions; the suction cup support ring (445) provides additional structural support for the flexible suction cup (44), ensuring that the fresh coffee fruit is not easily deformed under suction.

9. A complete set of intelligent sorting and sorting equipment production line for fresh coffee cherries according to claims 1-7, characterized in that, The main body of the storage tank (11) is a large vertical tank with a height of about 2 meters and a diameter of about 1.7 meters, capable of holding 2 tons of fresh coffee cherries. The inclined conveyor belt (21) is equipped with 16-18 partitions (guide rails); the inclined conveyor belt (21) is arranged in a single row, the spacing between the inclined conveyor belts (21) is 0.2-0.5cm, and each inclined conveyor belt (21) arranges approximately 50kg of fresh coffee cherries in a straight line sequence; the conveying speed of the inclined conveyor belt (21) is less than 2m / s; the inclination angle of the inclined conveyor belt (21) is 10°-15° upward, and the conveying angle of the inclined conveyor belt (21) does not exceed 10°-15°; The width of the gapped conveyor belt (31) is 2cm, the material is a rubber round belt, and the conveying speed is less than 2m / s; The diameter of the small pulley (32) is less than 2 cm and the number is less than 40; the direction of movement of the small pulley (32) is clockwise and the rotation speed of the roller is 1911 RPM; The diameter of the large pulley (33) is greater than 2cm and the number is less than 40; the direction of movement of the large pulley (33) is clockwise and the rotation speed of the idler roller is 1911RPM; The sorting and storage box (34) is installed on the intermittent belt drive coffee fruit sorting device (3); the volume of the sorting and storage box (34) is 1.43-2.5 cubic meters; The high frame rate of the depth camera (41) is 30-60 frames; The Delta robots (42) are arranged in pairs, installed on the coffee fruit sorting device (4), located on both sides of the conveyor belt, and fixed to the ground or machine platform; each Delta robot (42) has a flexible suction cup (44) that can extend above the conveyor belt. The fresh fruit matrix distributed network (43) evenly distributes the fresh coffee cherries on the belt, with each fresh coffee cherry occupying a position in a preset grid, and the fresh coffee cherries are neatly arranged into an m×n matrix; the matrix of the fresh fruit matrix distributed network (43) has a size specification of 9×17mm. The main body (51) of the storage box has a volume of 1.43-2.5 cubic meters and a capacity of 0.8-1.2 tons; The gap (311) is an opening between the belts of a conveyor belt (31) with a gap, and its width ranges from 1.0 to 2.4 cm, with a maximum of 2.4 cm and a minimum of 1.0 cm; the size of the gap (311) varies depending on the size of the fresh coffee cherries and has three different dimensions: (1) The opening size range is 1.0-1.3cm, which allows the coffee cherries to pass through the gaps (311). (2) The opening size range is 1.5-1.6cm, which can pass through the gaps in the coffee fruit (311). (3) The opening size range is 2.0-2.2cm, which can pass through the gaps in the coffee cherries (311).

10. A method for intelligent sorting and separating fresh coffee cherries, characterized in that, Includes the following steps: S1, the coffee cherries are pre-processed by the coffee cherry storage tank (1) and the single-row sorting and feeding device (2), and the coffee cherries to be sorted are conveyed to the gap belt drive coffee cherry sorting device (3) to wait for sorting. S2, after the gap belt drive coffee fruit sorting device (3) completes the initial sorting of coffee fruit, the coffee fruit is transported to the coffee fruit sorting device (4). The coffee fruit sorting device (4) receives the position and status information of the coffee fruit from the vision system. The coffee fruit is on the conveyor belt as the sorted object. The image acquisition module in the depth camera (41) always captures the coffee fruit in the plane of the conveyor belt. The lighting system in the depth camera (41) can increase the contrast between the coffee fruit and the coffee fruit image acquired by the depth camera (41) and obtain high contrast pixel coffee fruit image information. S3, when the high-contrast pixel coffee fruit image information is identified as a local maximum, hysteresis thresholding is performed to confirm the edge points, retain the edge points within the threshold range, and then the edge points within the threshold are judged a second time. If the edge points are continuous, they are retained; if they are discontinuous, they are discarded, thus obtaining a coffee fruit image data with processed pixels. During the hysteresis thresholding process, the coffee fruit image information undergoes multiple processing with different thresholds, thereby reducing the noise of the coffee fruit image information and obtaining the final edge detection result. S4, the flexible suction cup (44) at the bottom of the Delta robot (42) can adsorb high-quality coffee cherries. The flexible suction cup (44) is normally open at the beginning and closes when the bottom plane of the flexible suction cup (44) is lower than the corresponding threshold. After the flexible suction cup (44) adsorbs the coffee cherries, the Delta robot (42) lifts the coffee cherries to a height threshold and moves them horizontally. The flexible suction cup (44) is equipped with a mechanical sensor to determine the weight of the adsorbed coffee cherries, and the mechanical sensor on the flexible suction cup (44) determines the classification and sorting. Finally, the Delta robot (42) lifts the coffee cherries to a height threshold and moves them horizontally, classifies them and stores them according to the grade of high-quality coffee cherries. The coffee cherries identified in the high-quality coffee cherry storage box (5) will be poured back in and periodically automatically rejected. The coffee cherry sorting device (4) re-enters the sorting process, and this cycle continues until accurate sorting is completed.

11. The operating method of the simulation model of a cigarette processing workshop according to claim 10, characterized in that, A method for identifying, guiding, and locating fresh coffee cherries using a depth camera (41) shall include the following steps: S1. Ensure initialization: When the coffee fruit sorting device (4) is started, the depth camera (41) is calibrated first to ensure that its measurement accuracy meets the sorting requirements. S2. Image capture: The depth camera (41) periodically captures images and depth information of the coffee cherries on the conveyor belt. This operation is performed continuously throughout the entire process of the coffee cherries passing through the conveyor belt, ensuring that all coffee cherries on the conveyor belt can be captured. S3. Data processing: The outline of each coffee cherry is identified from the image obtained by the depth camera (41) using an edge detection algorithm; the three-dimensional coordinates of each coffee cherry are calculated using depth measurement technology; and finally, the coffee cherry is calibrated to mark its specific position on the conveyor belt (coordinates in an m×n matrix). S4. Coordinate Transmission: The coordinates of the coffee fresh fruit obtained from identification and measurement are transmitted in real time to the overall control system of the coffee fresh fruit sorting device (4).

12. The operating method of the simulation model of a cigarette processing workshop according to claim 10, characterized in that, A coordinate positioning method based on a fresh fruit matrix distributed network (43) should include the following steps: S1. Image Information Acquisition: First, a depth camera (41) is used to capture images of the coffee cherries to be sorted and their containers. The high-resolution camera function of the depth camera (41) captures images of the coffee cherries to ensure that sufficiently clear image information of the coffee cherries is obtained; S2. Visual edge finding and coordinate determination: Visual edge finding is performed based on the obtained coffee fruit image information, that is, image processing algorithms are used to identify the edges of coffee fruit and the container, thereby determining the line coordinate system of the fruit matrix distributed network (43) and the positioning point of the container; the edge finding technology involves edge detection algorithms, which can extract the outline of coffee fruit in the image; S3. Joint calibration and coefficient acquisition: The coordinate system of the fresh fruit matrix distributed network (43) and the positioning point of the carrying container are jointly calibrated, the relationship between the two is calculated, and the joint calibration coefficient is acquired. S4. Coffee Fruit Positioning: Using the calibration coefficients and line coordinate system of the fresh fruit matrix distributed network (43) obtained in the previous step, determine the specific positioning coordinates of the coffee fruit on the material line coordinate system of the fresh fruit matrix distributed network (43) and perform the positioning operation. S5. Re-determine the positioning point: After the coffee cherries and the carrier container have completely entered the sorting unit, the system re-determines the positioning point of the carrier container to confirm its precise location. S6. Determination and execution of sorting coordinates: Combine all the acquired coffee fruit image information to determine the sorting coordinates, and then perform precise sorting operations on the coffee fruit according to the coordinates of the fresh fruit matrix distributed network (43); the control system sends precise operation instructions to the Delta robot (42), and the Delta robot (42) performs grasping, moving, opening and closing operations according to these instructions.

13. The operating method of the simulation model of a cigarette processing workshop according to claim 10, characterized in that, A method for visually guided sorting using a Delta robot (42) shall include the following steps: S1. Receive coordinate data: The whole machine control system of the coffee fruit sorting device (4) can receive the coordinate information of each coffee fruit on the fresh fruit matrix distributed network (43), analyze whether it meets the sorting standards (such as size, color, fullness), and sort out high-quality coffee fruits. S2. Path planning: Based on the location coordinates of the fresh coffee fruit, calculate the optimal movement path of the Delta robot (42) to ensure the efficiency and accuracy of the suction action of the flexible suction cup (44); at the same time, the control system can adjust the position of the end effector (flexible suction cup (44)) of the Delta robot (42) to prepare for the suction action. S3. Perform adsorption and sorting actions: Delta robot (42) moves above the designated coffee cherries according to the control instructions; the end effector flexible suction cup (44) on Delta robot (42) can accurately descend and adsorb the target coffee cherries, and then move the coffee cherries to the corresponding high-quality fresh fruit storage box (5). S4. Error handling and optimization: The whole machine control system in Delta robot (42) monitors the success rate and efficiency of each adsorption in real time and realizes automatic adjustment of gripping parameters, such as adsorption force, speed and angle; if adsorption failure or incorrect adsorption operation is found in Delta robot (42), an instruction is immediately issued to correct Delta robot (42) and flexible suction cup (44) and record event information to optimize sorting line operation.

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