Automatic apple sorting and boxing system

Abstract

The utility model discloses an automatic apple sorting and boxing system, which realizes accurate detection of weight, size, color and sweetness of apples through a multi-sensor fusion technology, optimizes sorting logic in combination with a digital twin platform, and completes low-damage boxing and data binding by utilizing a servo manipulator and an RFID (Radio Frequency Identification) technology. The system can significantly improve the sorting efficiency and precision, reduces the labor cost and fruit loss, and is suitable for large-scale fruit processing scenes.

Description

Technical Field

[0001] This utility model relates to the field of fruit sorting and packing technology, and in particular to an automatic apple sorting and packing system based on multi-sensor fusion and digital twin technology. Background Technology

[0002] Currently, apple sorting and packing mainly relies on manual operation, which has the following problems: low efficiency, as the speed of manual sorting is limited by the worker's skill level and cannot meet the needs of large-scale orders; insufficient sorting accuracy, as worker fatigue easily leads to missorting and omissions, and it is impossible to accurately detect the apple's internal quality such as sweetness and color; high damage rate, as improper actions such as throwing and squeezing during manual operation can easily damage the apple's surface; and lack of data management, as traditional sorting lacks real-time recording and analysis of sorting data, making it difficult to trace the sorting process. Based on this, this utility model proposes an automated sorting and packing system integrating multi-sensor, digital twin, and intelligent control technologies to solve the above-mentioned technical problems. Utility Model Content

[0003] This utility model discloses an automatic apple sorting and packing system that improves sorting efficiency and accuracy while reducing labor costs and fruit loss.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] An automated apple sorting and packing system, characterized in that it comprises:

[0006] The data management module is used for order management, equipment virtual simulation, and data storage.

[0007] The central control module is used to receive order information and generate global control commands;

[0008] An automatic feeding module is used to adjust the feeding rate according to order requirements;

[0009] The sorting module acquires the physical parameter information of the apples and controls the apples to enter the corresponding sorting belt;

[0010] The storage module scans the RFID tags on the packaging boxes and writes the physical parameter information of the apples. The servo robotic arm then picks up the apples and puts them into the packaging boxes.

[0011] Optionally, the data management module includes: an industrial computer for processing order information, data storage, and virtual equipment simulation; and a digital twin platform for mapping the status of physical equipment and optimizing sorting strategies.

[0012] Optionally, the main control module includes: an electricity meter for measuring the power consumption of the system; and a temperature and humidity sensor for monitoring the environmental parameters of the system.

[0013] Optionally, the automatic feeding module includes: a hopper equipped with a solenoid valve for dynamically adjusting the feeding rate; and a conveyor belt with a tapered design, the width of which gradually narrows from the inlet to the middle to ensure that the apples are arranged in a single, orderly row.

[0014] Optionally, the sorting module includes: a load cell for measuring the weight of apples; a vision sensor for detecting the size, color, and surface defects of apples; and a near-infrared spectral sensor for detecting the sugar content and internal quality of apples.

[0015] Optionally, the warehousing module includes: a barcode scanner for reading RFID tags on packaging boxes and binding apple physical parameters;

[0016] An RFID writing device is used to write the physical parameter information of apples into the corresponding packaging box; a servo robot arm with a multi-degree-of-freedom design controls the gripping force through a solenoid valve to grab the apples and put them into the packaging box.

[0017] The beneficial effects of this utility model are:

[0018] Multi-sensor fusion, combining weight, appearance and internal quality parameters, enables multi-dimensional sorting of apples;

[0019] Digital twin integration shortens the system deployment cycle by pre-debugging sorting logic through virtual simulation;

[0020] Flexible sorting strategy: Supports dynamic adjustment of sorting rules (such as setting sweetness thresholds according to customer needs).

[0021] This system can significantly improve sorting efficiency and accuracy, reduce labor costs and fruit loss, and is suitable for large-scale fruit processing scenarios. Attached Figure Description

[0022] Figure 1 A block diagram of an automated apple sorting and packing system provided in one embodiment of this application;

[0023] Figure 2 An equipment layout diagram of an automated apple sorting and packing system provided in one embodiment of this application;

[0024] Figure 3 A network configuration diagram of an automated apple sorting and packing system provided in one embodiment of this application; Detailed Implementation

[0025] To make the technical problems solved by this utility model, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0026] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] Please refer to Figures 1-3 This paper illustrates an automated apple sorting and packing system according to an embodiment of the present application.

[0028] The system includes:

[0029] The data management module 101 is built on an industrial computer and supports order management, equipment virtual simulation and data storage; it realizes the linkage between the virtual and physical systems through digital twin technology, maps the status of physical equipment in real time, and optimizes sorting strategies.

[0030] The central control module 102 integrates a programmable logic controller (PLC) and a touch screen, and generates global control instructions after receiving order information; preferably, the central control module 102 is equipped with an energy meter and a temperature and humidity sensor to monitor energy consumption and environmental parameters in real time.

[0031] The automatic feeding module 103 includes multiple solenoid valve-controlled hoppers that dynamically adjust the feeding rate according to order requirements; the conveyor belt adopts a tapered design (wide at the entrance and narrow in the middle) to ensure that the apples are arranged in an orderly single row.

[0032] The sorting module 104 is equipped with a multi-sensor fusion unit, including: a load cell for accurately measuring apple weight; a vision sensor for capturing apple size, color, and surface defects; and a near-infrared spectroscopy sensor for detecting apple sugar content and internal quality. The sorting module 104 controls a solenoid valve according to sorting rules (such as weight grading and sweetness threshold) to guide the apples to the corresponding sorting belt.

[0033] The storage module 105 manages packaging boxes based on RFID technology. After the barcode scanner reads the tag, it binds the physical parameters of the apple. The servo robot adopts a multi-degree-of-freedom design and controls the gripping force through a solenoid valve to avoid damaging the apple. It supports automatic box changing function, which triggers the placement of a new box when the packaging box is full.

[0034] like Figure 2 As shown, the system equipment includes a conveyor belt 203, with one or more feeding hoppers 201 at the inlet of the conveyor belt 203, and one or more sorting belts perpendicular to the conveyor belt. Packaging boxes 205 are placed at the tail ends of the conveyor belt and the sorting belts. The sorting belts are equipped with servo robotic arms.

[0035] like Figure 3 As shown, the data management module includes one or more industrial computers. The computers, data management module, central control module, automatic feeding module, sorting module, and warehousing module form a network via an industrial switch. It supports the Modbus-TCP protocol for high-speed communication, enabling remote monitoring and analysis of sorting data.

[0036] The automated apple sorting and packing system operates as follows: Apple pickers place harvested apples into the feeding hopper. The data management module issues order information, including but not limited to sorting grade, packing quantity, and quality requirements. The central control module parses the orders and generates control commands. The automatic feeding module dynamically opens the feeding hopper based on the orders, and the conveyor belt adjusts its speed to match the sorting rhythm. The sorting module simultaneously collects weight, visual, and spectral data, combines this with a machine learning model for quality grading, and controls the opening and closing of solenoid valves to ensure apples accurately enter the corresponding sorting belt. The warehousing module writes apple parameters into RFID tags, and robotic arms pack the apples into boxes according to a preset arrangement pattern, reducing collisions during transportation.

[0037] For example, workers pour apples into the hopper, the data management module issues an order (e.g., sorting 500 boxes, sugar content ≥12°Brix, weight 200-250g), the conveyor belt runs at a speed of 0.5m / s, and sensors detect whether the apples meet the standards and they enter the A-level sorting belt, while those that do not meet the standards enter the B-level sorting belt. Vision sensors detect apples with damaged skin or spoiled fruit, which are then placed directly into the packaging boxes at the end of the conveyor belt. Servo robots arrange the apples in arrays of 20 per box, and RFID tags record batch numbers, sorting times, and quality data. When orders are temporarily changed (e.g., new color grading requirements are added), the system simulates the sorting process through a digital twin platform, optimizing sensor parameters and robot paths to ensure that sorting efficiency is not affected.

[0038] In summary, this invention achieves accurate detection of apple weight, size, color, and sweetness through multi-sensor fusion technology. Combined with a digital twin platform to optimize sorting logic, and utilizing servo robotic arms and RFID technology for low-damage packing and data binding, it significantly improves sorting efficiency and accuracy, reduces labor costs and fruit loss, and is suitable for large-scale fruit processing scenarios.

[0039] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the utility model involved in this application is not limited to the technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. An automated apple sorting and packing system, characterized in that, include: The data management module is used for order management, equipment virtual simulation, and data storage. The central control module is used to receive order information and generate global control commands; An automatic feeding module is used to adjust the feeding rate according to order requirements; The sorting module acquires the physical parameter information of the apples and controls the apples to enter the corresponding sorting belt; The storage module scans the RFID tags on the packaging boxes and writes the physical parameter information of the apples. The servo robotic arm then picks up the apples and puts them into the packaging boxes.

2. The automatic apple sorting and packing system according to claim 1, wherein, The data management module includes: Industrial computers are used to process order information, store data, and perform virtual equipment simulation. A digital twin platform is used to map the status of physical equipment and optimize sorting strategies.

3. The automatic apple sorting and packing system according to claim 1, wherein, The master control module includes: An electricity meter is used to measure the electricity consumption of a system. Temperature and humidity sensors are used to monitor the environmental parameters of the system.

4. The automatic apple sorting and packing system according to claim 1, wherein, The automatic feeding module includes: The feeding hopper is equipped with a solenoid valve for dynamically adjusting the feeding rate; The conveyor belt features a tapering design, gradually narrowing in width from the entrance to the middle to ensure that the apples are arranged in an orderly single row.

5. The automatic apple sorting and packing system according to claim 1, wherein, The sorting module includes: A load cell is used to measure the weight of apples. A visual sensor is used to detect the size, color, and surface defects of apples; Near-infrared spectroscopy sensor is used to detect the sugar content and internal quality of apples.

6. The automatic apple sorting and packing system according to claim 1, wherein, The warehousing module includes: A barcode scanner is used to read RFID tags on packaging boxes; An RFID writing device is used to write the physical parameter information of apples into the corresponding packaging box; The servo robotic arm features a multi-degree-of-freedom design and uses solenoid valves to control the gripping force, thereby picking up apples and placing them into a packaging box.

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