Sorting and transporting device

Abstract

The utility model discloses a sorting and transporting device, and relates to the technical field of sorting. Comprising a transporting and conveying device, a mounting frame and a sorting box, connecting plates are fixedly mounted at the positions, close to the left side and the right side, of the top of the transporting and conveying device, and a plurality of sorting hoppers are distributed on the right side of the connecting plate close to the right side of the transporting and conveying device side by side; a plurality of pushing devices are distributed on the connecting plate close to the left side of the conveying and conveying device in parallel, a controller is arranged at the top of the mounting frame, and a visual perception device is arranged on the inner top wall of the mounting frame; the visual perception device comprises a color camera, a TOP camera, a target detection network, a polarized light RGB camera, semantic segmentation, attitude estimation, a laser contour sensor, a hyperspectral imaging camera and a near-infrared NIP sensor. The controller comprises a power execution system and a CAN bus communication system.

Description

Technical Field

[0001] This utility model relates to the field of sorting technology, specifically a sorting and transportation device. Background Technology

[0002] Fruit sorting and transportation devices play a significant role in modern agriculture and food processing.

[0003] Chinese utility model patent CN221875481U discloses a fruit sorting machine conveyor device, including a support frame. Two sets of conveyor belts are mounted on the support frame, with fruit trays evenly fixed to the surface of each conveyor belt. Fixed plates, L-shaped, are fixedly connected to both sides of the support frame. Oil storage columns are fixedly connected to the surface of each fixed plate, and pistons are slidably connected inside the oil storage columns. An oil inlet is connected to the top of each oil storage column. By opening a first control valve, lubricating oil is added to the oil storage column through the oil inlet. Then, the first control valve is closed. After prolonged operation, when the conveyor belt requires lubrication, an electric telescopic rod is activated. The output end of the electric telescopic rod pushes the piston, causing the piston to eject the lubricating oil from the oil storage column through a spray nozzle. The lubricating oil is then sprayed onto the conveyor belt for lubrication, thus automatically lubricating the conveyor belt.

[0004] Traditional sorting devices rely on a single visual recognition method or manual identification, which makes it difficult to comprehensively and accurately acquire multiple characteristics of fruits (such as color, shape, size, internal quality, etc.), easily leading to sorting errors and failing to accurately match fruits with corresponding sorting hoppers. Therefore, a sorting and transportation device is needed to solve the above problems. Utility Model Content

[0005] This invention provides a sorting and transporting device to solve the problems in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a sorting and transporting device, including a transport conveyor, a mounting frame, and a sorting box. Connecting plates are fixedly installed on the top of the transport conveyor near both the left and right sides. Multiple sorting hoppers are arranged side-by-side on the right side of the connecting plate near the right side of the transport conveyor. Multiple pushing devices are arranged side-by-side on the connecting plate near the left side of the transport conveyor. A controller is installed on the top of the mounting frame. A visual sensing device is installed on the inner top wall of the mounting frame. The visual sensing device includes a color camera, a TOP camera, a target detection network, a polarized RGB camera, a semantic segmentation device, a pose estimation device, a laser contour sensor, a hyperspectral imaging camera, and a near-infrared (NIP) sensor. The controller includes a power execution system and a CAN bus communication system.

[0007] Furthermore, each of the multiple pushing devices includes a push plate and a pushing drive device. The left side of each of the multiple pushing drive devices is fixedly connected in parallel with the left side of the connecting plate near the left side of the transport and conveying device. The output end of each of the multiple pushing drive devices is fixedly connected to the left side of the multiple push plates. The output end of the pushing drive device passes through the left side of the connecting plate and extends out of the right side of the connecting plate and connects with the push plate. The connection between the output end of the pushing drive device and the connecting plate is a movable sleeve.

[0008] Furthermore, the multiple push plates are respectively configured to correspond to multiple sorting hoppers.

[0009] Furthermore, there are multiple sorting boxes, and the discharge ends of the multiple sorting hoppers are respectively located inside the multiple sorting boxes.

[0010] Furthermore, there are multiple sorting boxes, and the discharge ends of the multiple sorting hoppers are respectively located inside the multiple sorting boxes.

[0011] Furthermore, through slots are provided on the connecting plate near the top right side of the transport conveyor, corresponding to the positions of multiple sorting hoppers.

[0012] Compared with the prior art, the present invention provides a sorting and transportation device with the following advantages:

[0013] 1. This sorting and transporting device, through the installation of a visual sensing device and the use of various equipment such as color cameras, TOP cameras, and polarized RGB cameras, can comprehensively acquire the appearance characteristics of fruits, including color, shape, size, and texture. It also utilizes hyperspectral imaging cameras and near-infrared sensors to acquire internal quality information, thereby accurately identifying the fruit's type, ripeness, freshness, and presence of pests and diseases, providing accurate data for subsequent sorting. With the aid of laser contour sensors and other equipment, the real-time position coordinates of the fruit on the transport conveyor can be precisely determined, providing positional information for the accurate pushing of the subsequent pushing device, ensuring that each fruit is accurately pushed into the corresponding sorting hopper. The visual sensing device can quickly complete a comprehensive inspection of the fruit the moment it passes through its detection area, transmitting the data in real time to the controller for processing. This allows the sorting device to sort large quantities of fruit in a short time, improving sorting efficiency and meeting the needs of high-efficiency production. During fruit transport, the visual sensing device and the pushing device can work simultaneously. Once a fruit passes through the visual sensing device, its detection data can be used for the subsequent pushing device's decision-making, eliminating additional waiting time and achieving continuity and efficiency in the sorting process. Compared to manual identification and sorting, visual perception devices utilize advanced sensors and image processing technology to classify fruits more objectively and accurately, avoiding errors caused by subjective judgment and fatigue in manual operations. This improves the stability and consistency of sorting quality. By detecting the internal quality of fruits, such as using near-infrared sensors to detect sugar content, acidity, and moisture content, fruits that meet specific quality requirements can be screened out, effectively separating superior and inferior products and improving the overall quality of the sorted fruits. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is a diagram of the internal system of the controller of this utility model;

[0016] Figure 3 This is the visual sensing device of the present invention.

[0017] In the diagram: 1. Conveying device; 2. Pushing device; 201. Push plate; 202. Pushing drive device; 3. Controller; 4. Connecting plate; 5. Mounting bracket; 6. Visual perception device; 301. Power execution system; 302. CAN bus communication system; 601. Color camera; 602. TOP camera; 603. Target detection network; 604. Polarized RGB camera; 605. Semantic segmentation; 606. Attitude estimation; 607. Laser profile sensor; 608. Hyperspectral imaging camera; 609. Near-infrared (NIP) sensor; 7. Sorting hopper; 8. Sorting box. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Please see Figure 1-3 This utility model discloses a sorting and transportation device, including a transport conveyor 1, a mounting frame 5, and a sorting box 8. Connecting plates 4 are fixedly installed on the top of the transport conveyor 1 near the left and right sides. Multiple sorting hoppers 7 are arranged side by side on the right side of the connecting plate 4 near the right side of the transport conveyor 1, and multiple pushing devices 2 are arranged side by side on the connecting plate 4 near the left side of the transport conveyor 1. A controller 3 is set on the top of the mounting frame 5, and a visual sensing device 6 is set on the inner top wall of the mounting frame 5. The visual sensing device 6 includes a color camera 601, a TOP camera 602, a target detection network 603, a polarized light RGB camera 604, a semantic segmentation device 605, a pose estimation device 606, a laser contour sensor 607, a hyperspectral imaging camera 608, and a near-infrared (NIP) sensor 609. The controller 3 includes a power execution system 301 and a CAN bus communication system 302.

[0020] Specifically, each of the multiple pushing devices 2 includes a push plate 201 and a pushing drive device 202. The left side of the multiple pushing drive devices 202 is fixedly connected in parallel with the left side of the connecting plate 4 near the left side of the transport and conveying device 1. The output end of the multiple pushing drive devices 202 is fixedly connected to the left side of the multiple push plates 201. The output end of the pushing drive device 202 passes through the left side of the connecting plate 4 and extends out to the right side of the connecting plate 4 and connects with the push plate 201. The connection between the output end of the pushing drive device 202 and the connecting plate 4 is a movable sleeve.

[0021] Specifically, multiple push plates 201 are respectively set with multiple sorting hoppers 7.

[0022] Specifically, there are multiple sorting boxes 8, and the discharge ends of multiple sorting hoppers 7 are located inside the multiple sorting boxes 8.

[0023] Specifically, the inner left and right side walls of the mounting bracket 5 are fixedly connected to the opposite side of the two connecting plates 4 near the front end, respectively, at the bottom position.

[0024] Specifically, through slots are provided on the connecting plate 4 near the top right of the conveyor device 1, corresponding to the positions of multiple sorting hoppers 7.

[0025] In use, connect the power supply to the sorting and transporting device, ensuring that all components, including the transport conveyor 1, the pushing device 2, the vision sensing device 6, and the controller 3, are powered on and in working order. Place the fruit to be sorted at the starting end of the transport conveyor 1, and the fruit will move towards the sorting area under the drive of the conveyor. When the fruit moves to the detection area of ​​the vision sensing device 6, various devices in the vision sensing device 6 [color camera 601, TOP camera, polarized RGB camera, laser contour sensor 607, hyperspectral imaging camera 608, and near-infrared sensor, etc.] simultaneously perform a comprehensive inspection of the fruit. These devices acquire multi-dimensional information about the fruit, including its color, shape, size, surface texture, and internal quality, and convert it into data signals that are transmitted to the controller 3. The controller 3 rapidly processes and analyzes the data from the visual perception device 6, using built-in algorithms such as the object detection network 603, semantic segmentation 605, and pose estimation 606 to accurately identify the type, quality grade, and specific location of each fruit on the conveyor. Based on preset sorting rules (e.g., sorting by fruit type, size, and ripeness), the controller 3 determines which sorting hopper 7 each fruit should be pushed into. The controller generates a corresponding push instruction, which includes key information such as the timing and force of the push, and the corresponding push device 2 number. The fruit continues to move backward along the transport conveyor 1, gradually approaching the push device 2 located in the rear half. When the fruit reaches the position directly below the push device, the controller 3 sends a start signal to the corresponding push drive device 202 according to the previously calculated push timing. After receiving the signal, the push drive device 202 quickly extends the push plate 201 to the right, accurately pushing the fruit from the transport conveyor 1 into the corresponding sorting hopper 7. After the push is completed, the push drive device 202... 2. The push plate 201 is quickly retracted to its initial position, ready for the next push operation; the fruit in the sorting hopper 7 falls into the corresponding sorting box 8 below it under the action of gravity, realizing the classification and collection of different types or grades of fruit; during the sorting process, the visual sensing device 6 continuously detects the fruit that is subsequently conveyed, and the controller 3 processes the data in real time and dynamically adjusts the push command to adapt to the characteristics of different fruits and the slight changes in the conveying process, so as to ensure the accuracy and efficiency of sorting; the staff can observe the sorting effect and make appropriate adjustments to the sorting parameters in the controller 3 to further optimize the sorting quality.

[0026] In summary, this sorting and transporting device, through the installation of a visual sensing device 6 and various other devices such as a color camera 601, a TOP camera 602, and a polarized RGB camera 604, can comprehensively acquire the appearance characteristics of fruits, including color, shape, size, and texture. It also utilizes a hyperspectral imaging camera 608 and a near-infrared sensor to acquire internal quality information, thereby accurately identifying the fruit's type, ripeness, freshness, and presence of pests and diseases, providing accurate data for subsequent sorting. With the aid of devices such as a laser contour sensor 607, the real-time position coordinates of the fruit on the transport conveyor 1 can be precisely determined, providing positional information for the accurate pushing of the subsequent pushing device 2, ensuring that each fruit is accurately pushed into the corresponding sorting hopper 7. The visual sensing device 6 can quickly complete a comprehensive inspection of the fruit the moment it passes through its detection area and transmit the data to the controller 3 in real time for processing. This allows the sorting device to sort large quantities of fruit in a short time, improving sorting efficiency and meeting the needs of high-efficiency production. During fruit transportation, the visual sensing device 6 and the pushing device 2 can operate simultaneously. Once the fruit passes through the visual sensing device 6, its detection data can be used for the subsequent pushing decision of the pushing device 2, eliminating the need for additional waiting time and achieving continuity and efficiency in the sorting process. Compared to manual identification and sorting, the visual sensing device 6 utilizes advanced sensors and image processing technology to classify fruits more objectively and accurately, avoiding errors caused by subjective judgment and fatigue in manual operations, thereby improving the stability and consistency of sorting quality. By detecting the internal quality of the fruit, such as using near-infrared sensors to detect sugar content, acidity, and moisture content, fruits meeting specific quality requirements can be screened out, effectively separating superior and inferior products and improving the overall quality of the sorted fruit.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A sorting and transporting device, comprising a transport conveyor (1), a mounting frame (5), and a sorting box (8), characterized in that: The top of the conveying device (1) is fixedly installed with connecting plates (4) near the left and right sides. Multiple sorting hoppers (7) are arranged side by side on the right side of the connecting plate (4) near the right side of the conveying device (1). Multiple pushing devices (2) are arranged side by side on the connecting plate (4) near the left side of the conveying device (1). The top of the mounting frame (5) is equipped with a controller (3). The inner top wall of the mounting frame (5) is equipped with a visual sensing device (6). The visual sensing device (6) includes a color camera (601), a TOP camera (602), a target detection network (603), a polarized RGB camera (604), a semantic segmentation (605), a pose estimation (606), a laser contour sensor (607), a hyperspectral imaging camera (608), and a near-infrared [NIP] sensor (609). The controller (3) includes a power execution system (301) and a CAN bus communication system (302).

2. The sorting and transporting device according to claim 1, characterized in that: Each of the multiple pushing devices (2) includes a push plate (201) and a pushing drive device (202). The left side of each of the multiple pushing drive devices (202) is fixedly connected in parallel to the left side of the connecting plate (4) near the left side of the transport conveyor (1). The output end of each of the multiple pushing drive devices (202) is fixedly connected to the left side of each of the multiple push plates (201). The output end of the pushing drive device (202) passes through the left side of the connecting plate (4) and extends out of the right side of the connecting plate (4) and is connected to the push plate (201). The connection between the output end of the pushing drive device (202) and the connecting plate (4) is a movable sleeve.

3. A sorting and transporting device according to claim 2, characterized in that: The multiple push plates (201) are respectively set with multiple sorting hoppers (7).

4. A sorting and transporting device according to claim 1, characterized in that: There are multiple sorting boxes (8), and the discharge ends of the multiple sorting hoppers (7) are located inside the multiple sorting boxes (8).

5. A sorting and transporting device according to claim 1, characterized in that: The inner left and right side walls of the mounting bracket (5) near the bottom are fixedly connected to the opposite side of the two connecting plates (4) near the front end.

6. A sorting and transporting device according to claim 1, characterized in that: A through slot is provided on the connecting plate (4) near the top right of the transport conveyor (1) corresponding to the positions of multiple sorting hoppers (7).

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