The application discloses a
kiwi fruit grading method based on
machine vision and multi-
feature fusion, a sorting device and a control method. The sorting device comprises an
image processing device, a controller, a visual sensor and a plurality of fruit outlet boxes. When the
kiwi fruit reaches the detection
station, the controller sends a trigger
signal to the visual sensor to perform
image acquisition. The
image processing device receives image data, sequentially performs image preprocessing,
kiwi fruit target area extraction, multi-dimensional
feature extraction and multi-
feature fusion grading, and generates corresponding grading signals sent to the controller. A plurality of trays are arranged on the annular conveying track and move along the track in a circulating manner. In the
image acquisition stage, the controller drives the tray to rotate one revolution to collect the full-
color image data of the
kiwi fruit. In the sorting and placing stage, the controller drives the tray to move to the
station corresponding to the fruit outlet box according to the grading
signal and performs a turnover action, realizing the automatic, multi-index and high-precision sorting of the
kiwi fruit, and significantly improving the sorting efficiency and product consistency.