CN110584164A - Green plum sorting production line and sorting method - Google Patents

Abstract

The invention discloses a green plum sorting production line and a sorting method, which comprise the following steps: the device comprises a cleaning module, a feeding module, a blow-drying module, a discharging module, a weighing module and a sorting module; the cleaning module comprises a water tank, and an inclined plane is arranged in the water tank; the feeding module comprises a feeding conveyor belt, the feeding conveyor belt is obliquely arranged, and a plurality of feeding partition plates are uniformly arranged on the feeding conveyor belt; the blow-drying module comprises a sieve plate, and one end of the sieve plate at the middle lower part extends to the blanking module; the blanking module comprises a rotary blanking device and a blanking conveyor belt; the weighing module comprises a plurality of weighing platforms and weighing conveyor belts; the green plum sorting production line integrates green plum cleaning, feeding, blow-drying, blanking, weighing and sorting, so that green plums processed by the production line can be sorted according to quality and weight, and further green plums with different qualities and weights can be deeply processed to improve the economic value of the green plums; the sorting production efficiency is high, and the labor cost is low.

Description

Green plum sorting production line and sorting method

Technical Field

The invention belongs to the field of forest fruit sorting, and particularly relates to a green plum sorting production line and a green plum sorting method.

Background

The green plum, also known as dark plum, belongs to a tree, is native to China, and is one of the characteristic fruits in China. The green plum has high nutritive value, contains various nutritive substances such as protein, carbohydrate, amino acid, lipid and the like, and also contains high-quality organic acid such as citric acid, pyruvic acid, catechin and the like, thereby having a plurality of health care effects.

The value of green plums has not been fully developed due to the laggard production mode, single processing variety and low comprehensive utilization rate. Therefore, deep processing of green plums is required to improve the value of green plums.

In recent years, with the development of multispectral and hyperspectral technologies, the sorting and detection of forest fruit quality are continuously and deeply researched. For green plum processing, a complete intelligent processing production line needs to be provided so as to solve the problems of large labor occupation, low efficiency and high cost in the existing green plum processing and sorting.

Disclosure of Invention

The green plum sorting production line and the sorting method provided by the invention integrate green plum cleaning, feeding, blow-drying, blanking, weighing and sorting, so that green plums processed by the production line can be sorted according to quality and weight, and further green plums with different qualities and weights can be deeply processed to improve the economic value of the green plums; the sorting production efficiency is high, and the labor cost is low.

In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:

a green plum sorting production line comprises a first working section, a second working section, a third working section, a fourth working section, a fifth working section and a sixth working section, wherein the first working section is a cleaning module, the second working section is a feeding module, the third working section is a blow-drying module, the fourth working section is a blanking module, the fifth working section is a weighing module, and the sixth working section is a sorting module;

the cleaning module comprises a water tank, and an inclined plane is arranged in the water tank;

the feeding module comprises a feeding conveyor belt, the feeding conveyor belt is obliquely arranged, a plurality of feeding partition plates which are used for feeding materials and are vertical to the moving direction of the conveyor belt are uniformly arranged on the feeding conveyor belt, the bottom end of the feeding conveyor belt extends into the lower part of an oblique inclined plane in the water tank, and the top end of the feeding conveyor belt extends out of the water tank and extends to the blow-drying module;

the drying module comprises a sieve plate, the sieve plate is obliquely arranged, the middle-low end of the sieve plate extends to the blanking module, a plurality of water leakage holes are formed in the surface of the sieve plate, and a fan A and a fan B are arranged above the sieve plate; the upper surface of the sieve plate is provided with a guide groove which is communicated with the blanking module;

the blanking module comprises a rotary blanking device and a blanking conveyor belt, the guide groove is communicated with the rotary blanking device, the rotary blanking device is positioned above one end of the blanking conveyor belt, the other end of the blanking conveyor belt extends to the weighing module, and a plurality of grids are uniformly distributed on the blanking conveyor belt;

the weighing module comprises a plurality of weighing platforms, a weighing conveyor belt and a guide plate, the weighing conveyor belt is uniformly provided with the plurality of weighing platforms along the length direction of the weighing conveyor belt, the conveying direction of the blanking conveyor belt is vertical to the conveying direction of the weighing conveyor belt, one end of the weighing conveyor belt is provided with the guide plate, and the guide plate is positioned above one end of the sorting module;

the sorting module comprises a sorting conveyor belt, a camera, a first-stage sorting device, a left partition plate, a right partition plate, a left fruit receiving basket, a right fruit receiving basket, a second-stage sorting device, a plurality of grading partition plates and a plurality of rear fruit receiving baskets; the guide plate is positioned above the front end of the sorting conveyor belt; a left partition plate and a right partition plate are respectively arranged above the left side and the right side of the front end of the sorting conveyor belt, a left fruit receiving basket is arranged below one end of the left partition plate, and a right fruit receiving basket is arranged below one end of the right partition plate; the camera is located first order sorting unit's top, and first order sorting unit, second grade sorting unit and hierarchical baffle all are located the separation conveyer belt top, and first order sorting unit, second grade sorting unit and hierarchical baffle set gradually along the direction of transfer who selects separately the conveyer belt, and a plurality of hierarchical baffle parallel arrangement form hierarchical passageway in selecting separately conveyer belt other end top and between the adjacent hierarchical baffle, and the end of every hierarchical passageway all is equipped with the back and connects the fruit basket.

As a further improved technical scheme of the invention, a plurality of air holes are arranged on the inclined plane in the water tank, the air holes are connected with an air pump through air pipes, the air pump is positioned outside the water tank, and the air pipes extend out of the water tank and are connected with the air pump outside the water tank;

the sieve plate and the horizontal plane form an included angle of 5 degrees, the fan A is parallel to the horizontal plane, and the fan B is parallel to the sieve plate.

As a further improved technical scheme of the invention, the rotary blanking device comprises a charging box, a circular blanking turntable and a motor;

the middle part of the charging box is provided with a circular groove for placing a blanking turntable, the motor is arranged in the middle part of the groove, an output shaft of the motor is connected with the middle part of the blanking turntable, and the motor is used for driving the blanking turntable to rotate in the groove of the charging box;

a plurality of rows of blanking holes are uniformly distributed on the upper surface of the blanking turntable at equal angles, a plurality of bulges I are uniformly distributed at equal angles, each row of blanking holes are distributed along the radial direction of the blanking turntable, a bulge I is arranged between every two adjacent rows of blanking holes, and the upper surface of the bulge I and the surface of the blanking turntable are arranged at a certain angle;

a plurality of discharge ports communicated with the groove are formed in the periphery of the charging box at equal angles, two quarter cylinders are symmetrically distributed in each discharge port along the radial direction, a concave discharge channel is formed between the two quarter cylinders, one end, close to the middle of the groove, of the discharge channel is higher than one end, close to the discharge ports, of the discharge channel, the discharge channel is communicated with the discharge ports, and the quarter cylinders and the discharge channel are both located in the groove;

the guide groove is communicated with the groove of the charging box, and one end of the guide groove extends to the upper part of the blanking turntable.

As a further improved technical scheme of the invention, the middle part of the blanking turntable is also provided with a second bulge, the periphery of the second bulge and the upper surface of the blanking turntable form an obtuse angle, and the blanking hole and the first bulge are both positioned at the outer side of the second bulge;

the upper surface of the first bulge is of an inverted V shape, and the upper surface of the first bulge and the surface of the blanking turntable are arranged at an obtuse angle.

As a further improved technical scheme of the invention, 4 rows of blanking holes are uniformly distributed on the upper surface of the blanking turntable at equal angles, 4 bulges are uniformly distributed at equal angles, and each row of blanking holes is provided with 3 blanking holes; the charging box is provided with 3 discharge ports communicated with the groove at equal angles around, and the discharge ports are positioned above the discharging conveyor belt.

As a further improved technical scheme, the weighing platform comprises an object stage, movable blocks, a sleeve shaft, a spring and a force sensor, wherein the movable blocks are connected to two sides of the object stage, the bottom of each movable block is connected with the top of the sleeve shaft, the sleeve shaft is sleeved on the inner side of the sleeve and can slide up and down in the sleeve, the bottom of the sleeve is connected with the force sensor, the spring is positioned on the inner side of the sleeve, the top of the spring is connected with the bottom of the sleeve shaft, and the bottom of the spring is connected with the force sensor; a spherical pit is arranged in the middle of the upper surface of the objective table and used for loading fruits;

two force sensors in the weighing platforms are fixedly connected with the weighing conveyor belt.

According to the further improved technical scheme, the first-stage sorting device comprises four steering engines which are respectively a first steering engine, a second steering engine, a third steering engine and a fourth steering engine, wherein the first steering engine is connected with a first partition plate, the second steering engine is connected with a second partition plate, the third steering engine is connected with a third partition plate, the fourth steering engine is connected with a fourth partition plate, the second steering engine and the third steering engine are located between the first steering engine and the fourth steering engine, the opening directions of the first partition plate and the fourth partition plate are opposite to the movement direction of the sorting conveyor belt, the opening directions of the second partition plate and the third partition plate are the same as the movement direction of the sorting conveyor belt, and the;

the second-stage sorting device comprises four steering engines which are respectively a fifth steering engine, a sixth steering engine, a seventh steering engine and an eighth steering engine, wherein the fifth steering engine is connected with a fifth partition plate, the sixth steering engine is connected with a sixth partition plate, the seventh steering engine is connected with a seventh partition plate, the eighth steering engine is connected with an eighth partition plate, the five fifth partition plate, the sixth partition plate, the seventh partition plate and the eighth partition plate have the same opening orientation as the moving direction of the sorting conveyor belt, five grading partition plates are respectively arranged above the tail end of the sorting conveyor belt, and the five grading partition plates divide the plane above the tail end of.

As a further improved technical scheme of the invention, the first-stage sorting device further comprises a partition plate nine and a partition plate ten, wherein the partition plate nine is positioned in front of the partition plate II, the partition plate ten is positioned in front of the partition plate III, and the partition plate nine and the partition plate ten are both positioned above the sorting conveyor belt;

the camera is electrically connected with a lower computer, the lower computer is electrically connected with control valves, a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine, a sixth steering engine, a seventh steering engine and an eighth steering engine in the two air blowing devices respectively, the lower computer is electrically connected with an upper computer, and the force sensor is electrically connected with the upper computer.

In order to achieve the technical purpose, the invention adopts another technical scheme as follows:

a green plum sorting method comprises the following steps:

(1) the green plums enter a water tank of the cleaning module, and meanwhile, the air pump works to enable air holes in the inclined plane to spray air upwards to wash the green plums;

(2) the green plums fall onto a feeding conveyor belt of a feeding module from the inclined plane, and are conveyed onto a sieve plate of a blow-drying module through a feeding partition plate on the feeding conveyor belt;

(3) the fan A and the fan B above the sieve plate work, the fan A and the fan B blow the green plums on the sieve plate, and meanwhile, the green plums roll into the guide groove on the inclined sieve plate;

(4) the green plums are conveyed into a rotary blanking device of a blanking module by the guide groove, each green plum is blanked into different grids on a blanking conveying belt one by the rotary blanking device, the green plums in the grids are conveyed to a weighing platform of the weighing module by the blanking conveying belt, and one weighing platform weighs one green plum at a time;

(5) the weighing platform of the weighing module is driven by the weighing conveyor belt to move in sequence, so that green plums conveyed by the blanking conveyor belt are weighed in sequence; the force sensor in the weighing platform uploads the quality information of the green plums to an upper computer, and the upper computer records the quality information of each green plum;

(6) the weighing conveyer belt conveys the green plums on the weighing platform to a sorting conveyer belt in a sorting module; the camera collects and sorts green plum images on the conveying belt and sends the images to a lower computer;

(7) the lower computer obtains the quality information and the position information of each green plum by adopting an image processing method, and uploads the quality information and the position information of each green plum to the upper computer;

(8) the upper computer marks the quality information and the position information of the green plums as labels on each corresponding green plum with weight information;

(9) the upper computer transmits the quality information, the position information and the weight information of each green plum to the lower computer, and the lower computer controls a first steering engine or a fourth steering engine according to the position information of the lower part of the upper computer and the movement speed of the sorting conveyor belt, further controls the direction of the air blowing device, blows the green plum with defective quality information and blows the green plum into a left fruit receiving basket or a right fruit receiving basket on two sides of the sorting conveyor belt;

(10) the lower computer controls a second steering engine and a third steering engine according to the weight information of the green plums transferred by the upper computer, further controls the second partition plate and the third partition plate to respectively steer so as to adjust the conveying direction of the nondefective green plums on the sorting conveyor belt, and conveys the nondefective green plums into the second-stage sorting device under the driving of the sorting conveyor belt;

(11) the lower computer controls two adjacent steering engines in the second-stage sorting device to work according to the weight information of the green plums placed by the upper computer, and then controls certain two partition plates of the five partition plates, the six partition plates, the seven partition plates and the eight partition plates to turn and ensures that the directions of the two partition plates are consistent with the directions of the second partition plate and the third partition plate, the green plums pass through the two partition plates and enter a certain grading channel under the conveying of the sorting conveyor belt, and finally fall into a rear fruit receiving basket corresponding to the tail end of the grading channel.

As a further improved technical solution of the present invention, the image processing method includes:

(a) dividing a three-channel color image acquired by a camera into R, G, B single-channel monochromatic images, converting the three monochromatic images into HSV color space, and extracting green plums from an original image after S-channel component extraction, Gaussian filtering, feature extraction and division on the converted image;

(b) extracting a defect image from a single-channel gray image of the green plums by a threshold segmentation method according to the gray value difference of the surface defect characteristics of the green plums;

(c) extracting six characteristic parameters of the defect image: r, G, B color component values, defect roundness, squareness, and closeness;

(d) establishing a Gaussian mixture model according to six characteristic parameters of the defect image sample;

(e) inputting six characteristic parameters in the defect image to be detected into a Gaussian mixture model for matching, completing defect identification and classification, and further obtaining quality information of each green plum.

The invention has the beneficial effects that:

(1) the green plum sorting production line integrates green plum cleaning, feeding, blow-drying, blanking, weighing and sorting, so that green plums processed by the production line can be sorted according to quality and weight, and further green plums with different qualities and weights can be deeply processed to improve the economic value of the green plums; and the sorting production efficiency is high, the labor force is small, and the cost is low.

(2) The green plums are higher in density than water, and air flow is introduced into the air holes in the inclined planes of the water grooves, so that the green plums can roll in the water, and the green plums are fully cleaned.

(3) The green plum blanking device can realize the one-by-one blanking of green plums, can fix the number of green plums in one blanking, can ensure that only one green plum is in one grid in a blanking conveying belt, and is convenient for the subsequent one-by-one weighing and sorting of the green plums.

(4) According to the invention, the conveying type weighing module is adopted, so that a plurality of green plums can be accurately weighed at the same time; all weighing platforms are not affected; the weighing speed of the green plums is effectively improved; the weighing platform is arranged on the weighing conveyer belt and can continuously weigh with high efficiency.

(5) The sorting module can simultaneously sort the quality and the quality of the green plums and sort the weight of the deep-processed green plums; the sorting efficiency is high, the accuracy is high, and the labor cost is low; the method provides a sorting basis for further fine and further processing the green plums, so that the economic value of the green plums is improved, and the method has important significance for the intellectualization of green plum enterprises and the sustainable development of the green plum industry.

Drawings

Fig. 1 is a schematic overall structure diagram of the first embodiment.

Fig. 2 is a schematic view of the overall structure of the present embodiment.

Fig. 3 is a third schematic view of the overall structure of the present embodiment.

Fig. 4 is a schematic overall structure diagram of the fourth embodiment.

Fig. 5 is a schematic structural diagram of a station one, a station two, and a station three in this embodiment.

Fig. 6 is a schematic structural view of a station four in this embodiment.

Fig. 7 is an exploded view of the rotary blanking device in the fourth station of this embodiment.

Fig. 8 is a schematic structural view of a fifth stage of the present embodiment.

Fig. 9 is a schematic structural view of a weighing table in the fifth process of the present embodiment.

Fig. 10 is a sectional view of a weighing table in the fifth stage of the present embodiment.

Fig. 11 is a schematic structural view of a station six in this embodiment.

FIG. 12 is a plan view of a sixth stage of this embodiment.

Fig. 13 is a diagram showing six working states of the station according to the embodiment.

Detailed Description

The following further describes embodiments of the present invention with reference to fig. 1 to 13:

referring to fig. 1 to 4, the green plum sorting production line comprises a first working section, a second working section, a third working section, a fourth working section, a fifth working section and a sixth working section, wherein the first working section is a cleaning module 1, the second working section is a feeding module 2, the third working section is a blow-drying module 3, the fourth working section is a blanking module 4, the fifth working section is a weighing module 5, and the sixth working section is a sorting module 6.

Referring to fig. 5, the cleaning module 1 comprises a water tank, an inclined slope 1-3 is arranged in the water tank, green plums enter the water tank from a water tank inlet 1-1 of the cleaning module 1 at a first working section, and the water tank is provided with a water inlet 1-2; a plurality of air holes 1-4 are uniformly distributed on the inclined plane 1-3 in the water tank, the air holes 1-4 are connected with an air pump 1-5 (shown in figure 1) through air pipes 1-6, the air pump 1-5 is positioned outside the water tank, and the air pipes 1-6 extend out of the water tank to be connected with the air pump 1-5 outside the water tank. The air pipes 1-6 are connected with the air pump 1-5 through an external main pipe, and the air pipes 1-6 are communicated with the air holes 1-4 through sub-air pipes.

Referring to fig. 5, the feeding module 2 comprises a feeding conveyor belt 2-1, the feeding conveyor belt 2-1 is obliquely arranged, a plurality of feeding partition plates 2-2 vertical to the moving direction of the feeding conveyor belt 2-1 are uniformly arranged on the feeding conveyor belt 2-1, the bottom end of the feeding conveyor belt 2-1 extends into the lower part of an oblique inclined plane 1-3 in the water tank, and the top end extends out of the water tank and extends to a sieve plate 3-2 of the blow-drying module 3.

Referring to fig. 5, the blow-drying module 3 comprises a sieve plate 3-2, the sieve plate 3-2 is obliquely arranged (as shown in fig. 3), the lower end of the sieve plate 3-2 extends to the blanking module 4, a plurality of water leakage holes are formed in the surface of the sieve plate 3-2, and a fan A3-1 and a fan B3-3 are arranged above the sieve plate 3-2; the upper surface of the sieve plate 3-2 is provided with a first guide rod 3-4 and a second guide rod 3-5, a guide groove 3-6 is formed between the first guide rod 3-4 and the second guide rod 3-5, and the guide groove 3-6 is communicated with a rotary blanking device in the blanking module 4; the sieve plate 3-2 forms an included angle of 5 degrees with the horizontal plane, the fan A3-1 is parallel to the horizontal plane, and the fan B3-3 is parallel to the sieve plate 3-2.

Referring to fig. 6, the blanking module 4 comprises a rotary blanking device and a blanking conveyor belt 4-3, the guide groove 3-6 is communicated with the rotary blanking device, the rotary blanking device is positioned above one end of the blanking conveyor belt 4-3, the other end of the blanking conveyor belt 4-3 extends to the weighing module 5, and a plurality of grids 4-3-1 are uniformly distributed on the blanking conveyor belt 4-3.

Referring to fig. 7, the rotary blanking apparatus includes a charging box 4-2, a circular blanking turntable 4-1, and a motor. The middle part of the charging box 4-2 is provided with a circular groove 4-2-1 for placing the blanking rotating disc 4-1, the motor (not shown in the figure) is arranged in the middle of the groove 4-2-1, the output shaft of the motor is connected with the middle part of the blanking rotating disc 4-1, and the motor is used for driving the blanking rotating disc 4-1 to rotate in the groove 4-2-1 of the charging box 4-2. The upper surface of the blanking turntable 4-1 is uniformly distributed with a plurality of rows of blanking holes 4-1-2 at equal angles and a plurality of bulges-1-1 at equal angles, each row of blanking holes 4-1-2 is distributed along the radial direction of the blanking turntable 4-1, the bulges-1-1 are arranged between every two adjacent rows of blanking holes 4-1-2, and the upper surface of the bulges-4-1-1 is arranged at a certain angle with the surface of the blanking turntable 4-1. The periphery of the charging box 4-2 is provided with a plurality of discharge ports 4-2-3 communicated with the groove 4-2-1 at equal angles, two quarter cylinders 4-2-2 are symmetrically distributed in each discharge port 4-2-3 along the radial direction, a concave discharge channel 4-2-4 is formed between the two quarter cylinders 4-2-2, one end, close to the middle of the groove 4-2-1, of each discharge channel 4-2-4 is higher than one end, close to the discharge ports 4-2-3, of each discharge channel 4-2-4, each discharge channel 4-2-4 is communicated with the corresponding discharge port 4-2-3, and the quarter cylinders 4-2-2 and the discharge channels 4-2-4 are both located in the grooves 4-2-1. The width of the discharging channel 4-2-4 is slightly larger than the diameter of the green plums, and then the green plums fall on the discharging channel 4-2-4 when falling from the discharging hole 4-1-2 (the green plums cannot be clamped by the two quarter cylinders 4-2-2, the green plums cannot roll because of being clamped by the two quarter cylinders 4-2-2, the discharging channel 4-2-4 is higher close to the circle center part and lower close to the discharging hole 4-2-3, so that the green plums falling on the discharging channel 4-2-4 can roll towards the discharging hole 4-2-3).

The guide groove 3-6 is communicated with the groove 4-2-1 of the charging box 4-2, and one end of the guide groove 3-6 extends to the upper part of the blanking turntable 4-1.

Referring to fig. 7, the middle part of the blanking turntable 4-1 is also provided with a second protrusion 4-1-3, the periphery of the second protrusion 4-1-3 is arranged at an obtuse angle with the upper surface of the blanking turntable 4-1, and the blanking hole 4-1-2 and the first protrusion 4-1-1 are both positioned at the outer side of the second protrusion 4-1-3; the upper surface of the first bulge 4-1-1 is in an inverted V shape, and the upper surface of the first bulge 4-1-1 and the surface of the blanking turntable 4-1 are arranged in an obtuse angle.

Referring to fig. 7, 4 rows of blanking holes 4-1-2 are uniformly distributed on the upper surface of the blanking turntable 4-1 at equal angles, 4 protrusions 1-1 are uniformly distributed at equal angles, and 3 blanking holes 4-1-2 are arranged in each row; the periphery of the charging box 4-2 is provided with 3 discharge ports 4-2-3 communicated with the groove 4-2-1 at equal angles, and the discharge ports 4-2-3 are positioned above the blanking conveyor belt 4-3.

Referring to fig. 8, the weighing module 5 comprises a plurality of weighing platforms 5-2, weighing conveyor belts 5-3 and guide plates 5-1, the weighing conveyor belts 5-3 are uniformly distributed with the weighing platforms 5-2 along the length direction of the weighing conveyor belts, the conveying direction of the blanking conveyor belt 4-3 is perpendicular to the conveying direction of the weighing conveyor belts 5-3, one end of each weighing conveyor belt 5-3 is provided with the guide plate 5-1, and the guide plates 5-1 are positioned above one end of the sorting module 6.

Referring to fig. 9 and 10, the weighing platform 5-2 comprises an object stage 5-2-1, a movable block 5-2-3, a sleeve 5-2-4, a sleeve shaft 5-2-6, a spring 5-2-7 and a force sensor 5-2-5, wherein the movable block 5-2-3 is connected to both sides of the object stage 5-2-1, the bottom of the movable block 5-2-3 is connected with the top of the sleeve shaft 5-2-6, the sleeve shaft 5-2-6 is sleeved on the inner side of the sleeve 5-2-4 and can slide up and down in the sleeve 5-2-4, the bottom of the sleeve 5-2-4 is connected with the force sensor 5-2-5, and the spring 5-2-7 is positioned on the inner side of the sleeve 5-2-4, the top of the spring 5-2-7 is connected with the bottom of the sleeve shaft 5-2-6, and the bottom of the spring 5-2-7 is connected with the force sensor 5-2-5; a spherical pit 5-2-2 is formed in the middle of the upper surface of the objective table 5-2-1, and the spherical pit 5-2-2 is used for loading fruits; two force sensors 5-2-5 in the plurality of weighing platforms 5-2 are fixedly connected with a weighing conveyor belt 5-3. The force sensor 5-2-5 is connected with an upper computer.

When the weighing module 5 works, a plurality of green plums enter the object stage 5-2-1 of different weighing stages 5-2 from one side with the force sensor 5-2-5 simultaneously during weighing, the object stage 5-2-1 is a plane with a spherical pit 5-2-2 in the middle, and the green plums are positioned in the spherical pit 5-2-2 during weighing. Before weighing each time, numerical values of two force sensors 5-2-5 of a weighing platform 5-2 are reset (the weights of an object carrying platform 5-2-1, a movable block 5-2-3, a sleeve shaft 5-2-6 and a spring 5-2-7 are eliminated), when the green plums fall on a spherical pit 5-2-2, the sleeve shaft 5-2-6 presses the spring 5-2-7 and the spring 5-2-7 presses the force sensor 5-2-5 under the action of gravity, when the spring 5-2-7 is stable, the force sensor 5-2-5 feeds back force to an upper computer, and the sum of the readings of the force sensors 5-2-5 on two sides of the object carrying platform 5-2-1 is the weight of the green plums. The weighed greengage is transported along the weighing conveyer 5-3 and finally enters a section six along the guide plate 5-1.

Referring to fig. 11 and 12, the sorting module 6 comprises sorting conveyors 6-24, cameras 6-11, a first-stage sorting device, left partition plates 6-13, right partition plates 6-10, left fruit receiving baskets 6-12, right fruit receiving baskets 6-9, a second-stage sorting device, a plurality of grading partition plates 6-22 and a plurality of rear fruit receiving baskets 6-23; the guide plate 5-1 is positioned above the front end of the sorting conveyor belt 6-24; a left clapboard 6-13 and a right clapboard 6-10 are respectively arranged above the left side and the right side of the front end of the sorting conveyor belt 6-24, a left fruit receiving basket 6-12 is arranged below one end of the left clapboard 6-13, and a right fruit receiving basket 6-9 is arranged below one end of the right clapboard 6-10; the camera 6-11 is arranged above the first-stage sorting device, the second-stage sorting device and the grading partition plates 6-22 are all arranged above the sorting conveyor belts 6-24, the first-stage sorting device, the second-stage sorting device and the grading partition plates 6-22 are sequentially arranged along the conveying direction of the sorting conveyor belts 6-24, the grading partition plates 6-22 are arranged above the other ends of the sorting conveyor belts 6-24 in parallel, grading channels 6-25 are formed between adjacent grading partition plates 6-22, and rear fruit receiving baskets 6-23 are arranged at the tail end of each grading channel 6-25.

The first-stage sorting device comprises four first-stage steering gears 6-6, referring to fig. 12, namely a first steering gear 6-6-1, a second steering gear 6-6-2, a third steering gear 6-6-3 and a fourth steering gear 6-6-4, wherein the first steering gear 6-6-1 is connected with a first partition plate 6-4, the second steering gear 6-6-2 is connected with a second partition plate 6-2, the third steering gear 6-6-3 is connected with a third partition plate 6-3, the fourth steering gear 6-6-4 is connected with a fourth partition plate 6-5, the second steering gear 6-6-2 and the third steering gear 6-6-3 are positioned between the first steering gear 6-6-1 and the fourth steering gear 6-6-4, openings of the first partition plate 6-4 and the fourth partition plate 6-5 face opposite to the movement direction of the sorting conveyor belts 6, the opening directions of the second partition plate 6-2 and the third partition plate 6-3 are the same as the moving direction of the sorting conveyor belt 6-24, and the first partition plate 6-4 and the fourth partition plate 6-5 are both connected with an air blowing device (comprising a first air blowing device 6-14 and a second air blowing device 6-7).

The second-stage sorting device comprises four second-stage steering engines 6-1, see fig. 12, namely five steering engines 6-1-1, six steering engines 6-1-2, seven steering engines 6-1-3 and eight steering engines 6-1-4, wherein the five steering engines 6-1-1 are connected with five partition plates 6-18, the six steering engines 6-1-2 are connected with six partition plates 6-19, the seven steering engines 6-1-3 are connected with seven partition plates 6-20, the eight steering engines 6-1-4 are connected with eight partition plates 6-21, the five partition plates 6-18, the six partition plates 19, the seven partition plates 6-20 and the eight partition plates 6-21 have openings which face the same direction as the moving direction of the sorting conveyor belts 6-24. As shown in FIG. 11, five classifying partitions 6-22 are respectively arranged above the tail ends of the sorting conveyors 6-24, and the five classifying partitions 6-22 divide the plane above the tail ends of the sorting conveyors 6-24 into four equal parts to form four classifying channels 6-25.

The first-stage sorting device further comprises a partition plate nine 6-15 and a partition plate ten 6-8, wherein the partition plate nine 6-15 is located in front of the partition plate two 6-2, the partition plate ten 6-8 is located in front of the partition plate three 6-3, and the partition plate nine 6-15 and the partition plate ten 6-8 are located above the sorting conveyor belt 6-24. The partitions nine 6-15 and the partitions ten 6-8 are supported above the sorting conveyors 6-24 by supports (not shown in the figure).

The first steering engine 6-6-1, the second steering engine 6-6-2, the third steering engine 6-6-3 and the fourth steering engine 6-6-4 of the first-stage sorting device are all connected to the first horizontal supporting plate 6-16, and the camera 6-11, the first horizontal supporting plate 6-16, the left partition plate 6-13 and the right partition plate 6-10 are all supported above the sorting conveyor belt 6-24 through a support (not shown in the figure). Five steering engine 6-1-1, six steering engine 6-1-2, seven steering engine 6-1-3 and eight steering engine 6-1-4 of the second-stage sorting device are all connected to a second horizontal supporting plate 6-17, and the second horizontal supporting plate 6-17 and five grading partition plates 6-22 are all supported above the sorting conveyor belt 6-24 through a support (not shown in the figure).

The camera 6-11 is electrically connected with a lower computer, the lower computer is electrically connected with control valves, a first steering engine 6-6-1, a second steering engine 6-6-2, a third steering engine 6-6-3, a fourth steering engine 6-6-4, a fifth steering engine 6-1-1, a sixth steering engine 6-1-2, a seventh steering engine 6-1-3 and an eighth steering engine 6-1-4 in the two air blowing devices respectively, the lower computer is electrically connected with an upper computer, and the force sensor 5-2-5 is electrically connected with the upper computer. The lower computer controls the control valve in the air blowing device to act, so that the air blowing device is controlled to work.

The green plums enter the water tank from a water tank inlet 1-1 of a cleaning module 1 at a working section I, flowing running water (water enters from a water inlet 1-2 at the upper part of the water tank and exits from a water outlet at the bottom) is filled in the water tank, an inclined plane 1-3 which mutually forms a certain angle is arranged in the water tank, an air hole 1-4 is formed in one part of the inclined plane, and when the green plums fall from the water tank inlet 1-1, a certain air flow is sprayed out from the air hole 1-4, so that the green plums roll in the sinking process, and the green plums are fully cleaned.

Cleaned green plums roll down onto a feeding conveyor belt 2-1 of a feeding module 2 of a working section II along an inclined plane 1-3, the feeding conveyor belt 2-1 is obliquely arranged at a certain angle with the horizontal plane, feeding partition plates 2-2 vertical to the moving direction of the feeding conveyor belt 2-1 are arranged on the feeding conveyor belt 2-1, when the working section II works, the green plums fall between the two feeding partition plates 2-2 (most of water leaks along gaps of the feeding conveyor belt 2-1), move upwards along with the feeding conveyor belt 2-1, fall onto a sieve plate 3-2 of a drying module 3 of the working section III after moving to the top end of the feeding conveyor belt 2-1, and the sieve plate 3-2 is provided with a plurality of water leakage holes (the size is much smaller than the diameter of the green plums, so that water on the surface of the green plums can leak along the water leakage holes), the sieve plate 3-2 and the horizontal plane form an included angle of 5 degrees, so that green plums falling on the sieve plate 3-2 can roll along the inclined direction, and two fans (a fan A3-1 and a fan B3-3) are arranged right above the sieve plate 3-2 and used for drying residual moisture on the surfaces of the green plums when the green plums roll down. The fan A3-1 is parallel to the horizontal plane, green plums can be blown along the inclined direction of the sieve plate while the moisture on the surfaces of the green plums is dried, the green plums are prevented from being accumulated, and the fan B3-3 is installed in parallel with the sieve plate 3-2, so that the residual moisture on the surfaces of the green plums is further dried;

the green plums dried by the drying module 3 in the third working section enter the blanking rotary table 4-1 of the rotary blanking device of the blanking module 4 in the fourth working section along the guide groove 3-6 on the sieve plate 3-2. When the rotary blanking device works, when a row of blanking holes 4-1-2 are positioned right above the discharging channel 4-2-4, three green plums fall down from the three blanking holes 4-1-2 (if a row of the blanking holes 4-1-2 are positioned above but not right above a certain discharging channel 4-2-4, if some green plums fall into the blanking holes 4-1-2, the green plums do not fall down to the discharging channel 4-2-4, but are propped by the quarter cylinder 4-2-2 and are propped against the surface of the blanking turntable 4-1 or fall down from the discharging channel 4-2-4 along with the rotation of the blanking turntable 4-1), and roll onto the blanking conveyor belt 4-3 along the discharging port 4-2-3, only 1 discharge port 4-2-3 will roll out 3 green plums at the same time. Grids 4-3-1 are uniformly distributed on the blanking conveyor belt 4-3, 3 green plums discharged from the discharge port 4-2-3 can fall into the three grids 4-3-1 respectively, the green plums in the grids 4-3-1 move to the other end of the blanking conveyor belt 4-3 and enter a five-section weighing module 5, and the weighing module is composed of a guide plate 5-1, a weighing table 5-2 and a weighing conveyor belt 5-3. The weighing module can weigh 4 green plums at one time, the weighed green plums fall onto the sorting conveyor belts 6-24 of the six sorting modules 6 in the working section, and the green plums are divided into four types including complete green plums, raindrops, festers and scars according to the defect characteristics of the green plums, wherein the perfect green plums and the green plums with the raindrops are regarded as the green plums which can be finely and deeply processed (namely the green plums which can be finely and deeply processed without defects), and the festers and scars are regarded as the green plums which need to be removed due to defects, so that the green plums are sorted in two aspects of quality and weight. Two-stage sorting is arranged on the sorting module 6, and a first-stage sorting device is used for sorting the quality and is divided into three types of fester, scar and deep processing (including raindrop and perfect green plum); the second-stage sorting device is used for sorting the weight of the deep-processed green plums and is divided into four weight intervals. The first-stage sorting device consists of four partition plates controlled by first-stage steering engines 6-6, openings of a second partition plate 6-2 and a third partition plate 6-3 in the middle face opposite to the openings of a first partition plate 6-4 and a fourth partition plate 6-5 on two sides, and air blowing devices are respectively arranged on the first partition plate 6-4 and the fourth partition plate 6-5 on two sides; the second-stage sorting device is composed of four partition plates controlled by a second-stage steering engine 6-1, openings of the four partition plates (a partition plate five 6-18, a partition plate six 6-19, a partition plate seven 6-20 and a partition plate eight 6-21) face the moving direction of the sorting conveyor belts 6-24, a grading partition plate 6-22 (which is used for dividing the planes of the tail ends of the sorting conveyor belts 6-24 into four equal parts) is installed at the tail ends of the sorting conveyor belts 6-24, and four fruit receiving baskets 6-23 are arranged at the tail ends of the grading partition plates 6-22. And a camera 6-11 (used for photographing green plums so as to carry out quality detection) is arranged on the other side of the sorting conveyor belt 6-24. When the sixth working section works, the green plums enter from a conveyor belt at one side provided with a camera 6-11 according to the weighing sequence, the camera 6-11 photographs the green plums in real time and sends images to a lower computer, the lower computer performs quality detection by adopting an image processing method, an air blowing device (a first air blowing device 6-14 or a second air blowing device 6-7) arranged on a first partition plate 6-4 or a fourth partition plate 6-5 at two sides of a first-stage sorting device blows the detected green plums with festers and scars (namely, the defective green plums needing to be removed) to a left fruit receiving basket 6-12 or a right fruit receiving basket 6-9 at two sides of the sorting conveyor belt 6-24 respectively along a first partition plate 6-13 or a second partition plate 6-10 which form an angle with each other on the sorting conveyor belt 6-24, and simultaneously the second partition plate 6-2 and the third partition plate 6-3 in the middle of the first-stage sorting device are turned (as shown in figure 13, the sorting device is turned to one of four mass sections corresponding to the second-stage sorting device, and the second-stage sorting device turns two clapboards (such as a clapboard seven 6-20 and a clapboard eight 6-21 in the figure 13) which are closest to the mass section. So that the green plums of the weight are fed into the classifying channel 6-25 between the corresponding classifying partitions 6-22 and fall into the rear fruit receiving basket 6-23 corresponding to the end of the classifying partition 6-22. In the embodiment, the weight of the green plums is divided into four ranges, the weights in the four different ranges correspond to different rear fruit receiving baskets 6-23, and the lower computer controls the corresponding steering engine to work through the weight information of the green plums, so that the green plums are conveyed into the rear fruit receiving baskets 6-23 in the corresponding weight range.

The structures of the conveying belts (the feeding conveying belt 2-1, the discharging conveying belt 4-3, the weighing conveying belt 5-3 and the sorting conveying belt 6-24) in the embodiment adopt the conveying belt structures commonly used in the prior art, and are not described in more detail. The screen deck 3-2, the fan A3-1 and the fan B3-3 in the third section can be supported by a bracket (not shown in the figure).

The embodiment also provides a green plum sorting method, which comprises the following steps:

(1) the green plums enter a water tank of the cleaning module 1, and meanwhile, the air pump 1-5 works to enable the air holes 1-4 on the inclined planes 1-3 to inject air upwards to wash the green plums;

(2) the green plums fall onto a feeding conveyor belt 2-1 of a feeding module 2 from an inclined plane 1-3, and are conveyed onto a sieve plate 3-2 of a blow-drying module 3 through a feeding partition plate 2-2 on the feeding conveyor belt 2-1;

(3) the fan A3-1 and the fan B3-3 above the sieve plate 3-2 work, the fan A3-1 and the fan B3-3 blow the green plums on the sieve plate 3-2, and meanwhile, the green plums roll on the inclined sieve plate 3-2 into the guide groove 3-6;

(4) the green plums are conveyed into a rotary blanking device of the blanking module 4 by the guide groove 3-6, each green plum is fed into different grids 4-3-1 on the blanking conveyor belt 4-3 one by the rotary blanking device, the green plums in the grids 4-3-1 are conveyed to different weighing platforms 5-2 of the weighing module 5 by the blanking conveyor belt 4-3, and one weighing platform 5-2 weighs one green plum at a time;

(5) the weighing platform 5-2 of the weighing module 5 is driven by the weighing conveyer belt 5-3 to move in sequence, so that green plums conveyed by the blanking conveyer belt 4-3 are weighed in sequence; the force sensor 5-2-5 in the weighing platform 5-2 uploads the quality information of the green plums to an upper computer, and the upper computer records the quality information of each green plum, marks each green plum according to the weight information and stores the green plums in a storage space of the upper computer;

(6) the weighing conveyor belt 5-3 conveys the green plums on the weighing platform 5-2 to a sorting conveyor belt 6-24 in the sorting module 6; the camera 6-11 works, and the camera 6-11 collects and sorts green plum images on the conveyor belt 6-24 and sends the images to the lower computer;

(7) the lower computer obtains the quality information (namely a defect identification result) and the position information of each green plum by adopting an image processing method (the method for obtaining the position information of the green plum in the image is the prior art and is not specifically described herein), and uploads the quality information and the position information of each green plum to the upper computer;

(8) the upper computer marks the quality information and the position information of the green plums as labels on each corresponding green plum with weight information;

(9) the upper computer transmits the quality information, the position information and the weight information of each green plum to the lower computer, the lower computer controls a first steering engine 6-6-1 or a fourth steering engine 6-6-4 according to the position information transferred by the upper computer and the movement speed of a sorting conveyor belt 6-24, further controls the direction of an air blowing device (the direction is selected to be the optimal position of the two air blowing devices selected according to the position information of the green plum needing air blowing), and air blows green plums with defective quality information (namely, the green plums with ulceration and scars) (the two air blowing devices do not work simultaneously and are prevented from interference), and the green plums are blown down into a left fruit receiving basket 6-12 or a right fruit receiving basket 6-9 on the two sides of the conveyor belt;

(10) the lower computer controls a second steering engine 6-6-2 and a third steering engine 6-6-3 according to the weight information of the green plums placed downwards by the upper computer, further respectively controls the second partition plate 6-2 and the third partition plate 6-3 to turn, so that the conveying direction of the green plums with quality information being defect-free (namely deep-processed green plums) on a sorting conveyor belt 6-24 is adjusted, and the defect-free green plums are conveyed into a second-stage sorting device under the driving of the sorting conveyor belt 6-24;

(11) the lower computer controls two adjacent steering engines in the second-stage sorting device to work according to the weight information of green plums placed downwards by the upper computer, further controls certain two partition plates in five partition plates 6-18, six partition plates 6-19, seven partition plates 6-20 and eight partition plates 6-21 to turn and ensures that the directions of the two partition plates are consistent with the directions of the second partition plate 6-2 and the third partition plate 6-3 (as shown in figure 13), and the green plums pass through the two partition plates and enter a certain sorting channel 6-25 under the conveying of the sorting conveyor belts 6-24 and finally fall into a rear fruit receiving basket 6-23 corresponding to the tail end of the sorting channel 6-25.

The image processing method comprises the following steps:

(a) dividing a three-channel color image acquired by a camera 6-11 into R, G, B single-channel monochromatic images, converting the three monochromatic images into HSV color space, and extracting green plums from an original image after S-channel component extraction, Gaussian filtering, feature extraction and division on the converted image;

(b) extracting a defect image from a single-channel gray image of the green plums by a threshold segmentation method according to the gray value difference of the surface defect characteristics of the green plums;

(c) extracting six characteristic parameters of the defect image: r, G, B color component values, defect roundness, squareness, and closeness;

(d) establishing a Gaussian mixture model according to six characteristic parameters of the defect image sample;

(e) inputting six characteristic parameters in the defect image to be detected into a Gaussian mixture model for matching, completing defect identification and classification, and further obtaining quality information (including fester, scar and deep processing) of each green plum.

The present embodiment can be classified into fester, scar, etc. according to the surface defect characteristics of the green plum. The biggest difference between the defect part and the normal surface is the difference in surface color, the color of the defect part is mostly brownish or even black, the gray value of the defect part can be inferred to be low, the gray value of the normal surface is high, and the defect is extracted from a single-channel gray image through threshold segmentation by utilizing the difference.

After channel decomposition, gray level binarization and other operations are performed on the green plum image, the embodiment finds that after the image of six color channel (R, G, B, H, S, V) components of the green plum fruit is subjected to threshold segmentation, because the shape, size, color and other characteristics of each defect are different, it is difficult to adopt a uniform extraction standard to extract the defect from the image subjected to threshold segmentation, and the green plum defect detection work becomes complicated.

In the embodiment, the edge detection method is adopted to detect the edge of the green plum fruit and expand the edge by multiple times to be used as a mask area, and the area covered by the mask is removed from the image after the H channel threshold segmentation, so that a defect area is left. Performing defect detection on the green plums containing festers and scars by adopting an edge method, wherein the area of the fester defect is large, and the proportion of the fester defect in the total area of the fruits is large; many raindrops are spots (the green plums with raindrops detected in this embodiment are also regarded as deep-processable green plums), and the number of raindrops is large and the area occupied by isolated spots is small. In addition, the colors of the peels corresponding to the fester, the scar and the raindrop are different from each other according to the corresponding color images of the fruits.

The Gaussian Mixture Model (GMM) classification process is: the gaussian mixture model is used to classify the intersections in the region of interest, and the following 6 features are extracted to establish the gaussian mixture model. Through comparison of three defects of green plum fruits, the color of the peel corresponding to each defect is different, and the shape and size characteristics are also different, so that R, G, B color component values, defect roundness, rectangle degree and compactness of the green plum fruit defect are determined to be adopted as input signals of a Gaussian mixture model, and the output signals are fester, scar, raindrop and intact green plum.

The detection accuracy rate of the green plums with the defect characteristic of ulceration is 100%, the detection accuracy rate of the green plums with the scar defect is 97.22%, the detection accuracy rate of the green plums with the defect characteristic of raindrop is 92.31%, and the detection accuracy rate of the intact green plums is 94.44%.

The scope of the present invention includes, but is not limited to, the above embodiments, and the present invention is defined by the appended claims, and any alterations, modifications, and improvements that may occur to those skilled in the art are all within the scope of the present invention.

Claims (10)

1. A green plum sorting production line comprises a working section I, a working section II, a working section III, a working section IV, a working section V and a working section VI, and is characterized in that: the first working section is a cleaning module, the second working section is a feeding module, the third working section is a drying module, the fourth working section is a blanking module, the fifth working section is a weighing module, and the sixth working section is a sorting module;

the cleaning module comprises a water tank, and an inclined plane is arranged in the water tank;

the feeding module comprises a feeding conveyor belt, the feeding conveyor belt is obliquely arranged, a plurality of feeding partition plates vertical to the moving direction of the feeding conveyor belt are uniformly arranged on the feeding conveyor belt, the bottom end of the feeding conveyor belt extends into the lower part of the oblique inclined plane in the water tank, and the top end of the feeding conveyor belt extends out of the water tank and extends to the blow-drying module;

the drying module comprises a sieve plate, the sieve plate is obliquely arranged, the middle-low end of the sieve plate extends to the blanking module, a plurality of water leakage holes are formed in the surface of the sieve plate, and a fan A and a fan B are arranged above the sieve plate; the upper surface of the sieve plate is provided with a guide groove which is communicated with the blanking module;

the blanking module comprises a rotary blanking device and a blanking conveyor belt, the guide groove is communicated with the rotary blanking device, the rotary blanking device is positioned above one end of the blanking conveyor belt, the other end of the blanking conveyor belt extends to the weighing module, and a plurality of grids are uniformly distributed on the blanking conveyor belt;

the weighing module comprises a plurality of weighing platforms, a weighing conveyor belt and a guide plate, the weighing conveyor belt is uniformly provided with the plurality of weighing platforms along the length direction of the weighing conveyor belt, the conveying direction of the blanking conveyor belt is vertical to the conveying direction of the weighing conveyor belt, one end of the weighing conveyor belt is provided with the guide plate, and the guide plate is positioned above one end of the sorting module;

the sorting module comprises a sorting conveyor belt, a camera, a first-stage sorting device, a left partition plate, a right partition plate, a left fruit receiving basket, a right fruit receiving basket, a second-stage sorting device, a plurality of grading partition plates and a plurality of rear fruit receiving baskets; the guide plate is positioned above the front end of the sorting conveyor belt; a left partition plate and a right partition plate are respectively arranged above the left side and the right side of the front end of the sorting conveyor belt, a left fruit receiving basket is arranged below one end of the left partition plate, and a right fruit receiving basket is arranged below one end of the right partition plate; the camera is located first order sorting unit's top, and first order sorting unit, second grade sorting unit and hierarchical baffle all are located the separation conveyer belt top, and first order sorting unit, second grade sorting unit and hierarchical baffle set gradually along the direction of transfer who selects separately the conveyer belt, and a plurality of hierarchical baffle parallel arrangement form hierarchical passageway in selecting separately conveyer belt other end top and between the adjacent hierarchical baffle, and the end of every hierarchical passageway all is equipped with the back and connects the fruit basket.

2. The green plum sorting line according to claim 1, wherein: a plurality of air holes are formed in the inclined plane in the water tank, the air holes are connected with an air pump through air pipes, the air pump is located outside the water tank, and the air pipes extend out of the water tank and are connected with the air pump outside the water tank;

the sieve plate and the horizontal plane form an included angle of 5 degrees, the fan A is parallel to the horizontal plane, and the fan B is parallel to the sieve plate.

3. The green plum sorting line according to claim 2, wherein: the rotary blanking device comprises a charging box, a circular blanking turntable and a motor;

the middle part of the charging box is provided with a circular groove for placing a blanking turntable, the motor is arranged in the middle part of the groove, an output shaft of the motor is connected with the middle part of the blanking turntable, and the motor is used for driving the blanking turntable to rotate in the groove of the charging box;

a plurality of rows of blanking holes are uniformly distributed on the upper surface of the blanking turntable at equal angles, a plurality of bulges I are uniformly distributed at equal angles, each row of blanking holes are distributed along the radial direction of the blanking turntable, a bulge I is arranged between every two adjacent rows of blanking holes, and the upper surface of the bulge I and the surface of the blanking turntable are arranged at a certain angle;

a plurality of discharge ports communicated with the groove are formed in the periphery of the charging box at equal angles, two quarter cylinders are symmetrically distributed in each discharge port along the radial direction, a concave discharge channel is formed between the two quarter cylinders, one end, close to the middle of the groove, of the discharge channel is higher than one end, close to the discharge ports, of the discharge channel, the discharge channel is communicated with the discharge ports, and the quarter cylinders and the discharge channel are both located in the groove;

the guide groove is communicated with the groove of the charging box, and one end of the guide groove extends to the upper part of the blanking turntable.

4. The green plum sorting line according to claim 3, wherein:

the middle part of the blanking turntable is also provided with a second bulge, the periphery of the second bulge and the upper surface of the blanking turntable form an obtuse angle, and the blanking hole and the first bulge are both positioned on the outer side of the second bulge;

the upper surface of the first bulge is of an inverted V shape, and the upper surface of the first bulge and the surface of the blanking turntable are arranged at an obtuse angle.

5. The green plum sorting line according to claim 4, wherein:

4 rows of blanking holes are uniformly distributed on the upper surface of the blanking turntable at equal angles, 4 bulges are uniformly distributed at equal angles, and each row of blanking holes is provided with 3 blanking holes; the charging box is provided with 3 discharge ports communicated with the groove at equal angles around, and the discharge ports are positioned above the discharging conveyor belt.

6. The green plum sorting line according to claim 5, wherein: the weighing platform comprises an object stage, movable blocks, a sleeve shaft, a spring and a force sensor, wherein the movable blocks are connected to two sides of the object stage, the bottom of each movable block is connected with the top of the sleeve shaft, the sleeve shaft is sleeved on the inner side of the sleeve and can slide up and down in the sleeve, the bottom of the sleeve is connected with the force sensor, the spring is located on the inner side of the sleeve, the top of the spring is connected with the bottom of the sleeve shaft, and the bottom of the spring is connected with the force sensor; a spherical pit is arranged in the middle of the upper surface of the objective table and used for loading fruits;

two force sensors in the weighing platforms are fixedly connected with the weighing conveyor belt.

7. The green plum sorting line according to claim 6, wherein:

the first-stage sorting device comprises four steering engines which are respectively a first steering engine, a second steering engine, a third steering engine and a fourth steering engine, wherein the first steering engine is connected with a first partition plate, the second steering engine is connected with a second partition plate, the third steering engine is connected with a third partition plate, the fourth steering engine is connected with a fourth partition plate, the second steering engine and the third steering engine are positioned between the first steering engine and the fourth steering engine, the opening directions of the first partition plate and the fourth partition plate are opposite to the movement direction of the sorting conveyor belt, the opening directions of the second partition plate and the third partition plate are the same as the movement direction of the sorting conveyor belt;

the second-stage sorting device comprises four steering engines which are respectively a fifth steering engine, a sixth steering engine, a seventh steering engine and an eighth steering engine, wherein the fifth steering engine is connected with a fifth partition plate, the sixth steering engine is connected with a sixth partition plate, the seventh steering engine is connected with a seventh partition plate, the eighth steering engine is connected with an eighth partition plate, the five fifth partition plate, the sixth partition plate, the seventh partition plate and the eighth partition plate have the same opening orientation as the moving direction of the sorting conveyor belt, five grading partition plates are respectively arranged above the tail end of the sorting conveyor belt, and the five grading partition plates divide the plane above the tail end of.

8. The green plum sorting line according to claim 7, wherein:

the first-stage sorting device further comprises a partition plate nine and a partition plate ten, the partition plate nine is located in front of the partition plate II, the partition plate ten is located in front of the partition plate III, and the partition plate nine and the partition plate ten are both located above the sorting conveyor belt;

the camera is electrically connected with a lower computer, the lower computer is electrically connected with control valves, a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine, a sixth steering engine, a seventh steering engine and an eighth steering engine in the two air blowing devices respectively, the lower computer is electrically connected with an upper computer, and the force sensor is electrically connected with the upper computer.

9. The green plum sorting method according to claim 8, wherein: the method comprises the following steps:

(1) the green plums enter a water tank of the cleaning module, and meanwhile, the air pump works to enable air holes in the inclined plane to spray air upwards to wash the green plums;

(2) the green plums fall onto a feeding conveyor belt of a feeding module from the inclined plane, and are conveyed onto a sieve plate of a blow-drying module through a feeding partition plate on the feeding conveyor belt;

(3) the fan A and the fan B above the sieve plate work, the fan A and the fan B blow the green plums on the sieve plate, and meanwhile, the green plums roll into the guide groove on the inclined sieve plate;

(4) the green plums are conveyed into a rotary blanking device of a blanking module by the guide groove, each green plum is blanked into different grids on a blanking conveying belt one by the rotary blanking device, the green plums in the grids are conveyed to a weighing platform of the weighing module by the blanking conveying belt, and one weighing platform weighs one green plum at a time;

(5) the weighing platform of the weighing module is driven by the weighing conveyor belt to move in sequence, so that green plums conveyed by the blanking conveyor belt are weighed in sequence; the force sensor in the weighing platform uploads the quality information of the green plums to an upper computer, and the upper computer records the quality information of each green plum;

(6) the weighing conveyer belt conveys the green plums on the weighing platform to a sorting conveyer belt in a sorting module; the camera collects and sorts green plum images on the conveying belt and sends the images to a lower computer;

(7) the lower computer obtains the quality information and the position information of each green plum by adopting an image processing method, and uploads the quality information and the position information of each green plum to the upper computer;

(8) the upper computer marks the quality information and the position information of the green plums as labels on each corresponding green plum with weight information;

(9) the upper computer transmits the quality information, the position information and the weight information of each green plum to the lower computer, and the lower computer controls a first steering engine or a fourth steering engine according to the position information of the lower part of the upper computer and the movement speed of the sorting conveyor belt, further controls the direction of the air blowing device, blows the green plum with defective quality information and blows the green plum into a left fruit receiving basket or a right fruit receiving basket on two sides of the sorting conveyor belt;

(10) the lower computer controls a second steering engine and a third steering engine according to the weight information of the green plums transferred by the upper computer, further controls the second partition plate and the third partition plate to respectively steer so as to adjust the conveying direction of the nondefective green plums on the sorting conveyor belt, and conveys the nondefective green plums into the second-stage sorting device under the driving of the sorting conveyor belt;

(11) the lower computer controls two adjacent steering engines in the second-stage sorting device to work according to the weight information of the green plums placed by the upper computer, and then controls certain two partition plates of the five partition plates, the six partition plates, the seven partition plates and the eight partition plates to turn and ensures that the directions of the two partition plates are consistent with the directions of the second partition plate and the third partition plate, the green plums pass through the two partition plates and enter a certain grading channel under the conveying of the sorting conveyor belt, and finally fall into a rear fruit receiving basket corresponding to the tail end of the grading channel.

10. The green plum sorting method according to claim 9, wherein:

the image processing method comprises the following steps:

(a) dividing a three-channel color image acquired by a camera into R, G, B single-channel monochromatic images, converting the three monochromatic images into HSV color space, and extracting green plums from an original image after S-channel component extraction, Gaussian filtering, feature extraction and division on the converted image;

(b) extracting a defect image from a single-channel gray image of the green plums by a threshold segmentation method according to the gray value difference of the surface defect characteristics of the green plums;

(c) extracting six characteristic parameters of the defect image: r, G, B color component values, defect roundness, squareness, and closeness;

(d) establishing a Gaussian mixture model according to six characteristic parameters of the defect image sample;

(e) inputting six characteristic parameters in the defect image to be detected into a Gaussian mixture model for matching, completing defect identification and classification, and further obtaining quality information of each green plum.