CN110584164B - Green plum sorting production line and sorting method - Google Patents

Abstract

The invention discloses a green plum sorting production line and a green plum sorting method, comprising 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, wherein 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 screen plate, and one end of the screen plate, which is lower than the screen plate, 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 tables and a weighing conveyor belt; the green plum sorting production line integrates green plums with the functions of cleaning, feeding, drying, discharging, weighing and sorting, so that green plums processed by the production line can be sorted according to quality and weight, and green plums with different quality and weight can be further 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

Green plums are also called smoked plums, belong to arbor, are native to China, and are one of special 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 organic acids with good quality such as citric acid, pyruvic acid, catechin and the like, and has a plurality of health care effects.

The value of green plums is not fully developed due to the lag in production mode, single processing variety and low comprehensive utilization rate. Therefore, the green plums need to be deeply processed to improve the value of the green plums.

In recent years, with the development of multispectral and hyperspectral technologies, the sorting and detection of fruit quality are also being studied continuously. For green plum processing, a complete intelligent processing production line is needed to solve the problems of large labor occupation, low efficiency and high cost in the existing green plum processing and sorting.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a green plum sorting production line and a green plum sorting method, which are integrated with cleaning, feeding, blow-drying, discharging, weighing and sorting, so that green plums processed by the production line can be sorted according to quality and weight, and green plums with different quality and weight can be further 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 invention adopts the following technical scheme:

the green plum sorting production line comprises a first section, a second section, a third section, a fourth section, a fifth section and a sixth section, wherein the first section is a cleaning module, the second section is a feeding module, the third section is a blow-drying module, the fourth section is a discharging module, the fifth section is a weighing module, and the sixth 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 perpendicular to the movement direction of the conveyor belt are uniformly arranged on the feeding conveyor belt, the bottom end of the feeding conveyor belt stretches into the lower part of an inclined plane in the water tank, and the top end of the feeding conveyor belt stretches out of the water tank and stretches to the blow-drying module;

the blow-drying module comprises a screen plate, the screen plate is obliquely arranged, one end of the screen plate, which is low in middle, extends to the blanking module, a plurality of water leakage holes are formed in the surface of the screen plate, and a fan A and a fan B are arranged above the screen 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 tables, a weighing conveyor belt and a guide plate, wherein the weighing conveyor belt is uniformly distributed with the plurality of weighing tables along the length direction of the weighing conveyor belt, the conveying direction of the blanking conveyor belt is perpendicular to that 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 fruit receiving baskets; the guide plate is positioned above the front end of the sorting conveyor belt; a left baffle and a right baffle 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 baffle, and a right fruit receiving basket is arranged below one end of the right baffle; the camera is located first order sorting unit's top, and first order sorting unit, second grade sorting unit and classifying partition board all are located and select separately the conveyer belt top, and first order sorting unit, second grade sorting unit and classifying partition board set gradually along the direction of transfer of selecting separately the conveyer belt, and a plurality of classifying partition boards parallel arrangement form the classifying channel in selecting separately conveyer belt other end top and between the adjacent classifying partition board, and the end of every classifying channel all is equipped with the fruit basket of consequence.

As a further improved technical scheme of the invention, a plurality of air holes are arranged on the inclined surface 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 so as to be connected with the air pump outside the water tank;

the sieve plate forms an included angle of 5 degrees with the horizontal plane, 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 round blanking turntable and a motor;

the middle part of the charging box is provided with a circular groove for placing the blanking turntable, the motor is installed 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 protrusions I are uniformly distributed on the upper surface of the blanking turntable at equal angles, the blanking holes in each row are uniformly distributed along the radial direction of the blanking turntable, the protrusions I are arranged between every two adjacent rows of blanking holes, and the upper surfaces of the protrusions I and the surface of the blanking turntable are arranged at a certain angle;

the four-way charging device is characterized in that a plurality of discharge holes communicated with the grooves are formed in the periphery of the charging box at equal angles, two quarter cylinders are symmetrically distributed in the inside of each discharge hole along the radial direction, a concave discharge channel is formed between the two quarter cylinders, one end of the discharge channel, which is close to the middle of the groove, is higher than one end, which is close to the discharge holes, of the discharge channel, the discharge channel is communicated with the discharge holes, and the quarter cylinders and the discharge channel are both positioned 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, a second bulge is arranged in the middle of the blanking turntable, 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.

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, and 4 protrusions are uniformly distributed on the upper surface of the blanking turntable at equal angles, wherein 3 blanking holes are arranged in each row; and 3 discharge holes communicated with the grooves are formed in the periphery of the charging box at equal angles, and the discharge holes are positioned above the discharging conveyor belt.

As a further improved technical scheme of the invention, the weighing platform comprises an objective table, a movable block, a sleeve shaft, a spring and a force sensor, wherein the two sides of the objective table are connected with the movable block, the bottom of the 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 is used for loading fruits;

Two force sensors in a plurality of weighing platforms are fixedly connected with the weighing conveyer belt.

As a further improved technical scheme of the invention, the first-stage sorting device comprises four steering gears, namely a steering gear I, a steering gear II, a steering gear III and a steering gear IV, wherein the steering gear I is connected with a baffle I, the steering gear II is connected with a baffle II, the steering gear III is connected with a baffle III, the steering gear IV is connected with a baffle IV, the steering gear II and the steering gear III are positioned between the steering gear I and the steering gear IV, the opening directions of the baffle I and the baffle IV are opposite to the movement direction of the sorting conveyor belt, the opening directions of the baffle II and the baffle III are the same as the movement direction of the sorting conveyor belt, and the baffle I and the baffle IV are connected with air blowing devices;

the second-stage sorting device comprises four steering gears, namely a steering gear five, a steering gear six, a steering gear seven and a steering gear eight, wherein the steering gear five is connected with a partition plate five, the steering gear six is connected with a partition plate six, the steering gear seven is connected with a partition plate seven, the steering gear eight is connected with a partition plate eight, the opening orientations of the partition plate five, the partition plate six, the partition plate seven and the partition plate eight are the same as the movement direction of the sorting conveyor belt, five sorting partition plates are respectively arranged above the tail end of the sorting conveyor belt, and the planes above the tail end of the sorting conveyor belt are equally divided by the five sorting partition plates to form four sorting channels.

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 a control valve, a steering engine I, a steering engine II, a steering engine III, a steering engine IV, a steering engine V, a steering engine VI, a steering engine seven and a steering engine eight 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 that:

the green plum sorting method comprises the following steps:

(1) Enabling green plums to enter a water tank of the cleaning module, and enabling an air pump to work at the same time, so that air holes on the inclined planes are upwards sprayed with air to flush the green plums;

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

(3) The fan A and the fan B work above the screen plate, the fan A and the fan B blow-dry green plums on the screen plate, and meanwhile, the green plums roll into the guide grooves on the inclined screen plate;

(4) The green plums are conveyed into a rotary blanking device of the blanking module through the guide groove, each green plum is fed into different grids on the blanking conveyor belt one by one through the rotary blanking device, the green plums in the grids are conveyed onto a weighing table of the weighing module through the blanking conveyor belt, and one green plum is weighed by one weighing table at a time;

(5) The weighing platforms of the weighing modules are driven by the weighing conveyor belt to sequentially move, so that green plums conveyed by the discharging conveyor belt are sequentially weighed; the force sensor in the weighing platform uploads the quality information of green plums to the upper computer, and the upper computer records the quality information of each green plum;

(6) The weighing conveyor belt conveys green plums on the weighing table to a sorting conveyor belt in the sorting module; the camera collects and sorts the green plum image on the conveyor belt and sends the image to the 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 the corresponding green plums 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 the steering engine I or the steering engine IV according to the position information and the movement speed of the sorting conveyor belt which are downwards placed by the upper computer, so as to control the direction of the air blowing device, and air-blows the green plums with defective quality information to blow the green plums to the left fruit receiving basket or the right fruit receiving basket at two sides of the sorting conveyor belt;

(10) The lower computer controls the steering engine II and the steering engine III according to the weight information of green plums which are put down by the upper computer, and further controls the baffle II and the baffle III to turn respectively so as to adjust the quality information to be the conveying direction of the green plums without defects on the sorting conveyor belt, and the green plums without defects are conveyed into the second sorting device under the driving of the sorting conveyor belt;

(11) The lower computer controls two adjacent steering engines to work in the second sorting device according to the weight information of green plums which are put down by the upper computer, and then controls two separators of the fifth separator, the sixth separator, the seventh separator and the eighth separator to turn and ensure that the directions of the two separators are consistent with the directions of the second separator and the third separator, and the green plums pass through the two separators and enter a certain sorting channel under the conveying of the sorting conveyor belt and finally fall into fruit receiving baskets corresponding to the tail ends of the sorting 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, extracting S-channel components of the converted image, gaussian filtering, extracting features, and extracting green plums from an original image after segmentation;

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

(c) Six characteristic parameters of the defect image are extracted: r, G, B color component value, defect roundness, rectangularity, and compactedness;

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

(e) Six characteristic parameters in the defect image to be detected are input into a Gaussian mixture model for matching, so that defect identification and classification are completed, and quality information of each green plum is obtained.

The beneficial effects of the invention are as follows:

(1) The green plum sorting production line integrates green plums with the functions of cleaning, feeding, drying, discharging, weighing and sorting, so that green plums processed by the production line can be sorted according to quality and weight, and green plums with different quality and weight can be further 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 have the density greater than that of water, and air flow is introduced into the air holes of the inclined surface of the water tank, so that the green plums can be rolled 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 blanked at a time, can ensure that only one green plum exists in one grid in the blanking conveyor belt, and is convenient for weighing and sorting the subsequent green plums one by one.

(4) The invention adopts the transmission type weighing module, so that a plurality of green plums can be accurately weighed at the same time; the weighing platforms are not affected; the green plum weighing speed is effectively improved; the weighing platform is arranged on the weighing conveyor belt, so that the weighing platform can continuously weigh with high efficiency.

(5) The sorting module can sort the green plums simultaneously in quality and quality, and sort the green plums in weight which can be processed deeply; the separation efficiency is high, the accuracy is high, and the labor cost is low; the method provides a separation basis for further carrying out fine and deep processing on the green plums, thereby improving the economic value of the green plums, and having important significance for the intellectualization of green plum enterprises and the sustainable development of the green plum industry.

Drawings

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

Fig. 2 is a schematic diagram of the overall structure of the second embodiment.

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

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

Fig. 5 is a schematic diagram of the construction of the first, second and third sections of the present embodiment.

Fig. 6 is a schematic structural view of a fourth section of the present embodiment.

Fig. 7 is an exploded view of a rotary blanking device in section four of the present embodiment.

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

Fig. 9 is a schematic structural view of the weighing station in the section five of the present embodiment.

Fig. 10 is a sectional view of the weighing station in section five of the present embodiment.

Fig. 11 is a schematic structural view of a sixth section of the present embodiment.

Fig. 12 is a top view of a sixth section of the present embodiment.

Fig. 13 is a working section six working state diagram of the present 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 section, a second section, a third section, a fourth section, a fifth section and a sixth section, wherein the first section is a cleaning module 1, the second section is a feeding module 2, the third section is a blow-drying module 3, the fourth section is a discharging module 4, the fifth section is a weighing module 5, and the sixth section is a sorting module 6.

Referring to fig. 5, the cleaning module 1 comprises a water tank, wherein an inclined plane 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 of the working section one, 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 each air hole 1-4 through a plurality of sub-air pipes.

Referring to fig. 5, the feeding module 2 includes a feeding conveyor belt 2-1, the feeding conveyor belt 2-1 is obliquely arranged, a plurality of feeding partition boards 2-2 perpendicular to the movement 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 portion of an inclined plane 1-3 in a water tank, and the top end extends out of the water tank and extends to a screen board 3-2 of the blow-drying module 3.

Referring to fig. 5, the blow-drying module 3 comprises a screen plate 3-2, the screen plate 3-2 is obliquely arranged (as shown in fig. 3), one end of the screen plate 3-2, which is lower than the screen plate, extends to the blanking module 4, a plurality of water leakage holes are formed in the surface of the screen plate 3-2, and a fan A3-1 and a fan B3-3 are arranged above the screen plate 3-2; the upper surface of the screen 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 screen 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 screen plate 3-2.

Referring to fig. 6, the blanking module 4 includes 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 located 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 discharging device includes a charging box 4-2, a circular discharging 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 discharging turntable 4-1, a motor (not shown in the figure) is installed in the middle part of the groove 4-2-1, an output shaft of the motor is connected with the middle part of the discharging turntable 4-1, and the motor is used for driving the discharging turntable 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, a plurality of protrusions one 4-1-1 are uniformly distributed at equal angles, each row of blanking holes 4-1-2 are uniformly distributed along the radial direction of the blanking turntable 4-1, protrusions one 4-1-1 are arranged between every two adjacent rows of blanking holes 4-1-2, and the upper surface of each protrusion one 4-1-1 is arranged at a certain angle with the surface of the blanking turntable 4-1. The four-side equal angle of the charging box 4-2 is provided with a plurality of discharging holes 4-2-3 communicated with the grooves 4-2-1, two quarter cylinders 4-2-2 are symmetrically distributed in the discharging holes 4-2-3 along the radial direction, a concave discharging channel 4-2-4 is formed between the two quarter cylinders 4-2-2, one end of the discharging channel 4-2-4 close to the middle of the groove 4-2-1 is higher than one end close to the discharging holes 4-2-3, the discharging channel 4-2-4 is communicated with the discharging holes 4-2-3, and the quarter cylinders 4-2-2 and the discharging channel 4-2-4 are located in the groove 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 are not clamped by the two quarter cylinders 4-2-2 because the green plums clamped by the two quarter cylinders 4-2-2 cannot roll), and the discharging channel 4-2-4 is higher near the center of the circle and lower near 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, a second protrusion 4-1-3 is further arranged in the middle of the blanking turntable 4-1, an obtuse angle is formed between the periphery of the second protrusion 4-1-3 and 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 on the outer side of the second protrusion 4-1-3; the upper surface of the first bulge 4-1-1 is of 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 at 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 4-1-1 are uniformly distributed at equal angles, and 3 blanking holes 4-1-2 are distributed in each row; and 3 discharge ports 4-2-3 communicated with the grooves 4-2-1 are formed in the periphery of the charging box 4-2 at equal angles, and the discharge ports 4-2-3 are positioned above the discharging conveyor belt 4-3.

Referring to fig. 8, the weighing module 5 includes a plurality of weighing tables 5-2, a weighing conveyor 5-3 and a guide plate 5-1, the weighing conveyor 5-3 is uniformly distributed with the plurality of weighing tables 5-2 along its length direction, the conveying direction of the discharging conveyor 4-3 is perpendicular to the conveying direction of the weighing conveyor 5-3, one end of the weighing conveyor 5-3 is provided with the guide plate 5-1, and the guide plate 5-1 is located above one end of the sorting module 6.

Referring to fig. 9 and 10, the weighing table 5-2 includes 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 both sides of the object stage 5-2-1 are connected with the movable block 5-2-3, 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 inside the sleeve 5-2-4 and can slide up and down inside the sleeve 5-2-4, the bottom of the sleeve 5-2-4 is connected with the force sensor 5-2-5, the spring 5-2-7 is positioned inside 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; the middle part of the upper surface of the objective table 5-2-1 is provided with a spherical pit 5-2-2, 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 the weighing conveyer belt 5-3. The force sensor 5-2-5 is connected with an upper computer.

When the weighing module 5 of the embodiment works, a plurality of green plums enter the object stages 5-2-1 of different weighing platforms 5-2 from one side with the force sensors 5-2-5 at the same time during weighing, the object stages 5-2-1 are planes with spherical pits 5-2-2 in the middle, and the green plums are positioned in the spherical pits 5-2-2 during weighing. Before each weighing, the values of the two force sensors 5-2-5 of the weighing platform 5-2 are cleared (the weights of the objective table 5-2-1, the movable block 5-2-3, the sleeve shaft 5-2-6 and the springs 5-2-7 are cleared), when green plums fall on the spherical pits 5-2-2, the sleeve shaft 5-2-6 presses the springs 5-2-7 under the action of gravity, the springs 5-2-7 press the force sensors 5-2-5, when the springs 5-2-7 are stable, the force sensors 5-2-5 feed back to an upper computer, and the sum of the readings of the force sensors 5-2-5 on the two sides of one objective table 5-2-1 is the weight of the green plums. The weighed green plums are transported along the weighing conveyer 5-3 and finally enter the sixth process along the guide 5-1.

Referring to fig. 11 and 12, the sorting module 6 includes a sorting conveyor 6-24, a camera 6-11, a first stage sorting device, a left partition 6-13, a right partition 6-10, a left fruit receiving basket 6-12, a right fruit receiving basket 6-9, a second stage sorting device, a plurality of stage partitions 6-22, and a plurality of 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 baffle plate 6-13 and a right baffle plate 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 baffle plate 6-13, and a right fruit receiving basket 6-9 is arranged below one end of the right baffle plate 6-10; the camera 6-11 is located the top of first order sorting unit, and first order sorting unit, second grade sorting unit and classifying screen 6-22 all are located separation conveyer belt 6-24 top, and first order sorting unit, second grade sorting unit and classifying screen 6-22 set gradually along the direction of transfer of separation conveyer belt 6-24, and a plurality of classifying screen 6-22 parallel arrangement are in separation conveyer belt 6-24 other end top and form classifying channel 6-25 between the adjacent classifying screen 6-22, and the end of every classifying channel 6-25 all is equipped with the fruit basket 6-23 that connects.

The first-stage sorting device comprises four first-stage steering gears 6-6, see FIG. 12, namely steering gears I6-6-1, steering gears II 6-6-2, steering gears III 6-6-3 and steering gears IV 6-6-4, wherein the steering gears I6-6-1 are connected with a first baffle plate 6-4, the steering gears II 6-6-2 are connected with a second baffle plate 6-2, the steering gears III 6-6-3 are connected with a third baffle plate 6-3, the steering gears IV 6-6-4 are connected with a fourth baffle plate 6-5, the second baffle plate 6-2 and the third baffle plate 6-6-3 are positioned between the steering gears I6-1 and the fourth baffle plate 6-6-4, the opening directions of the first baffle plate 6-4 and the fourth baffle plate 6-5 are opposite to the movement direction of the sorting conveyor belt 6-24, the opening directions of the first baffle plate 6-2 and the third baffle plate 6-3 are identical to the movement direction of the sorting conveyor belt 6-24, and the first baffle plate 6-4 and the fourth baffle plate 6-5 are connected with air blowing devices (comprising air blowing devices I6-14 and II 7).

The second-stage sorting device comprises four second-stage steering gears 6-1, referring to FIG. 12, which are respectively a steering gear five 6-1-1, a steering gear six 6-1-2, a steering gear seven 6-1-3 and a steering gear eight 6-1-4, wherein the steering gear five 6-1-1 is connected with a baffle five 6-18, the steering gear six 6-1-2 is connected with a baffle six 6-19, the steering gear seven 6-1-3 is connected with a baffle seven 6-20, the steering gear eight 6-1-4 is connected with a baffle eight 6-21, and the opening orientations of the baffle five 6-18, the baffle six 6-19, the baffle seven 6-20 and the baffle eight 6-21 are the same as the movement direction of the sorting conveyor belt 6-24. As shown in fig. 11, five classifying partitions 6-22 are respectively provided above the ends of the classifying conveyor belt 6-24, and the classifying partitions 6-22 divide the plane above the ends of the classifying conveyor belt 6-24 into four equal parts to form four classifying channels 6-25.

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

The steering engine I6-6-1, the steering engine II 6-6-2, the steering engine III 6-6-3 and the steering engine IV 6-6-4 of the first-stage sorting device are all connected to the horizontal support plate I6-16, and the camera 6-11, the horizontal support plate I6-16, the left partition plate 6-13 and the right partition plate 6-10 are all supported above the sorting conveyor belt 6-24 through brackets (not shown in the figure). The steering engine five 6-1-1, the steering engine six 6-1-2, the steering engine seven 6-1-3 and the steering engine eight 6-1-4 of the second-stage sorting device are all connected to the horizontal support plate two 6-17, and the horizontal support plate two 6-17 and the five sorting partition plates 6-22 are all supported above the sorting conveyor belt 6-24 through brackets (not shown in the figure).

The camera 6-11 is electrically connected with a lower computer, the lower computer is electrically connected with a control valve, a steering engine I6-6-1, a steering engine II 6-2, a steering engine III 6-6-3, a steering engine IV 6-6-4, a steering engine V6-1-1, a steering engine VI 6-1-2, a steering engine V6-1-3 and a steering engine V6-1-4 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 action of a control valve in the air blowing device, thereby controlling the work of the air blowing device.

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

The 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 placed at a certain angle with the horizontal plane, feeding baffle plates 2-2 perpendicular to the movement 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 baffle plates 2-2 (most of water leaks out along a gap of the feeding conveyor belt 2-1), along with the upward movement of the feeding conveyor belt 2-1 together, the green plums fall on 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, 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 forms an included angle of 5 degrees with the horizontal plane, the green plums falling on the working section 3-2 can roll along the inclined direction, two fans (a fan A3-1 and a fan 3-3 are arranged right above the working section 3-2, and when the green plums are blown dry by the fan B3-3. The fan A3-1 is parallel to the horizontal plane, and can blow green plums along the inclined direction of the screen plate while drying the moisture on the surfaces of the green plums, so that the green plums are prevented from accumulating, and the fan B3-3 is arranged parallel to the screen plate 3-2, so that the purpose of further drying the residual moisture on the surfaces of the green plums is achieved;

Green plums blown by the section III blow-drying module 3 enter a blanking turntable 4-1 of a rotary blanking device of the section IV blanking module 4 along a guide groove 3-6 on the screen plate 3-2. When the rotary blanking device works, when a row of blanking holes 4-1-2 are positioned right above the discharging channels 4-2-4, three green plums fall from the three blanking holes 4-1-2 (if a row of blanking holes 4-1-2 are positioned above a certain discharging channel 4-2-4 but not right above the discharging channel 4-2, at the moment, if green plums fall into the blanking holes 4-1-2, the green plums cannot fall into the discharging channels 4-2-4 and are supported by a quarter cylinder 4-2-2, and are propped against the surface of the discharging turntable 4-1 or fall from the discharging channels 4-2-4 along with the rotation of the discharging turntable 4-1), and only 1 green plum is rolled out from the discharging channels 4-2-3 at the same time along the discharging ports 4-2-3. The blanking conveyor belt 4-3 is uniformly provided with grids 4-3-1, 3 green plums coming out from the discharge holes 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 consists 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 simultaneously at one time, the weighed green plums fall onto the sorting conveyor belt 6-24 of the workshop section six sorting module 6, and the green plums are classified into four types of perfect green plums, rain spots, festers and scars according to the defect characteristics of the green plums, wherein perfect green plums and green plums with rain spots are regarded as green plums which can be processed finely (namely, all green plums which are regarded as non-defective and can be processed finely), and festers and scars are regarded as green plums which are defective and need to be removed, so the green plums are classified into quality and weight aspects. The sorting module 6 is provided with two-stage sorting, and the first-stage sorting device sorts the quality, and is divided into three types of ulceration, scars and deep processing (including rain spots and perfect green plums); the second-stage sorting device sorts the weight of the dark plum which can be finely and deeply processed and divides the dark plum into four weight intervals. The first-stage sorting device consists of four partition boards controlled by a first-stage steering engine 6-6, openings of a second partition board 6-2 and a third partition board 6-3 in the middle face opposite to openings of a first partition board 6-4 and a fourth partition board 6-5 on two sides, and an air blowing device is respectively arranged on the first partition board 6-4 and the fourth partition board 6-5 on two sides; the second-stage sorting device consists of four separation plates controlled by a second-stage steering engine 6-1, openings of the four separation plates (a separation plate five 6-18, a separation plate six 6-19, a separation plate seven 6-20 and a separation plate eight 6-21) face the direction of simultaneously moving along a sorting conveyor belt 6-24, a sorting separation plate 6-22 is arranged at the tail end of the sorting conveyor belt 6-24 (the tail end of the sorting conveyor belt 6-24 is divided into four parts in a plane at the tail end, and four fruit receiving baskets 6-23 are arranged at the tail end of the sorting separation plate 6-22. On the other side of the sorting conveyor 6-24 is mounted a camera 6-11 (for taking pictures of green plums for quality detection). When working section six works, green plums enter from a conveyor belt at one side provided with a camera 6-11 according to a weighing sequence, the camera 6-11 shoots green plums in real time and sends images to a lower computer, the lower computer adopts an image processing method to detect quality, an air blowing device (an air blowing device I6-14 or an air blowing device II 6-7) arranged on a partition plate I6-4 or a partition plate II 6-5 at two sides of a first-stage sorting device respectively blows the detected green plums with fester and scars (namely, green plums with defects 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 along a partition plate nine 6-13 or a partition plate ten 6-10 which are mutually angled on the sorting conveyor belt 6-24, and meanwhile, a partition plate II 6-2 and a partition plate III 6-3 in the middle of the first-stage sorting device are turned to one of four quality intervals corresponding to the second-stage sorting device (shown in figure 13), and the second-stage sorting device turns two partition plates closest to the weight interval (such as partition plates 6-20 and seven in figure 13-21). Whereby the green plums of this weight are fed into the classification passages 6-25 between the corresponding classification partitions 6-22 and fall into the fruit basket 6-23 corresponding to the ends of the classification partitions 6-22. In the embodiment, the weight of green plums is divided into four ranges, the weights of the four different ranges correspond to different fruit receiving baskets 6-23, and a lower computer controls corresponding steering engines to work through the weight information of the green plums, so that the green plums are conveyed into the fruit receiving baskets 6-23 in the corresponding weight intervals.

The structures of the respective conveyor belts (the feeding conveyor belt 2-1, the discharging conveyor belt 4-3, the weighing conveyor belt 5-3, and the sorting conveyor belt 6-24) in this embodiment are all conventional conveyor belt structures in the prior art, and will not be described here. The screen 3-2, fans A3-1, fans B3-3 in section three may all be supported by brackets (not shown).

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

(1) Enabling green plums to enter a water tank of the cleaning module 1, and enabling an air pump 1-5 to work, so that air holes 1-4 on the inclined planes 1-3 are upwards sprayed to flush the green plums;

(2) 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 screen plate 3-2 of a blow-drying module 3 through a feeding baffle plate 2-2 on the feeding conveyor belt 2-1;

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

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

(5) The weighing table 5-2 of the weighing module 5 is driven by the weighing conveyor belt 5-3 to sequentially move, so that green plums conveyed by the discharging conveyor belt 4-3 are sequentially weighed; the force sensor 5-2-5 in the weighing platform 5-2 uploads the quality information of green plums to the 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 the storage space of the upper computer;

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

(7) The lower computer obtains the quality information (namely a defect recognition 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 plums in the image is the prior art and is not specifically described herein), and the quality information and the position information of each green plum are uploaded to the upper computer;

(8) The upper computer marks the quality information and the position information of the green plums as labels on the corresponding green plums 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 steering engine I6-6-1 or a steering engine II 6-6-4 according to the position information which is lowered by the upper computer and the movement speed of a sorting conveyor belt 6-24, so as to control the direction of an air-blowing device (the direction is selected as the optimal position which is selected by two air-blowing devices according to the position information of the green plums which need to be air-blown), and air-blows the green plums with the defective quality information (namely the green plums with festers and scars) (the two air-blowing devices do not work at the same time, so that interference is prevented from being generated), and blows the green plums to a left fruit receiving basket 6-12 or a right fruit receiving basket 6-9 on two sides of the conveyor belt;

(10) The lower computer controls the steering engine II 6-6-2 and the steering engine III 6-6-3 according to the weight information of the green plums which are put down by the upper computer, and further controls the steering of the baffle II 6-2 and the baffle III 6-3 respectively so as to adjust the conveying direction of the green plums with quality information of no defects (namely the green plums which can be processed deeply) on the sorting conveyor belt 6-24, and the green plums with no defects are conveyed into the second sorting device under the driving of the sorting conveyor belt 6-24;

(11) The lower computer controls two adjacent steering engines in the second sorting device to work according to the weight information of green plums put down by the upper computer, and then controls the rotation of certain two of the five clapboards 6-18, the six clapboards 6-19, the seven clapboards 6-20 and the eight clapboards 6-21 and ensures that the directions of the two clapboards are consistent with the directions of the two clapboards 6-2 and the three clapboards 6-3 (as shown in figure 13), and the green plums pass through the two clapboards and enter a certain sorting channel 6-25 under the conveying of the sorting conveyor belt 6-24 and finally fall into a 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 the three-channel color image acquired by the cameras 6-11 into R, G, B single-channel monochromatic images, converting the three monochromatic images into HSV color space, extracting S-channel components, gaussian filtering, extracting features and dividing the converted image, and extracting green plums from the original image;

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

(c) Six characteristic parameters of the defect image are extracted: r, G, B color component value, defect roundness, rectangularity, and compactedness;

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

(e) Six characteristic parameters in the defect image to be detected are input into a Gaussian mixture model for matching, so that defect identification and classification are completed, and quality information (including fester, scars and deep processing) of each green plum is obtained.

According to the surface defect characteristics of green plums, the green plums can be classified into festers, scars and the like. The maximum difference between the defect part and the normal surface is that the surface color is different, the defect part is mostly brown or even black, the gray value of the defect part can be deduced to be lower, the gray value of the normal surface is higher, and the defect is extracted from the single-channel gray image through threshold segmentation by utilizing the difference.

In this embodiment, after performing operations such as channel decomposition and gray level binarization on the green plum image, it is found that after the image of six color channels (R, G, B, H, S, V) of the green plum fruit is thresholded, because the shape, size, color and other features of each defect are different, it is difficult to extract the defect from the thresholded image by adopting a uniform extraction standard, which complicates the green plum defect detection work.

In the embodiment, the edge detection method is adopted to detect the edge of the green plum fruit and expand several 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 green plums containing festers and scars by adopting an edge method, wherein the area of the fester defect is larger, and the proportion of the fester defect to the total area of fruits is larger; the rain spots are mostly spots (the green plums with rain spots detected in this example are also regarded as deep-processable green plums), and the number of isolated spots is large and the occupied area is small. In addition, the color of the fruit corresponding to the fester, the scar and the rain spot is different from the color of the fruit corresponding to the color map.

The Gaussian Mixture Model (GMM) classification process is: the following 6 features are extracted to build the gaussian mixture model in this embodiment. By comparing three defects of green plum fruits, the color of the pericarp corresponding to each defect is different, and the shape, the size and the characteristics are also different, so that six characteristic parameters of R, G, B color component values, defect roundness, rectangle degree and compactness of the green plum fruits are determined to be adopted as input signals of a Gaussian mixture model, and output signals are 'fester', 'scars', 'rain spots' and 'good' green plums.

The detection accuracy of the green plums with the defect of ulceration is 100%, the detection accuracy of the green plums with the scar defects is 97.22%, the detection accuracy of the green plums with the defect of rain spots is 92.31%, and the detection accuracy of the intact green plums is 94.44%.

The scope of the present invention includes, but is not limited to, the above embodiments, and any alterations, modifications, and improvements made by those skilled in the art are intended to fall within the scope of the invention.

Claims (7)

1. The green plum sorting production line comprises a first section, a second section, a third section, a fourth section, a fifth section and a sixth section, 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 blow-drying module, the fourth working section is a discharging 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 perpendicular to the movement direction of the feeding conveyor belt are uniformly arranged on the feeding conveyor belt, the bottom end of the feeding conveyor belt stretches into the lower part of an inclined slope in the water tank, and the top end of the feeding conveyor belt stretches out of the water tank and stretches to the blow-drying module;

The blow-drying module comprises a screen plate, the screen plate is obliquely arranged, one end of the screen plate, which is low in middle, extends to the blanking module, a plurality of water leakage holes are formed in the surface of the screen plate, and a fan A and a fan B are arranged above the screen 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 tables, a weighing conveyor belt and a guide plate, wherein the weighing conveyor belt is uniformly distributed with the plurality of weighing tables along the length direction of the weighing conveyor belt, the conveying direction of the blanking conveyor belt is perpendicular to that 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 fruit receiving baskets; the guide plate is positioned above the front end of the sorting conveyor belt; a left baffle and a right baffle 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 baffle, and a right fruit receiving basket is arranged below one end of the right baffle; the camera is positioned above the first-stage sorting device, the second-stage sorting device and the classifying partition plates are all positioned above the sorting conveyor belt, the first-stage sorting device, the second-stage sorting device and the classifying partition plates are sequentially arranged along the conveying direction of the sorting conveyor belt, the classifying partition plates are arranged above the other end of the sorting conveyor belt in parallel and form classifying channels between the adjacent classifying partition plates, and the tail end of each classifying channel is provided with a fruit receiving basket;

The rotary blanking device comprises a charging box, a round blanking turntable and a motor;

the middle part of the charging box is provided with a circular groove for placing the blanking turntable, the motor is installed 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 protrusions I are uniformly distributed on the upper surface of the blanking turntable at equal angles, the blanking holes in each row are uniformly distributed along the radial direction of the blanking turntable, the protrusions I are arranged between every two adjacent rows of blanking holes, and the upper surfaces of the protrusions I and the surface of the blanking turntable are arranged at a certain angle;

the four-way charging device is characterized in that a plurality of discharge holes communicated with the grooves are formed in the periphery of the charging box at equal angles, two quarter cylinders are symmetrically distributed in the inside of each discharge hole along the radial direction, a concave discharge channel is formed between the two quarter cylinders, one end of the discharge channel, which is close to the middle of the groove, is higher than one end, which is close to the discharge holes, of the discharge channel, the discharge channel is communicated with the discharge holes, and the quarter cylinders and the discharge channel are both positioned 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;

The middle part of the blanking turntable is also provided with a second bulge, the periphery of the second bulge is arranged at an obtuse angle with the upper surface of the blanking turntable, 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;

4 rows of blanking holes are uniformly distributed on the upper surface of the blanking turntable at equal angles, and 4 protrusions I are uniformly distributed on the upper surface of the blanking turntable at equal angles, wherein 3 blanking holes are arranged in each row; and 3 discharge holes communicated with the grooves are formed in the periphery of the charging box at equal angles, and the discharge holes are positioned above the discharging conveyor belt.

2. The green plum sorting production line according to claim 1, wherein: a plurality of air holes are formed in the inclined surface 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 forms an included angle of 5 degrees with the horizontal plane, the fan A is parallel to the horizontal plane, and the fan B is parallel to the sieve plate.

3. The green plum sorting production line according to claim 1, wherein: the weighing platform comprises an objective table, movable blocks, a sleeve shaft, a spring and a force sensor, wherein the movable blocks are connected to two sides of the objective table, the bottom of the movable block is connected with the top of the sleeve shaft, the sleeve 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 is used for loading fruits;

Two force sensors in a plurality of weighing platforms are fixedly connected with the weighing conveyer belt.

4. A green plum sorting line according to claim 3, characterized in that:

the first-stage sorting device comprises four steering gears, namely a first steering gear, a second steering gear, a third steering gear and a fourth steering gear, wherein the first steering gear is connected with a first baffle, the second steering gear is connected with a second baffle, the third steering gear is connected with a third baffle, the fourth steering gear is connected with a fourth baffle, the second steering gear and the third steering gear are positioned between the first steering gear and the fourth steering gear, the opening directions of the first baffle and the fourth baffle are opposite to the movement direction of the sorting conveyor belt, the opening directions of the second baffle and the third baffle are the same as the movement direction of the sorting conveyor belt, and the first baffle and the fourth baffle are connected with an air blowing device;

the second-stage sorting device comprises four steering gears, namely a steering gear five, a steering gear six, a steering gear seven and a steering gear eight, wherein the steering gear five is connected with a partition plate five, the steering gear six is connected with a partition plate six, the steering gear seven is connected with a partition plate seven, the steering gear eight is connected with a partition plate eight, the opening orientations of the partition plate five, the partition plate six, the partition plate seven and the partition plate eight are the same as the movement direction of the sorting conveyor belt, five sorting partition plates are respectively arranged above the tail end of the sorting conveyor belt, and the planes above the tail end of the sorting conveyor belt are equally divided by the five sorting partition plates to form four sorting channels.

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

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 two, the partition plate ten is positioned in front of the partition plate three, 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 a control valve, a steering engine I, a steering engine II, a steering engine III, a steering engine IV, a steering engine V, a steering engine VI, a steering engine seven and a steering engine eight 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.

6. A green plum sorting method is characterized in that: the green plum sorting production line according to claim 5, the green plum sorting method comprising the steps of:

(1) Enabling green plums to enter a water tank of the cleaning module, and enabling an air pump to work at the same time, so that air holes on the inclined planes are upwards sprayed with air to flush the green plums;

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

(3) The fan A and the fan B work above the screen plate, the fan A and the fan B blow-dry green plums on the screen plate, and meanwhile, the green plums roll into the guide grooves on the inclined screen plate;

(4) The green plums are conveyed into a rotary blanking device of the blanking module through the guide groove, each green plum is fed into different grids on the blanking conveyor belt one by one through the rotary blanking device, the green plums in the grids are conveyed onto a weighing table of the weighing module through the blanking conveyor belt, and one green plum is weighed by one weighing table at a time;

(5) The weighing platforms of the weighing modules are driven by the weighing conveyor belt to sequentially move, so that green plums conveyed by the discharging conveyor belt are sequentially weighed; the force sensor in the weighing platform uploads the quality information of green plums to the upper computer, and the upper computer records the quality information of each green plum;

(6) The weighing conveyor belt conveys green plums on the weighing table to a sorting conveyor belt in the sorting module; the camera collects and sorts the green plum image on the conveyor belt and sends the image to the 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 the corresponding green plums 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 the steering engine I or the steering engine IV according to the position information and the movement speed of the sorting conveyor belt which are downwards placed by the upper computer, so as to control the direction of the air blowing device, and air-blows the green plums with defective quality information to blow the green plums to the left fruit receiving basket or the right fruit receiving basket at two sides of the sorting conveyor belt;

(10) The lower computer controls the steering engine II and the steering engine III according to the weight information of green plums which are put down by the upper computer, and further controls the baffle II and the baffle III to turn respectively so as to adjust the quality information to be the conveying direction of the green plums without defects on the sorting conveyor belt, and the green plums without defects are conveyed into the second sorting device under the driving of the sorting conveyor belt;

(11) The lower computer controls two adjacent steering engines to work in the second sorting device according to the weight information of green plums which are put down by the upper computer, and then controls two separators of the fifth separator, the sixth separator, the seventh separator and the eighth separator to turn and ensure that the directions of the two separators are consistent with the directions of the second separator and the third separator, and the green plums pass through the two separators and enter a certain sorting channel under the conveying of the sorting conveyor belt and finally fall into fruit receiving baskets corresponding to the tail ends of the sorting channel.

7. The green plum sorting method according to claim 6, 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, extracting S-channel components of the converted image, gaussian filtering, extracting features, and extracting green plums from an original image after segmentation;

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

(c) Six characteristic parameters of the defect image are extracted: r, G, B color component value, defect roundness, rectangularity, and compactedness;

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

(e) Six characteristic parameters in the defect image to be detected are input into a Gaussian mixture model for matching, so that defect identification and classification are completed, and quality information of each green plum is obtained.