CN111014071A - Intelligent sorting system and method - Google Patents
Intelligent sorting system and method Download PDFInfo
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- CN111014071A CN111014071A CN201911379128.2A CN201911379128A CN111014071A CN 111014071 A CN111014071 A CN 111014071A CN 201911379128 A CN201911379128 A CN 201911379128A CN 111014071 A CN111014071 A CN 111014071A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
- B07C5/28—Sorting according to weight using electrical control means
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N2015/008—Sorting of fruit and vegetables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
Abstract
The invention provides an intelligent sorting system, which comprises a warehousing device and a screening device, wherein the screening device comprises a primary sorting device and a fine sorting device, the primary sorting device is used for acquiring weight data of fruits to be sorted, and primary sorting processing is carried out on the fruits to be sorted according to preset sorting conditions and the weight data to acquire primary sorted fruits; the selection device comprises a plurality of selection channels, the selection channels correspond to the primarily selected fruits one by one, and the selection device is used for: receiving the primarily selected fruits according to the plurality of fine selection channels, and acquiring photo information of the primarily selected fruits; and carrying out secondary classification treatment on the primarily selected fruits according to a preset database and the photo information to obtain carefully selected fruits. The fruit sorting device improves the efficiency and the accuracy of fruit sorting.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to an intelligent sorting system and method.
Background
Fruits are essential food in our lives, and are extremely important to the health of people. In the processing process of fruits, after basic procedures such as picking, cleaning, waxing and the like, classification and boxing are often carried out at last, the current fruit classification still mainly adopts a manual mode, and the problem of low efficiency of the mode is particularly prominent. The society is accelerated everywhere, and higher efficiency requirement is put forward to every trade, along with people to the fruit demand more and more, the quality also needs more and more, needs gradually to change into to high-efficient automatic classification age.
Although the efficiency of classification has been improved to a certain extent in the current automatic fruit mechanical classification, the problem that this type of machinery ubiquitous separation precision is low.
Disclosure of Invention
The invention provides an intelligent sorting system and method, which can automatically sort fruits and have higher sorting accuracy.
In a first aspect of the embodiments of the present invention, an intelligent sorting system is provided, which includes a warehousing device and a screening device, where the screening device includes a primary sorting device and a fine sorting device, where:
the primary selection device is used for acquiring weight data of fruits to be sorted, and performing primary classification processing on the fruits to be sorted according to preset sorting conditions and the weight data to acquire primary selected fruits;
the selection device comprises a plurality of selection channels, the selection channels correspond to the primarily selected fruits one by one, and the selection device is used for:
receiving the primarily selected fruits according to the plurality of fine selection channels, and acquiring photo information of the primarily selected fruits;
and carrying out secondary classification treatment on the primarily selected fruits according to a preset database and the photo information to obtain carefully selected fruits.
Optionally, the primary selected fruits include a first type of fruits, a second type of fruits and a third type of fruits;
correspondingly, the plurality of fine selection channels comprise a first type of channel, a second type of channel and a third type of channel, wherein the first type of channel, the second type of channel and the third type of channel correspond to the first type of fruit, the second type of fruit and the third type of fruit one to one.
Optionally, the refining device includes a shooting module and a refining pushing module;
the shooting module is used for acquiring the photo information of the primarily selected fruits;
and the carefully-selected pushing module is used for carrying out secondary classification processing on the primarily-selected fruits according to the preset database and the photo information to obtain the carefully-selected fruits.
Optionally, the photographing module includes a sensor module and a photographing module;
the sensor module is used for acquiring a trigger signal;
and the photographing module is used for acquiring the photo information of the primarily selected fruits according to the trigger signal.
Optionally, the shooting module includes a first type shooting module, a second type shooting module, and a third type shooting module, where the first type shooting module, the second type shooting module, and the third type shooting module are respectively disposed on the first type channel, the second type channel, and the third type channel.
Optionally, the fine selection pushing module comprises an identification module and a fine sorting module;
the identification module is used for acquiring the accurate classification data of the fruits according to the preset database and the photo information;
and the fine sorting module is used for acquiring the classification signals according to the accurate classification data and carrying out secondary classification processing on the primarily selected fruits according to the classification signals to acquire the carefully selected fruits.
Optionally, the fine-selection pushing module further comprises a discharging module;
and the unloading module is used for responding to the classification signal to carry out secondary classification processing on the primarily selected fruits to obtain the carefully selected fruits.
Optionally, the preset database includes a plurality of sub-databases respectively corresponding to the first type shooting module, the second type shooting module, and the third type shooting module;
the fine selection pushing module is used for:
determining the sub database according to the photo information;
and carrying out secondary classification processing on the primarily selected fruits according to the sub-database and the photo information to obtain the carefully selected fruits.
Optionally, the primary selection device includes a weighing module and a primary selection pushing module;
the weighing module is used for acquiring the weight data of the fruits to be sorted;
and the primary selection pushing module is used for pushing the fruits to be sorted to the corresponding first type channel, the second type channel or the third type channel according to the weight data.
In a second aspect of the embodiments of the present invention, an intelligent sorting method is provided, including:
acquiring weight data of fruits to be sorted, and performing primary sorting treatment on the fruits to be sorted according to preset sorting conditions and the weight data to acquire primary sorted fruits;
receiving the primarily selected fruits according to a plurality of fine selection channels, and acquiring photo information of the primarily selected fruits;
and carrying out secondary classification treatment on the primarily selected fruits according to a preset database and the photo information to obtain carefully selected fruits.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of an intelligent sorting system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a primary selection device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a beneficiation apparatus according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of an intelligent sorting method according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The embodiment of the invention provides an intelligent sorting system, and reference is made to fig. 1, which is a schematic structural diagram of the intelligent sorting system provided by the embodiment of the invention, and the system comprises a warehousing device 30 and a screening device, wherein the screening device comprises a primary selection device 10 and a fine selection device 20, and the warehousing device 30 and the screening device are connected end to end. It will be appreciated that the warehousing device 30 may be an area of aggregation before the fruit enters the screening device, i.e., the fruit may be transported by the warehousing device 30 into the screening device for sorting. This scheme adopts primary election device 10 and choice device 20 to carry out twice classification to fruit, when can improving the categorised accuracy of fruit, can improve the categorised efficiency of fruit.
The warehousing device 30 may be, for example, a conveying device, such as a conveyor belt, for transporting the fruits from the warehouse to the screening device for sorting. It will be appreciated that as the warehousing device 30 transports the fruit to the screening device, the various fruits are mixed together.
After entering the screening device by the warehousing device 30, a plurality of fruits can first enter the primary selection device 10, the primary selection device 10 is used for obtaining the weight data of the fruits to be sorted, and the fruits to be sorted are subjected to primary classification treatment according to the preset sorting conditions and the weight data to obtain the primary selection fruits.
It can be understood that, since the fruits are classified into different weight ranges, taking plum, apple and watermelon as examples, the weight range of plum is generally 0.05-0.1 kg, the weight range of apple and pear is generally 0.2-0.5 kg, the weight range of watermelon is generally 4-10 kg, and the primary selection device 10 firstly performs a primary coarse selection on the fruits according to the different weights of the fruits. For example, if the fruits to be sorted include plum, apple, pear, watermelon, wherein the preset sorting conditions can be less than 0.2Kg for a fruit type, more than 0.2Kg and less than 0.5Kg for a fruit type, and more than 0.5Kg for a fruit type, the actual operations are as follows:
firstly, measuring the weight of fruits to be classified, for example, measuring the weight of plums, apples, pears and watermelons as 0.05kg, 0.3kg, 0.4kg and 5kg respectively, then classifying the fruits into 3 classes according to the preset sorting conditions, namely, the plums belong to the first class of fruits, the apples and the pears belong to the second class of fruits, and the watermelons belong to the 3 rd class of fruits, completing the primary classification of the fruits, and obtaining the primarily selected fruits.
For example, the primary fruit may include a first fruit type, a second fruit type, and a third fruit type, i.e., the first fruit type, the second fruit type, and the third fruit type may be sifted out with different weights. Correspondingly, the plurality of fine selection channels comprise a first type channel 41, a second type channel 42 and a third type channel 43, wherein the first type channel 41, the second type channel 42 and the third type channel 43 correspond to the first type fruit, the second type fruit and the third type fruit one by one. It will be appreciated that after the initial selection of fruit, the fruit needs to be transported to the culling module for re-sorting, and therefore the culling module needs to be provided with a channel that interfaces with the initial selection module. The scheme is only illustrated by dividing the fruits into 3 types, in actual operation, the fruits can be classified into multiple types, and correspondingly, the channels also need to be set to be the number corresponding to the types of the classified fruits.
Referring to fig. 2, a schematic structural diagram of the primary selection device 10 according to an embodiment of the present invention is provided, and in practical applications, the primary selection device 10 may include a weighing module 11 and a primary selection pushing module 12. The weighing module 11 is used to obtain the weight data of the fruit to be sorted, for example, a weight sensor is used to measure the weight of the fruit. The primary selection pushing module 12 is configured to push the fruit to be sorted to the corresponding first type channel 41, second type channel 42 or third type channel 43 according to the weight data. As can be appreciated, the primary sorting completes one sort of fruit and the sorted fruit is conveyed to a culling module for culling.
In practical operation, the primary selection pushing module 12 may include a pushing device, such as an air cylinder, and further, for example, 3 sets of air cylinders corresponding to the first type channel 41, the second type channel 42, or the third type channel 43, where the air cylinders are connected to a controller, and the controller may trigger the corresponding air cylinders to operate according to different weight data, so as to push the fruits into the designated channel.
Referring to fig. 3, which is a schematic structural diagram of the selecting device 20 according to an embodiment of the present invention, the selecting device 20 includes a plurality of selecting channels, for example, the first type channel 41, the second type channel 42, or the third type channel 43, and a plurality of selecting channels correspond to the primary selected fruits one by one, that is, the first type channel 41, the second type channel 42, and the third type channel 43 correspond to the first type fruit, the second type fruit, and the third type fruit one by one.
The selection device 20 is used for receiving the primary selection fruit according to a plurality of selection channels and obtaining the photo information of the primary selection fruit; and carrying out secondary classification treatment on the primarily selected fruits according to a preset database and the photo information to obtain carefully selected fruits. It is to be understood that the culling apparatus 20 classifies the primary culled fruit photo identification.
For example, if the above apples and pears belonging to the second fruit category need to be further classified, the second fruit category may be photographed, and then the second fruit category is compared with a preset database to obtain the accurate information of the fruit, that is, whether the fruit is an apple or a pear is obtained, so as to complete the accurate classification of the fruit.
Illustratively, the culling apparatus 20 may include a camera module 21 and a culling push module 22.
The shooting module 21 is configured to obtain the photo information of the primarily selected fruit. For example, the photographing module 21 may include a sensor module and a photographing module, wherein the sensor module is used for acquiring a trigger signal, for example, an infrared sensor, and if it is detected that fruit passes through, the trigger signal is generated. The photographing module can be a camera, for example, and is connected to the sensor module, and performs photographing operation after receiving the trigger signal, so as to acquire photo information of the fruit.
The carefully chosen pushing module 22 is used for performing secondary classification processing on the primarily chosen fruits according to the preset database and the photo information to obtain the carefully chosen fruits. For example, the obtained photo information may be compared with a preset database to obtain accurate information of the fruit, for example, whether the fruit is an apple or a pear is obtained, so as to complete accurate classification of the fruit.
Illustratively, the cull push module 22 may include an identification module and a refinement module. The identification module is used for acquiring the accurate classification data of the fruits according to the preset database and the photo information. And the fine classification module is used for acquiring the classification signals according to the accurate classification data and carrying out secondary classification processing on the primarily selected fruits according to the classification signals to acquire the carefully selected fruits. The carefully chosen pushing modules 22 each comprise an unloading module, and the unloading module is used for responding to the classification signal to carry out secondary classification processing on the primarily chosen fruits to obtain the carefully chosen fruits. For example, where the precise classification data may be that the fruit is an apple, the corresponding classification signal may be that the fruit is classified as an apple, and then the discharge device may be responsive to the classification signal to push the fruit into the apple zone to complete the fruit pair culling operation.
In some embodiments, the photographing modules 21 include a first type photographing module 21, a second type photographing module 21, and a third type photographing module 21, wherein the first type photographing module 21, the second type photographing module 21, and the third type photographing module 21 are respectively disposed on the first type channel 41, the second type channel 42, and the third type channel 43, that is, different photographing modules 21 are disposed on different channels. The preset database comprises a plurality of sub-databases respectively corresponding to the first type shooting module 21, the second type shooting module 21 and the third type shooting module 21; the fine selection pushing module 22 is configured to: determining the sub database according to the photo information; and carrying out secondary classification processing on the primarily selected fruits according to the sub-database and the photo information to obtain the carefully selected fruits.
It is understood that one shooting module 21 corresponds to one type of channel and corresponds to one sub-database, for example, the channel is the second type of channel 42, the fruits in the second type of channel 42 can be apples and pears, and the shooting module 21 corresponds to the second type of shooting module 21, and the sub-database can be a database containing a plurality of photos of apples and pears.
In the above embodiment, a passageway corresponds a database, only need to carry out accurate discernment to the fruit of primary election back within a small circle can, the promotion of the great degree of efficiency, and lead to the condition of mutual interference between the fruit, it is less to the influence of discernment result to improve the accuracy of discernment, and then improved the accuracy nature categorised to fruit.
Referring to fig. 4, which is a schematic flow chart of an intelligent sorting method provided in an embodiment of the present invention, the method includes steps S101 to S103, which are specifically as follows:
s101, obtaining weight data of fruits to be sorted, and carrying out primary sorting processing on the fruits to be sorted according to preset sorting conditions and the weight data to obtain primary sorted fruits;
s102, receiving the primarily selected fruits according to a plurality of fine selection channels, and acquiring photo information of the primarily selected fruits;
and S103, carrying out secondary classification treatment on the primarily selected fruits according to a preset database and the photo information to obtain carefully selected fruits.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides an intelligent sorting system which characterized in that, includes warehouse entry device and sieving mechanism, the sieving mechanism is including primary election device and choice device, wherein:
the primary selection device is used for acquiring weight data of fruits to be sorted, and performing primary classification processing on the fruits to be sorted according to preset sorting conditions and the weight data to acquire primary selected fruits;
the selection device comprises a plurality of selection channels, the selection channels correspond to the primarily selected fruits one by one, and the selection device is used for:
receiving the primarily selected fruits according to the plurality of fine selection channels, and acquiring photo information of the primarily selected fruits;
and carrying out secondary classification treatment on the primarily selected fruits according to a preset database and the photo information to obtain carefully selected fruits.
2. The system of claim 1, wherein the primary selected fruit comprises a first type of fruit, a second type of fruit, and a third type of fruit;
correspondingly, the plurality of fine selection channels comprise a first type of channel, a second type of channel and a third type of channel, wherein the first type of channel, the second type of channel and the third type of channel correspond to the first type of fruit, the second type of fruit and the third type of fruit one to one.
3. The system of claim 1, wherein the culling means comprises a capture module and a culling push module;
the shooting module is used for acquiring the photo information of the primarily selected fruits;
and the carefully-selected pushing module is used for carrying out secondary classification processing on the primarily-selected fruits according to the preset database and the photo information to obtain the carefully-selected fruits.
4. The system of claim 3, wherein the camera module comprises a sensor module and a camera module;
the sensor module is used for acquiring a trigger signal;
and the photographing module is used for acquiring the photo information of the primarily selected fruits according to the trigger signal.
5. The system of claim 4, wherein the photographing modules comprise a first type photographing module, a second type photographing module and a third type photographing module, wherein the first type photographing module, the second type photographing module and the third type photographing module are respectively disposed on the first type channel, the second type channel and the third type channel.
6. The system of claim 5, wherein the cull push module comprises an identification module and a refinement module;
the identification module is used for acquiring the accurate classification data of the fruits according to the preset database and the photo information;
and the fine sorting module is used for acquiring the classification signals according to the accurate classification data and carrying out secondary classification processing on the primarily selected fruits according to the classification signals to acquire the carefully selected fruits.
7. The system of claim 6, wherein the cull pusher module further comprises a dump module;
and the unloading module is used for responding to the classification signal to carry out secondary classification processing on the primarily selected fruits to obtain the carefully selected fruits.
8. The system of claim 2, wherein the preset database comprises a plurality of sub-databases respectively corresponding to the first type shooting module, the second type shooting module and the third type shooting module;
the fine selection pushing module is used for:
determining the sub database according to the photo information;
and carrying out secondary classification processing on the primarily selected fruits according to the sub-database and the photo information to obtain the carefully selected fruits.
9. The system of claim 2, wherein the primary selection device comprises a weighing module and a primary selection pushing module;
the weighing module is used for acquiring the weight data of the fruits to be sorted;
and the primary selection pushing module is used for pushing the fruits to be sorted to the corresponding first type channel, the second type channel or the third type channel according to the weight data.
10. An intelligent sorting method, comprising:
acquiring weight data of fruits to be sorted, and performing primary sorting treatment on the fruits to be sorted according to preset sorting conditions and the weight data to acquire primary sorted fruits;
receiving the primarily selected fruits according to a plurality of fine selection channels, and acquiring photo information of the primarily selected fruits;
and carrying out secondary classification treatment on the primarily selected fruits according to a preset database and the photo information to obtain carefully selected fruits.
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| CN201911379128.2A CN111014071A (en) | 2019-12-27 | 2019-12-27 | Intelligent sorting system and method |
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| CN201911379128.2A CN111014071A (en) | 2019-12-27 | 2019-12-27 | Intelligent sorting system and method |
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| CN111014071A true CN111014071A (en) | 2020-04-17 |
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| CN109351661A (en) * | 2018-10-12 | 2019-02-19 | 盈奇科技（深圳）有限公司 | A kind of device and method of fruit weight classification |
| CN208746324U (en) * | 2018-09-10 | 2019-04-16 | 黄石山立包装设备有限公司 | A kind of packing machine on-line sorting device |
| CN110302972A (en) * | 2019-06-25 | 2019-10-08 | 河南科技大学 | A kind of double differentiation electromagnetic propulsion formula fruit sorters |
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2019
- 2019-12-27 CN CN201911379128.2A patent/CN111014071A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN208140606U (en) * | 2018-04-24 | 2018-11-23 | 无锡商业职业技术学院 | A kind of fruit sorting vanning integrated apparatus based on machine vision |
| CN108686978A (en) * | 2018-05-02 | 2018-10-23 | 广州慧睿思通信息科技有限公司 | The method for sorting and system of fruit classification and color and luster based on ARM |
| CN109248866A (en) * | 2018-08-10 | 2019-01-22 | 北京农业智能装备技术研究中心 | A kind of large scale fruit is weighed automatically and internal soundness detects pellet type grading plant |
| CN208746324U (en) * | 2018-09-10 | 2019-04-16 | 黄石山立包装设备有限公司 | A kind of packing machine on-line sorting device |
| CN109351661A (en) * | 2018-10-12 | 2019-02-19 | 盈奇科技（深圳）有限公司 | A kind of device and method of fruit weight classification |
| CN110302972A (en) * | 2019-06-25 | 2019-10-08 | 河南科技大学 | A kind of double differentiation electromagnetic propulsion formula fruit sorters |
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Application publication date: 20200417 |