CN112775022A - Small-size fruit inside quality intelligence classification equipment - Google Patents
Small-size fruit inside quality intelligence classification equipment Download PDFInfo
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- CN112775022A CN112775022A CN202011406693.6A CN202011406693A CN112775022A CN 112775022 A CN112775022 A CN 112775022A CN 202011406693 A CN202011406693 A CN 202011406693A CN 112775022 A CN112775022 A CN 112775022A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 46
- 239000013307 optical fiber Substances 0.000 claims abstract description 40
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- 230000005855 radiation Effects 0.000 claims abstract description 3
- 238000001228 spectrum Methods 0.000 claims description 27
- 239000000835 fiber Substances 0.000 claims description 11
- 238000001816 cooling Methods 0.000 claims description 5
- 229910001220 stainless steel Inorganic materials 0.000 claims description 5
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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
- B07C5/34—Sorting according to other particular properties
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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
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
-
- 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
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Abstract
The invention relates to small-sized intelligent fruit internal quality grading equipment which comprises an outer shell, a feeding hole, a diffuse reflection laser sensor, a conveying device, a motor, a driving belt wheel, a driven belt wheel, a synchronous belt, a chain, a roller on the chain and a near infrared spectrum detection device, wherein a spectrometer, an optical fiber collimating mirror, a halogen lamp light source, a heat insulation plate, a heat radiation fan and a grading device are arranged in the small-sized intelligent fruit internal quality grading equipment. The invention is based on the near infrared spectrum technology, compared with the traditional grading equipment depending on external quality, the grading is rapid and nondestructive, the precision is high, the repeatability is good, the stability is strong, and the rapid intelligent detection grading of the internal quality of the fruit can be realized.
Description
Technical Field
The invention relates to the field of intelligent detection of internal quality of fruits, in particular to an intelligent grading device for the internal quality of fruits.
Background
The added value of the fruit is increased, so that the method has important significance. The near infrared spectrum detection technology is an important component of modern nondestructive detection technology, has the characteristics of rapidness and no damage, and is a development trend of future food processing equipment when being applied to food processing machinery to realize real-time nondestructive detection. Currently, most of fruit grading equipment on the market grades the fruit according to the weight, the size, the color and the like of the fruit, the research is relatively mature, the internal quality detection of the fruit is difficult to realize, and particularly, the relatively mature relevant grading equipment is not available. Some small near-infrared detection devices can only realize the detection of single fruit, have low detection efficiency and are not suitable for the real-time classification of picked fruits; the chemical method is long in detection time, needs professional experimenters for detection, has the problem of high detection cost, and is not suitable for large-scale classification. Therefore, it is of great significance to develop an intelligent grading device for the internal quality of small fruits.
Disclosure of Invention
The invention aims to provide small intelligent fruit internal quality grading equipment to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following scheme: a small intelligent fruit internal quality grading device comprises an outer shell (27), a feeding port (10), a diffuse reflection laser sensor (13), a conveying device, a near infrared spectrum detection device, a grading device and an upper computer (26); the conveying device comprises a motor (17), a driving belt wheel (16), a driven belt wheel (14), a synchronous belt (15), a chain (12) and a roller (11) on the chain; the motor (17) drives the driving belt wheel (16) to rotate, the driving belt wheel (16) drives the driven belt wheel (14) to rotate through the synchronous belt (15), and then the chain (12) and the roller (11) on the chain are driven to move; the diffuse reflection laser sensor (13) emits laser and is arranged on one side of the outer shell (27), and the input end of the diffuse reflection laser sensor (13) is connected with the industrial personal computer (22); the diffuse reflection laser sensor (13) is used for carrying out spectrum acquisition signal triggering when laser light passes through a middle hole in a gap between two rollers and is not shielded, and a triggering signal can be transmitted to the industrial personal computer (22); the near infrared spectrum detection device is internally provided with a spectrometer (7), an optical fiber (6), an optical fiber collimating mirror (5), a halogen lamp light source (4), a heat insulation plate (3) and a cooling fan (8); the output end of the spectrometer (7) is connected with the input end of an upper computer (26) through a data line (9), one end of the optical fiber (6) is connected with the spectrometer (7), the other end of the optical fiber is connected with the optical fiber collimating mirror (5), and the spectrometer (7) and the optical fiber (6) are separated from the optical fiber collimating mirror (5) and the halogen lamp light source (4) by the heat insulation plate (3); the heat radiation fan (8) radiates heat for the near infrared spectrum detection device; continuously carrying out spectrum collection on fruits through a feeding port (10); the grading device consists of an air compressor (21), a hose (19), an electromagnetic valve (20) and a pneumatic connector (18) which are connected in sequence; the grading device comprises a primary nozzle, a secondary nozzle and a tertiary nozzle, each grade line consists of an electromagnetic valve (20), a hose (19) and a pneumatic connector (18), and after an industrial personal computer (22) receives the current fruit grade of an upper computer (26), the electromagnetic valve (20) of the corresponding grade is controlled to be switched on and off for ventilation, and the fruits are sprayed to the fruit boxes of the corresponding grade; the upper computer (26) is provided with hierarchical program software and a lower computer control machine (22), a control panel of the upper computer can carry out related control and parameter setting on the equipment, the spectrometer is communicated with the upper computer through a data line (9), and the upper computer is communicated with the industrial control machine through a serial port line (25).
Preferably, the diffuse reflection laser sensor (13) emits laser output end which penetrates through a middle hole position (132) of a stainless steel sheet (133) fixed on one side of the outer shell, and the output end is wrapped by a rubber ring (131).
Preferably, heat insulating board centre bore (2) have support (61) of fixed optic fibre (6), but support (61) screw thread rotation upper and lower height-adjustable, optic fibre (6) are passed from support (61) is inside, optic fibre collimating mirror (5) just in time are located directly over two-wheeled roller space when receiving the collection spectral signal, halogen lamp light source (4) are located the four corners of heat insulating board (3) central point, and the contained angle that light source lamp holder and optic fibre collimating mirror (5) become is 45, and the light source convergent point is located two-wheeled roller space department, and the inner face of near infrared spectrum detection device's box (1) coats and has the black coating, avoids box (1) reflection of light to cause the interference to the spectrum collection, radiator fan (8) are installed on light source one side box (1).
Preferably, the optical fiber (6) and the spectrometer (7), the optical fiber (6) and the optical fiber collimating mirror (5) are SMA905 standard interfaces, and the wavelength range of the halogen lamp light source (4) is suitable for near-infrared bands.
Preferably, the interface of the upper computer (26) is divided into a spectrum display area, a program control area and a measurement result display area, so that the spectrum change and the grading result display can be displayed in real time, and the parameters can be set.
Preferably, the interface of the control panel of the lower computer machine (22) is divided into a data statistical area and a program control area, and grading results can be displayed in real time.
Preferably, in the conveying device, the chain (12) is fixedly connected with the roller (11), the roller (11) is driven by the chain (12) to synchronously advance, the roller (11) does not rotate, and the roller (11) is black, so that interference of light reflection of the roller (11) on spectrum collection is avoided.
The invention discloses the following technical effects: the device has reasonable and effective internal connection and normal instrument performance, and when the components are assembled and spectrum signals are acquired by triggering, the diffuse reflection laser sensor and the optical fiber collimating mirror are both aligned to the middle gap of the two rollers, so that no signal delay in real-time acquisition is ensured. Through the accurate cooperation of each mechanical device, for example conveyor, signal trigger device, spectrum collection system, industrial computer controlling means expert and grading plant's time for every fruit that detects can all detect the grading. The upper computer grading program and the lower computer industrial control panel and other software programs designed by the invention can monitor the quality information of the sample in real time, so that the device can carry out intelligent grading detection on the internal quality of small fruits.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a small intelligent fruit internal quality grading device according to the present invention;
FIG. 2 is a schematic illustration of a diffuse reflecting laser sensor fixing position and triggering position according to the present invention;
FIG. 3 is a schematic diagram of the relative positions of the halogen light source and the optical fiber;
FIG. 4 is a schematic diagram of the position of the fiber collimator for collecting spectrum signals according to the present invention;
FIG. 5 is a schematic view of a fiber holding bracket according to the present invention;
FIG. 6 is a schematic diagram of an intelligent grading process for individual fruits according to the present invention;
FIG. 7 is a display interface diagram of a touch screen of a control panel of the industrial personal computer according to the present invention;
FIG. 8 is a diagram of a hierarchical program display interface of the upper computer according to the present invention;
the device comprises a box body 1, a heat insulation plate center hole 2, a heat insulation plate 3, a halogen lamp light source 4, an optical fiber collimating mirror, an optical fiber 6, a support 61, a spectrometer 7, a cooling fan 8, a data line 9, a feeding hole 10, a roller 11, a chain 12, a diffuse reflection laser sensor 13, a rubber ring 131, a stainless steel sheet middle hole 132, a stainless steel sheet 133, a driven pulley 14, a synchronous belt 15, a driving pulley 16, a motor 17, a pneumatic connector 18, a hose 19, an electromagnetic valve 20, an air compressor 21, an industrial personal computer 22, a touch screen 23, a PLC24, a serial port line 25, a computer 26 and an outer shell 27.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1, the invention relates to a small intelligent fruit internal quality grading device, which comprises an outer shell 27, a feeding port 10, a diffuse reflection laser sensor 13, a conveying device, a motor 17, a driving belt wheel 16, a driven belt wheel 24, a synchronous belt 25, a chain 12, a roller 11 on the chain 12 and a near infrared spectrum detection device, wherein a spectrometer 7, an optical fiber 6, an optical fiber collimating mirror 5, a halogen lamp light source 4, a heat insulation plate 3, a cooling fan 8 and a grading device are arranged in the device, the grading device is composed of an air compressor 21, a hose 19, an electromagnetic valve 20 and a pneumatic connector 18, an upper computer 26 is provided with grading program software and a lower computer control machine 22, a control panel of the grading device can perform related control and parameter setting on the device, the spectrometer is communicated with the upper computer 26 through a data line 9, the upper computer 26 is communicated with an industrial computer (a, PLC 24).
In a further optimized scheme, as shown in fig. 2, the diffuse reflection laser sensor 13 can emit laser and is installed on one side of the outer shell 27, the input end of the diffuse reflection laser sensor 13 is connected with the industrial personal computer 22, the output end of the diffuse reflection laser sensor passes through a middle hole position 132 of a stainless steel sheet 133 fixed on one side of the outer shell 27, and the output end of the diffuse reflection laser sensor is wrapped with a rubber ring 131.
Preferably, the diffuse reflection laser sensor 13 performs spectrum acquisition signal triggering when laser light passes through a middle hole in a gap between the two rollers 11 and is not shielded, and the triggering signal can be transmitted to the industrial personal computer 22.
According to a further optimized scheme, the near infrared spectrum detection device comprises a spectrometer 7, an optical fiber 6, an optical fiber collimating mirror 5, a halogen lamp light source 4, a heat insulation plate 3 and a cooling fan 8, wherein the output end of the spectrometer 7 is connected with the input end of an upper computer 26 through a data line 9, one end of the optical fiber 6 is connected with the spectrometer 7, and the other end of the optical fiber 6 is connected with the optical fiber collimating mirror 5.
Further optimization scheme, as shown in fig. 3 and 5, the heat insulating plate 3 has the support 61 of fixed optic fibre 6 in centre bore 2, but support 61 is the screw thread rotation height-adjustable from top to bottom, and optic fibre 6 passes from direct inside, the fiber collimating mirror 5 just in time is located directly over two round roller gaps when receiving the collection spectral signal, halogen lamp light source 4 is located the four corners of heat insulating plate 3 central point, and the contained angle that light source lamp holder and fiber collimating mirror 5 become is 45, and the light source convergent point is located two round roller 11 gaps, covers on the inner face of device box 1 and has the black coating, avoids box 1 reflection of light to cause the interference to the spectrum collection, radiator fan 8 installs on light source 4 one side box 1.
In a further optimized scheme, the optical fiber 6 and the spectrometer 7 and the optical fiber 6 and the optical fiber collimating mirror 5 are SMA905 standard interfaces, and the wavelength range of the halogen lamp light source 4 is suitable for near infrared bands.
In a further optimization scheme, as shown in fig. 7-8, the upper computer 26 is provided with grading program software, and the interface is divided into a spectrum display area, a program control area and a measurement result display area, so that the spectrum change and the grading result display can be displayed in real time, and parameters can be set. The interface of the control panel of the lower computer machine 22 is divided into a data statistical area and a program control area, so that the grading result can be displayed in real time, and the related functions and parameters of the equipment can be controlled and set.
According to the further optimization scheme, the chain 12 is fixedly connected with the wheel roller 11, the wheel roller 11 is synchronously moved forward when the chain 12 rotates, the wheel hub 11 does not rotate, the wheel roller 11 is black, and interference of light reflection of the wheel roller 11 on spectrum collection is avoided.
According to a further optimized scheme, the grading device comprises a first-level nozzle, a second-level nozzle and a third-level nozzle, each level line is composed of an electromagnetic valve 20, a hose 19 and a pneumatic connector 18, and after the industrial personal computer 22 receives the current fruit level of the upper computer 26, the electromagnetic valve 20 of the corresponding level is controlled to be opened and closed to ventilate, and the fruits are sprayed to the fruit boxes of the corresponding level.
Example 2
As shown in fig. 6, the operation of the device starts grading, the diffuse reflection laser sensor 13 is triggered, the near infrared spectrum detection device collects fruit spectrum data and then carries out data processing through the grading program of the upper computer 26, the grading program displays the current fruit detection index content value in real time on the grading program interface of the upper computer 26, the grading program judges the grade, and the industrial personal computer 22 controls the electromagnetic valve 20 of the corresponding grade according to the grade; fruit is blown to unloading fruit case by the air current among the sorting unit, and intelligent detection accomplishes in grades.
Example 3
As shown in fig. 7-8, compared with the prior art, the intelligent grading device for internal quality of small fruits according to the present invention is used for intelligently grading sugar content of Ningxia Lingwu long jujube as follows:
spectrum acquisition core component: NIRQuest512 spectrometer (Ocean Optics corporation), octagonal 50W halogen spot light source (south sea rocun dragon lamp decorations, inc. of foshan), VIS-NIR standard reflection probe optical fiber (Ocean Optics corporation), SMA905 optical fiber collimating mirror (shanghai yuyi opto-electronic technology, inc.). The core part of the industrial personal computer: the motor frequency converter (Taida electronic enterprise management (Shanghai) Co., Ltd.), the DVP-16EH PLC (Taida electronic enterprise management (Shanghai) Co., Ltd.), and the touch screen (Taida electronic enterprise management (Shanghai) Co., Ltd.).
Spectrum collection is continuously carried out on 120 Lingwu long jujubes through a feeding hole, and then the sugar degree physicochemical values of the 120 Lingwu long jujubes are measured by a standard method. When the model is built, the method is as follows 3: a scale of 2 divides 120 samples into a correction set for modeling and a prediction set for verifying the predictive power of the model. The spectrum is preprocessed by standard normal variable transformation (SNV), spectral characteristic wavelength variables are screened by a Genetic Algorithm (GA), and finally a brix prediction model is established by a partial least squares regression (PLS) algorithm.
During data processing, selecting a spectrum with a waveband range of 900nm-1700nm, carrying out SNV pretreatment on the spectrum, establishing a model by adopting GA-PLS, and carrying out model construction on 120 Lingwu jujubes, wherein a training set R is 0.9599, an RMSECV is 1.0226 DEG Brix, a prediction set R is 0.9539, and the RMSECV is 1.1426 DEG Brix.
And (3) importing the constructed prediction model into a computer grading program of an upper computer, and setting the first-level jujubes with the sugar degree value higher than 23 DEG Brix, the second-level jujubes with the sugar degree value of 21-23 DEG Brix and the third-level jujubes with the sugar degree value lower than 21 DEG Brix. In addition, a batch of Lingwu long jujubes are prepared for verifying the equipment performance and the prediction model precision, 30 Lingwu long jujubes are randomly picked from three grading fruit boxes respectively, 90 Lingwu long jujubes are counted, then the sugar degree value is determined by a standard method, whether the sugar degree value is in a defined grade range or not is used as an accuracy rate evaluation mode, the final average grading accuracy rate is 95%, and the equipment is proved to have good prediction effect and performance.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A small intelligent fruit internal quality grading device is characterized by comprising an outer shell (27), a feeding port (10), a diffuse reflection laser sensor (13), a conveying device, a near infrared spectrum detection device, a grading device and an upper computer (26);
the conveying device comprises a motor (17), a driving belt wheel (16), a driven belt wheel (14), a synchronous belt (15), a chain (12) and a roller (11) on the chain; the motor (17) drives the driving belt wheel (16) to rotate, the driving belt wheel (16) drives the driven belt wheel (14) to rotate through the synchronous belt (15), and then the chain (12) and the roller (11) on the chain are driven to move;
the diffuse reflection laser sensor (13) emits laser and is arranged on one side of the outer shell (27), and the input end of the diffuse reflection laser sensor (13) is connected with the industrial personal computer (22); the diffuse reflection laser sensor (13) is used for carrying out spectrum acquisition signal triggering when laser light passes through a middle hole in a gap between two rollers and is not shielded, and a triggering signal can be transmitted to the industrial personal computer (22);
the near infrared spectrum detection device is internally provided with a spectrometer (7), an optical fiber (6), an optical fiber collimating mirror (5), a halogen lamp light source (4), a heat insulation plate (3) and a cooling fan (8); the output end of the spectrometer (7) is connected with the input end of an upper computer (26) through a data line (9), one end of the optical fiber (6) is connected with the spectrometer (7), the other end of the optical fiber is connected with the optical fiber collimating mirror (5), and the spectrometer (7) and the optical fiber (6) are separated from the optical fiber collimating mirror (5) and the halogen lamp light source (4) by the heat insulation plate (3); the heat radiation fan (8) radiates heat for the near infrared spectrum detection device, and spectrum collection is continuously carried out on the fruits through the feeding hole (10);
the grading device consists of an air compressor (21), a hose (19), an electromagnetic valve (20) and a pneumatic connector (18) which are connected in sequence; the grading device comprises a primary nozzle, a secondary nozzle and a tertiary nozzle, each grade line consists of an electromagnetic valve (20), a hose (19) and a pneumatic connector (18), and after an industrial personal computer (22) receives the current fruit grade of an upper computer (26), the electromagnetic valve (20) of the corresponding grade is controlled to be switched on and off for ventilation, and the fruits are sprayed to the fruit boxes of the corresponding grade;
the upper computer (26) is provided with hierarchical program software and a lower computer control machine (22), a control panel of the upper computer can carry out related control and parameter setting on the equipment, the spectrometer is communicated with the upper computer through a data line (9), and the upper computer is communicated with the industrial control machine through a serial port line (25).
2. The intelligent small fruit quality grading device according to claim 1, wherein the diffuse reflection laser sensor (13) emits a laser output end which passes through a hole (132) in the middle of a stainless steel sheet (133) fixed on one side of the outer shell, and the output end is wrapped with a rubber ring (131).
3. The intelligent grading equipment for internal quality of small fruits according to claim 1, the central hole (2) of the heat insulation plate is provided with a bracket (61) for fixing the optical fiber (6), the bracket (61) can be rotated in a threaded manner, the height of the bracket (61) can be adjusted up and down, the optical fiber (6) passes through the bracket (61), the optical fiber collimating mirror (5) is just above the gap of the two rollers when receiving the collected spectrum signal, the halogen lamp light sources (4) are positioned at four corners of the central position of the heat insulation plate (3), and the contained angle that light source lamp holder and fiber collimator (5) become is 45, and the light source convergent point is located two-wheeled roller gap department, and the cover has the black coating on the inner face of near infrared spectrum detection device's box (1), avoids box (1) reflection of light to cause the interference to the spectrum collection, radiator fan (8) are installed on light source one side box (1).
4. The intelligent small fruit internal quality grading device according to claim 1, wherein the optical fiber (6) and the spectrometer (7), the optical fiber (6) and the optical fiber collimating mirror (5) are all SMA905 standard interfaces, and the wavelength range of the halogen lamp light source (4) is suitable for near infrared band.
5. The intelligent small fruit quality grading device according to claim 1, wherein the upper computer (26) is divided into a spectrum display area, a program control area and a measurement result display area, and can display the spectrum change in real time, display the grading result and set parameters.
6. The intelligent small fruit internal quality grading equipment according to claim 1, wherein the interface of the control panel of the lower computer machine (22) is divided into a data statistics area and a program control area, and grading results can be displayed in real time.
7. The intelligent small fruit internal quality grading equipment according to claim 1, wherein the conveying device is fixedly connected with a chain (12) and a roller (11), the roller (11) is synchronously advanced when the chain (12) runs, the roller (11) does not rotate, the roller (11) is black, and interference of light reflection of the roller (11) on spectrum collection is avoided.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113396969A (en) * | 2021-05-26 | 2021-09-17 | 江苏大学 | Flexible electrostatic spraying equipment and method based on fruit electrical characteristics |
| US11919043B1 (en) | 2023-07-26 | 2024-03-05 | King Faisal University | Intelligent sorting for date palm fruit |
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| KR20020017685A (en) * | 2000-08-31 | 2002-03-07 | 이기준 | A fruit sorting apparatus |
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