CN115780320A - Fruit unloading detection method and system of fruit unloading device - Google Patents
Fruit unloading detection method and system of fruit unloading device Download PDFInfo
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Abstract
The invention discloses a fruit unloading detection method and a system of a fruit unloading device, wherein the method comprises the following steps: receiving a sensing signal generated by a preset sensing sensor, and triggering a preset fruit unloading device based on the sensing signal; controlling the fruit unloading device to trigger the corresponding fruit bearing device and acquiring the turning state of the fruit bearing device; and determining a fruit unloading detection result of the fruit unloading device based on the turning state, wherein the fruit unloading detection result is used for reflecting whether the fruit unloading device can enable the fruit to enter a correct area or work normally. The fruit unloading device can be triggered based on the induction signal, the fruit bearing device is triggered to realize turnover, the fruit is unloaded through turnover, and then the fruit unloading detection result is determined based on the turnover state.
Description
Technical Field
The invention relates to the technical field of fruit unloading, in particular to a fruit unloading detection method and system of a fruit unloading device.
Background
Fruits play an important role in the Chinese food industry, along with social development and progress, the fruits are not only necessary products for people's life, but also play a good role in promoting economy, and the fruit sorting machine is a main mechanical fruit sorting machine in fruit production, and can be roughly divided into a size sorting machine, a weight sorting machine, an appearance quality sorting machine and an internal quality sorting machine according to different fruit detection indexes.
However, in the prior art, when the fruit unloading and grading are carried out, device faults and manual misoperation are easy to occur, so that the fruit unloading process is not in line with expectations, and the fruit unloading effect is influenced.
Thus, there is a need for improvements and enhancements in the art.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a fruit unloading detection method and system for a fruit unloading device, aiming at solving the problems that the fruit unloading process is not in accordance with the expectation and the fruit unloading effect is affected due to device failure and human misoperation easily occurring when fruit unloading and grading are performed in the prior art.
In a first aspect, the present invention provides a fruit unloading detection method for a fruit unloading device, wherein the method comprises:
receiving a sensing signal generated by a preset sensing sensor, and triggering a preset fruit unloading device based on the sensing signal;
controlling the fruit unloading device to trigger the corresponding fruit bearing device and acquiring the turning state of the fruit bearing device;
and determining a fruit unloading detection result of the fruit unloading device based on the turning state, wherein the fruit unloading detection result is used for reflecting whether the fruit unloading device can enable the fruit to enter a correct area or work normally.
In one implementation, the receiving a sensing signal generated by a preset sensing sensor and triggering a preset fruit unloading device based on the sensing signal includes:
when the induction sensor induces that the conveying chain of the fruit unloading device advances by a chain pitch, the induction sensor sends out an induction signal, and the induction signal corresponds to one or one row of fruit bearing devices;
and triggering the fruit unloading device based on the induction signal so as to trigger the fruit bearing device through the fruit unloading device.
In one implementation manner, the receiving a sensing signal generated by a preset sensing sensor, and triggering a preset fruit unloading device based on the sensing signal further includes:
and presetting a signal interval period corresponding to the induction signal, sending a periodic beating instruction according to the signal interval period, and controlling a preset beating rod to move according to the beating instruction so as to trigger the fruit carrying device.
In one implementation manner, the controlling the fruit unloading device to trigger a corresponding fruit bearing device and obtain a working state of the fruit bearing device includes:
determining a fruit bearing device corresponding to the induction signal, and controlling the fruit bearing device to execute a turning operation;
determining a turning state of the fruit carrying device.
In one implementation, the determining a fruit unloading detection result of the fruit unloading device based on the turning state includes:
if the turning state is that the fruit bearing device is turned over successfully, determining that the fruit unloading detection result of the fruit unloading device is that the fruit can be unloaded successfully;
and if the overturning state is that the fruit bearing device fails to overturn, determining that the fruit unloading detection result of the fruit unloading device is that the fruit can not be successfully unloaded.
In one implementation, the method further comprises:
when there are many letter sorting lines, then all send periodic hitting with predetermined signal interval cycle on every letter sorting line and beat the instruction to trigger corresponding fruit and bear the device, be provided with a corresponding inductive pick-up on every letter sorting line, and a fruit that every inductive pick-up corresponds bears the device.
In one implementation, the fruit unloading device comprises: a striking rod and a transmission device;
the fruit carrying device comprises: fruit cup wheels, fruit cup feet, stoppers and spring supports; the bottom of the blocking piece is provided with a fruit cup foot, the blocking piece is connected with a support rod on the fruit cup foot through a rotating shaft, the fruit cup wheel is clamped on the blocking piece, and the spring support is connected with the fruit cup foot and the small hole of the blocking piece through a hook of the spring support.
In a second aspect, an embodiment of the present invention further provides a fruit unloading detection system for a fruit unloading device, where the system includes: unload fruit device, fruit and bear device and check out test set, check out test set includes:
the signal trigger module is used for receiving a sensing signal generated by a preset sensing sensor and triggering a preset fruit unloading device based on the sensing signal;
the control overturning module is used for controlling the fruit unloading device to trigger the corresponding fruit bearing device and acquiring the overturning state of the fruit bearing device;
and the fruit unloading detection module is used for determining a fruit unloading detection result of the fruit unloading device based on the turning state, and the fruit unloading detection result is used for reflecting whether the fruit unloading device can enable the fruit to enter a correct area or work normally.
In a third aspect, an embodiment of the present invention further provides a detection device, where the detection device is a commercially available display terminal or a screen-throwing terminal, the detection device includes a memory, a processor, and a fruit unloading detection program of a fruit unloading device that is stored in the memory and can be run on the processor, and when the processor executes the fruit unloading detection program of the fruit unloading device, the step of implementing the fruit unloading detection method of the fruit unloading device in any one of the above schemes is implemented.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where a fruit unloading detection program of a fruit unloading device is stored on the computer-readable storage medium, and when the fruit unloading detection program of the fruit unloading device is executed by a processor, the steps of the fruit unloading detection method of the fruit unloading device in any one of the above schemes are implemented.
Has the advantages that: compared with the prior art, the invention provides a fruit unloading detection method of a fruit unloading device, which receives an induction signal generated by a preset induction sensor and triggers the preset fruit unloading device based on the induction signal; controlling the fruit unloading device to trigger the corresponding fruit bearing device and acquiring the turning state of the fruit bearing device; and determining a fruit unloading detection result of the fruit unloading device based on the turning state, wherein the fruit unloading detection result is used for reflecting whether the fruit unloading device enables the fruit to enter a correct area or not. The fruit unloading device can be triggered based on the induction signal, the fruit bearing device is triggered to realize turnover, the fruit is unloaded through the turnover, and then the fruit unloading detection result is determined based on the turnover state.
Drawings
Fig. 1 is a flowchart of a specific implementation of a fruit unloading detection method of a fruit unloading device according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a fruit unloading detection device of the fruit unloading device provided by the embodiment of the invention.
Fig. 3 is a functional schematic diagram of a detection device in a fruit unloading detection system of the fruit unloading device according to the embodiment of the present invention.
Fig. 4 is a schematic block diagram of a detection device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The embodiment provides a fruit unloading detection method of a fruit unloading device, based on the method of the embodiment, continuous fruit unloading detection can be realized, misjudgment on a fruit bearing device can not be caused, and the accuracy of fruit unloading operation is improved. In specific implementation, the embodiment first receives a sensing signal generated by a preset sensing sensor, and triggers a preset fruit unloading device based on the sensing signal. And then controlling the fruit unloading device to trigger the corresponding fruit bearing device and obtaining the turning state of the fruit bearing device. And finally, determining a fruit unloading detection result of the fruit unloading device based on the turning state, wherein the fruit unloading detection result is used for reflecting whether the fruit unloading device can enable the fruit to enter a correct area or work normally. The fruit unloading device can be triggered based on the induction signal, the fruit bearing device is triggered to realize turnover, the fruit is unloaded through turnover, and then the fruit unloading detection result is determined based on the turnover state.
Exemplary method
The fruit unloading detection method of the fruit unloading device can be applied to a detection device, the detection device can be a computer device, and the detection device can be connected with the fruit unloading device and the fruit bearing device thereof and used for controlling the fruit unloading device and the fruit bearing device. In particular, as shown in fig. 1. The fruit unloading detection method of the fruit unloading device comprises the following steps:
and S100, receiving a sensing signal generated by a preset sensing sensor, and triggering a preset fruit unloading device based on the sensing signal.
In this embodiment, a user may try to issue a test instruction to a designated fruit unloading device on a human-computer interaction interface of the detection apparatus, and start to unload fruit detection to the fruit unloading device based on the test instruction. The inductive sensor of this embodiment is the dish edge top that sets up the cell type code wheel on unloading the fruit device, and the cell type code wheel can be along with unloading the conveying chain motion of fruit device, is provided with fruit and bears the weight of the device on this conveying chain, and when inductive sensor sensed advance a chain pitch on unloading the conveying chain of fruit device, this inductive sensor will send an inductive signal, and this inductive signal is pulse signal to this inductive signal corresponds one or one row of fruit and bears the weight of the device, and this inductive signal is used for triggering unloading the fruit device, so that trigger corresponding fruit and bear the weight of the device based on this unloading the fruit device.
And S200, controlling the fruit unloading device to trigger the corresponding fruit bearing device and obtaining the turning state of the fruit bearing device.
The fruit unloading device of this embodiment is provided with a fruit bearing device, and as shown in fig. 2, the fruit unloading device in this embodiment includes: a striking rod 105 and a transmission 106. The fruit bears the weight of the device includes: a fruit cup wheel 101, a fruit cup foot 104, a stopper 102 and a spring support 103; the bottom of the stopper 102 is provided with a fruit cup foot 104, the stopper 102 is connected with a support rod on the fruit cup foot 104 through a rotating shaft, the fruit cup wheel 101 is clamped on the stopper 102, and the spring support 103 is connected with the fruit cup foot 104 and the small hole of the stopper 102 through a hook of the spring support 103. When the fruit unloading device works, the sensing signal triggers the fruit unloading device, the fruit bearing device corresponding to the sensing signal is determined, and the fruit bearing device is controlled to execute overturning operation. Specifically, the fruit unloading device of the embodiment can control the striking rod 105 to perform striking operation, the striking rod 105 drives the stopper 102 to move when moving, and the stopper 102 drives the fruit cup wheel 101 to turn over based on the fruit cup foot 104, so as to realize the fruit unloading operation of the fruit bearing device. Therefore, in the embodiment, the fruit carrying device which is supposed to trigger the turning operation is determined based on the sensing signal, and the fruit carrying device is known to perform the fruit unloading operation based on the fruit unloading device, so as to realize the fruit unloading detection.
In another implementation manner, a signal interval period corresponding to the sensing signal may also be preset in this embodiment, the fruit unloading device may send a periodic hitting instruction according to the signal interval period, and control a preset hitting rod to move according to the hitting instruction, so that the fruit loading device may be triggered to unload the fruit through the movement of the hitting rod. Because the sensing signals of the embodiment are spaced, at least one sensing signal is spaced, and the sensing signals in the embodiment are sent periodically, continuous fruit unloading detection can be realized, and when the fruit unloading detection is carried out, fruit carrying devices can be punished at intervals, so that the situation that whether the fruit unloading devices are adjacent fruit carrying devices or not can not be distinguished when the adjacent fruit carrying devices are sequentially detected, and the adjacent fruit carrying devices are overturned simultaneously can be prevented.
In addition, when there are many letter sorting lines, then all send periodic hitting instruction with predetermined signal interval cycle on every letter sorting line of control to trigger corresponding fruit and bear the device, be provided with a corresponding inductive pick-up on every letter sorting line, and a fruit that every inductive pick-up corresponds bears the device. Therefore, the fruit carrying devices on each sorting line can be triggered by induction signals sent by the corresponding induction sensors.
And S300, determining a fruit unloading detection result of the fruit unloading device based on the turning state, wherein the fruit unloading detection result is used for reflecting whether the fruit unloading device enables the fruit to enter a correct area.
After the fruit bearing device performs the turning action, the embodiment can determine the turning state of the corresponding fruit bearing device, the turning state reflects whether the fruit bearing device turns over successfully, and if the turning state indicates that the fruit bearing device turns over successfully, the fruit unloading detection result of the fruit unloading device is determined to be that the fruit can be unloaded successfully. And if the overturning state is that the fruit bearing device fails to overturn, determining that the fruit unloading detection result of the fruit unloading device is that the fruit can not be successfully unloaded. In addition, the fruit carrying device of the embodiment can ensure that the fruit enters a correct area after being turned over successfully, and a user can determine whether the fruit is discharged successfully or not by observing whether the fruit enters the correct area, so that the inaccuracy of manual observation can be prevented.
In conclusion, the fruit bearing devices in this embodiment are all triggered by the fruit unloading devices to determine whether the fruit bearing devices are turned over, so as to realize fruit unloading detection. Specifically, the embodiment receives a sensing signal generated by a preset sensing sensor, and triggers a preset fruit unloading device based on the sensing signal; controlling the fruit unloading device to trigger the corresponding fruit bearing device and acquiring the turning state of the fruit bearing device; and determining a fruit unloading detection result of the fruit unloading device based on the turning state, wherein the fruit unloading detection result is used for reflecting whether the fruit unloading device enables the fruit to enter a correct area or not. This embodiment can trigger based on sensing signal and unload the fruit device to trigger fruit and bear the device and realize the upset, realize unloading the fruit through the upset, and then determine based on the upset state and unload the fruit testing result, whole process is implemented simply, and can realize bearing the periodic trigger of device to fruit based on sensing signal, thereby realize unloading the fruit of continuity and detect, and can not cause the erroneous judgement to fruit and bear the device, improve the accuracy of unloading the fruit operation.
Exemplary System
Based on the above embodiment, the present invention further provides a fruit unloading detection system of a fruit unloading device, as shown in fig. 3, the system includes: unload fruit device, fruit and bear device and check out test set, check out test set can unload fruit device and fruit and bear device and be connected. Specifically, the detection apparatus of the present embodiment includes: a signal triggering module 10, a control overturning module 20 and a fruit unloading detection module 30. Specifically, the signal triggering module 10 is configured to receive a sensing signal generated by a preset sensing sensor, and trigger a preset fruit unloading device based on the sensing signal. And the control overturning module 20 is configured to control the fruit unloading device to trigger a corresponding fruit bearing device, and obtain an overturning state of the fruit bearing device. The fruit unloading detection module 30 is configured to determine a fruit unloading detection result of the fruit unloading device based on the turning state, where the fruit unloading detection result is used to reflect whether the fruit unloading device can enable the fruit to enter a correct area or work normally.
In one implementation, the signal triggering module 10 includes:
the signal sensing unit is used for sending a sensing signal when the sensing sensor senses that the conveying chain of the fruit unloading device advances by a chain pitch, and the sensing signal corresponds to one or one row of fruit bearing devices;
and the device triggering unit is used for triggering the fruit unloading device based on the sensing signal so as to trigger the fruit bearing device through the fruit unloading device.
In one implementation, the signal triggering module 10 includes:
and the periodic trigger unit is used for presetting a signal interval period corresponding to the induction signal, sending a periodic striking instruction according to the signal interval period, and controlling the preset striking rod to move according to the striking instruction so as to trigger the fruit bearing device.
In one implementation, the control roll-over module 20 includes:
the overturning execution unit is used for determining the fruit bearing device corresponding to the sensing signal and controlling the fruit bearing device to execute overturning operation;
and the state determining unit is used for determining the overturning state of the fruit carrying device.
In one implementation, the unloading detection module 30 includes:
the first detection and judgment unit is used for determining that the fruit unloading detection result of the fruit unloading device is that the fruit can be unloaded successfully if the overturning state is that the fruit bearing device overturns successfully;
and the second detection and judgment unit is used for determining that the fruit unloading detection result of the fruit unloading device can not successfully unload the fruit if the overturning state is that the fruit bearing device fails to overturn.
In one implementation, the apparatus further comprises:
the periodic trigger module is used for controlling each sorting line to periodically send out periodic beating instructions at preset signal intervals when a plurality of sorting lines exist so as to trigger the corresponding fruit bearing device, and each sorting line is provided with a corresponding induction sensor and a fruit bearing device corresponding to each induction sensor.
In one implementation, the fruit unloading device comprises: a striking rod and a transmission device;
the fruit bears the weight of the device includes: fruit cup wheels, fruit cup feet, stoppers and spring brackets; the bottom of the blocking piece is provided with a fruit cup foot, the blocking piece is connected with a support rod on the fruit cup foot through a rotating shaft, the fruit cup wheel is clamped on the blocking piece, and the spring support is connected with the fruit cup foot and the small hole of the blocking piece through a hook of the spring support.
The working principle of each module in the fruit unloading detection system of the fruit unloading device in this embodiment is the same as that of each step in the above method embodiments, and is not described here again.
Based on the above embodiment, the present invention further provides a detection device, and a schematic block diagram of the detection device may be as shown in fig. 4. The detection apparatus may comprise one or more processors 100 (only one shown in fig. 4), a memory 101 and a computer program 102 stored in the memory 101 and executable on the one or more processors 100, for example a program for fruit discharge detection of a fruit discharge device. The steps in the method embodiments of fruit drop detection by a fruit drop apparatus may be implemented by one or more processors 100 executing a computer program 102. Alternatively, the one or more processors 100, when executing the computer program 102, may implement the functions of each module/unit in the method for detecting fruit unloading of the fruit unloading apparatus, which is not limited herein.
In one embodiment, the Processor 100 may be a Central Processing Unit (CPU), other general purpose Processor, a digital signal Processor (Di g ita l Si gna l Processor, DSP), an application specific integrated circuit (App I cat I on Spec I C I integrated Ci I t, AS ic), a programmable off-the-shelf Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In one embodiment, the storage 101 may be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. The memory 101 may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart card (SMC), a Secure Digital (SD) card, a flash memory card (f ash card), and the like provided on the electronic device. Further, the memory 101 may also include both an internal storage unit and an external storage device of the electronic device. The memory 101 is used to store computer programs and other programs and data required by the detection device. The memory 101 may also be used to temporarily store data that has been output or is to be output.
It will be appreciated by those skilled in the art that the block diagram of fig. 4 is only a block diagram of a part of the structure associated with the solution of the invention and does not constitute a limitation of the detection device to which the solution of the invention is applied, a specific detection device may comprise more or less components than those shown in the figures, or may combine some components, or have a different arrangement of components.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware that is instructed by a computer program, and the computer program may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, operational databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double-rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synch i nk DRAM (SLDRAM), rambus Direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM).
In summary, the invention provides a fruit unloading detection method and system of a fruit unloading device, wherein the method comprises the following steps: receiving a sensing signal generated by a preset sensing sensor, and triggering a preset fruit unloading device based on the sensing signal; controlling the fruit unloading device to trigger the corresponding fruit bearing device and acquiring the turning state of the fruit bearing device; and determining a fruit unloading detection result of the fruit unloading device based on the turning state, wherein the fruit unloading detection result is used for reflecting whether the fruit unloading device can enable the fruit to enter a correct area or work normally. The fruit unloading device can be triggered based on the induction signal, the fruit bearing device is triggered to realize turnover, the fruit is unloaded through the turnover, and then the fruit unloading detection result is determined based on the turnover state.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A fruit unloading detection method of a fruit unloading device is characterized by comprising the following steps:
receiving a sensing signal generated by a preset sensing sensor, and triggering a preset fruit unloading device based on the sensing signal;
controlling the fruit unloading device to trigger the corresponding fruit bearing device and acquiring the turning state of the fruit bearing device;
and determining a fruit unloading detection result of the fruit unloading device based on the turning state, wherein the fruit unloading detection result is used for reflecting whether the fruit unloading device can enable the fruit to enter a correct area or work normally.
2. The fruit unloading detection method of the fruit unloading device as claimed in claim 1, wherein the receiving of the sensing signal generated by a predetermined sensing sensor and the triggering of the predetermined fruit unloading device based on the sensing signal comprises:
when the induction sensor induces that the conveying chain of the fruit unloading device advances by a chain pitch, the induction sensor sends out an induction signal, and the induction signal corresponds to one or one row of fruit bearing devices;
and triggering the fruit unloading device based on the induction signal so as to trigger the fruit bearing device through the fruit unloading device.
3. The fruit unloading detection method of claim 2, wherein the receiving a sensing signal generated by a predetermined sensing sensor and triggering a predetermined fruit unloading device based on the sensing signal further comprises:
and presetting a signal interval period corresponding to the induction signal, sending a periodic striking instruction according to the signal interval period, and controlling the movement of a preset striking rod according to the striking instruction so as to trigger the fruit bearing device.
4. The fruit unloading detection method of the fruit unloading device according to claim 1, wherein the controlling the fruit unloading device to trigger the corresponding fruit carrying device and obtain the working state of the fruit carrying device comprises:
determining a fruit bearing device corresponding to the induction signal, and controlling the fruit bearing device to execute a turning operation;
determining a turning state of the fruit carrying device.
5. The fruit unloading detection method of the fruit unloading device according to claim 4, wherein the determining the fruit unloading detection result of the fruit unloading device based on the turning state comprises:
if the turning state is that the fruit bearing device is turned over successfully, determining that the fruit unloading detection result of the fruit unloading device is that the fruit can be unloaded successfully;
and if the overturning state is that the fruit bearing device fails to overturn, determining that the fruit unloading detection result of the fruit unloading device is that the fruit can not be successfully unloaded.
6. A fruit unloading detection method of a fruit unloading device according to claim 3, characterized in that the method further comprises:
when there are many letter sorting lines, then all send periodic hitting with predetermined signal interval cycle on every letter sorting line and beat the instruction to trigger corresponding fruit and bear the device, be provided with a corresponding inductive pick-up on every letter sorting line, and a fruit that every inductive pick-up corresponds bears the device.
7. A fruit unloading detection method of a fruit unloading device according to any one of claims 1-6, wherein the fruit unloading device comprises: a striking rod and a transmission device;
the fruit carrying device comprises: fruit cup wheels, fruit cup feet, stoppers and spring brackets; the bottom of the blocking piece is provided with a fruit cup foot, the blocking piece is connected with a supporting rod on the fruit cup foot through a rotating shaft, the fruit cup wheel is clamped on the blocking piece, and the spring support is connected with the fruit cup foot and the small hole of the blocking piece through a hook of the spring support.
8. A fruit unloading detection system of a fruit unloading device is characterized by comprising: unload fruit device, fruit and bear device and check out test set, check out test set includes:
the signal trigger module is used for receiving a sensing signal generated by a preset sensing sensor and triggering a preset fruit unloading device based on the sensing signal;
the control overturning module is used for controlling the fruit unloading device to trigger the corresponding fruit bearing device and acquiring the overturning state of the fruit bearing device;
and the fruit unloading detection module is used for determining a fruit unloading detection result of the fruit unloading device based on the turning state, and the fruit unloading detection result is used for reflecting whether the fruit unloading device can enable the fruit to enter a correct area or work normally.
9. A detection apparatus, characterized in that the detection apparatus comprises a memory, a processor and a fruit unloading detection program of a fruit unloading device stored in the memory and operable on the processor, and the processor implements the steps of the fruit unloading detection method of the fruit unloading device according to any one of claims 1-7 when executing the fruit unloading detection program of the fruit unloading device.
10. A computer-readable storage medium, wherein a fruit unloading detection program of a fruit unloading device is stored on the computer-readable storage medium, and when the fruit unloading detection program of the fruit unloading device is executed by a processor, the steps of the method for detecting fruit unloading of the fruit unloading device according to any one of claims 1-7 are implemented.
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