CN116159764A

CN116159764A - Goods sorting system

Info

Publication number: CN116159764A
Application number: CN202310193988.7A
Authority: CN
Inventors: 黄绍服; 盛祝旺; 司玉文; 刘超
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2023-02-27
Filing date: 2023-02-27
Publication date: 2023-05-26

Abstract

The invention relates to the field of goods sorting, and provides a goods sorting system. The article sorting system includes: the classifying device classifies the goods to be sorted according to the appearance quality, the internal quality and the weight of the goods to be sorted; and the sorting device sorts the goods to be sorted according to the grading result. The utility model provides a goods sorting system can promote the efficiency of classifying and letter sorting, reduce artifical judgement error, guarantees the quality of classifying and letter sorting, can also reduce the recruitment cost, has intelligent degree height, detects the precision height, can detect in batches, automatic sorting, advantage technical effect such as rationally distributed.

Description

Goods sorting system

Technical Field

The invention relates to the field of goods sorting, in particular to a goods sorting system.

Background

At present, the classification and sorting of the fruits and other goods are mostly based on manual work, so that time and labor are consumed, and judgment errors exist.

Therefore, in order to solve the above technical problems, there is a need for an article sorting system capable of automatically sorting and sorting articles.

Disclosure of Invention

In order to solve the technical problem that the efficiency is low caused by manually classifying and sorting the goods in the related art, a goods sorting system is provided.

The invention provides an article sorting system, comprising: the classifying device classifies the goods to be sorted according to the appearance quality, the internal quality and the weight of the goods to be sorted; and the sorting device sorts the goods to be sorted according to the grading result.

Further, the classifying device includes: the visual detection part is used for collecting image information of the goods to be sorted so as to judge the appearance quality grade of the goods to be sorted according to the image information; and/or a spectrum detection part, which is used for collecting near infrared spectrum information of the goods to be sorted so as to judge the internal quality grade of the goods to be sorted according to the near infrared spectrum information; and/or the weighing part is used for collecting the weight information of the goods to be sorted so as to judge the size grade of the goods to be sorted according to the weight information.

Further, the sorting apparatus includes: the first sorting mechanism is arranged at the downstream of the visual detection part and is used for sorting the goods to be sorted according to the appearance quality grade of the goods to be sorted or at least one of the appearance quality grade, the internal quality grade and the size grade; and/or a second sorting mechanism, which is arranged at the downstream of the spectrum detection part and is used for sorting goods according to the internal quality grade of the goods to be sorted or at least one of the internal quality grade, the appearance quality grade and the size grade; and/or a third sorting mechanism, which is arranged at the downstream of the weighing part and sorts the goods to be sorted according to the size grade of the goods to be sorted or at least one of the size grade, the appearance quality grade and the internal quality grade.

Further, the grading device also comprises a detection conveyor belt for conveying the goods to be sorted; the visual detection unit includes: the middle part of the first box body is provided with a yielding space, and at least part of the detection conveyor belt passes through the yielding space; the cameras are arranged in the first box body, and at least one camera is arranged above and below the detection conveyor belt made of transparent materials and used for collecting image information of goods to be sorted; the first light source is adjustably arranged in the first box body through the position of the first bracket; the image processing module is electrically connected with the camera and is used for comparing the acquired image information with prestored goods images with different appearance quality grades so as to judge the appearance quality grade of the goods to be sorted; the first sorting mechanism includes: the removal swing rod and the first driving motor are arranged above the detection conveyor belt in a swinging way and positioned at the downstream of the first box body, and the first driving motor is in driving connection with the removal swing rod; the recovery box is arranged on one side of the detection conveyor belt and is opposite to the removal swing rod; the appearance quality grade comprises qualified products and defective products, the removal swing rod is used for removing the goods to be sorted belonging to the defective product grade into the recovery box, and the goods to be sorted belonging to the qualified products are continuously conveyed by the detection conveyor belt.

Further, the spectrum detection section includes: the second box body is arranged on the detection conveyor belt and positioned at the downstream of the removal swing rod, and a second abdication space for the goods to be sorted to pass through is formed between the bottom of the second box body and the detection conveyor belt; the optical fiber probe is arranged in the second box body and is used for collecting near infrared spectrum information of the interior of the goods to be sorted passing through the optical fiber probe; the second light source is adjustably arranged in the second box body through the position of the second bracket; the spectrometer is electrically connected with the optical fiber probe; the spectrum processing module is electrically connected with the spectrometer and is used for comparing the acquired near infrared spectrum information of the goods to be sorted with pre-stored near infrared spectrum information with different internal quality grades so as to judge the internal quality grade of the goods to be sorted; the second sorting mechanism includes: the shunt swing rod is arranged above the detection conveyor belt in a swinging way and is positioned at the downstream of the second box body, and the second driving motor is in driving connection with the shunt swing rod; the internal quality grades comprise at least two, the detection conveyor belt is divided into a plurality of distribution areas along the width direction of the detection conveyor belt, the distribution swing rods are provided with a plurality of swing positions corresponding to the distribution areas one by one, and the distribution swing rods are used for distributing goods to be sorted belonging to the corresponding internal quality grades into the corresponding distribution areas.

Further, the item sorting system further includes: and the cleaning device is arranged on the detection conveyor belt and used for cleaning the detection conveyor belt.

Further, the weighing section includes: the weighing conveyor belts are arranged at the tail parts of the detection conveyor belts along the width direction of the detection conveyor belts, are arranged in one-to-one correspondence with the plurality of diversion areas and are used for receiving goods to be sorted on the detection conveyor belts; the bottom of each weighing conveyor belt is provided with a pressure sensor, each weighing conveyor belt is connected with one pressure sensor through a third bracket, and the pressure sensors are used for weighing weight information of goods to be sorted on the weighing conveyor belt; the weight processing module is electrically connected with the pressure sensors and is used for comparing the weight information of the goods to be sorted obtained through weighing with pre-stored weight information so as to judge the size grade of the goods to be sorted; the third sorting mechanism includes: the sorting conveyor belt is arranged at the downstream of the plurality of weighing conveyor belts and is provided with a plurality of sorting areas which are in one-to-one correspondence with the plurality of weighing conveyor belts and used for receiving goods to be sorted on the plurality of weighing conveyor belts; the sorting conveyor belt comprises a plurality of sorting manipulators, wherein at least one sorting manipulator is arranged on two sides of the sorting conveyor belt respectively; the size grades comprise at least two, each sorting manipulator corresponds to one internal quality grade and one size grade, and the sorting manipulator is used for sorting goods to be sorted, which are positioned on the sorting conveyor belt and correspond to the sorting conveyor belt, into corresponding packaging boxes.

Further, the sorting manipulator comprises a flexible actuator and a visual identification module; and/or the grading device further comprises: and the plurality of flow dividing plates are used for forming a plurality of flow dividing channels which are arranged in one-to-one correspondence with the plurality of weighing conveyor belts, and each flow dividing plate extends to the upper part of the weighing conveyor belt from the upper part of the detection conveyor belt.

Further, the item sorting system further includes: the two sides of a plurality of packing carton conveyer belts are equipped with at least one packing carton conveyer belt respectively, and the tip that is close to the sorting conveyer belt of each packing carton conveyer belt is equipped with vanning workstation, and the one end that the vanning workstation was kept away from to each packing carton conveyer belt extends to packing carton supply workstation, and every packing carton conveyer belt is used for conveying a packing carton to vanning workstation, and every packing carton corresponds an inside quality grade and a size grade, and a plurality of packing carton conveyer belts set up with a plurality of letter sorting manipulators one-to-one.

Further, the item sorting system further includes: and the packing box conveying rollers are used for bearing packing boxes of goods loaded on the packing box conveying belts, and one ends, far away from the sorting conveying belts, of the packing box conveying rollers extend to packing box packing work positions.

Further, the item sorting system further includes: a first sensor disposed upstream of the first bin, the first sensor being triggered when items to be sorted pass the first sensor; the second sensor is arranged between the removal swing rod and the first box body, and is triggered when the goods to be sorted pass through the second sensor; the third sensor is arranged between the second box body and the removing swing rod, and is triggered when the goods to be sorted pass through the third sensor; the fourth sensor is arranged between the diverting swing rod and the second box body, and is triggered when the goods to be sorted pass through the fourth sensor; the fifth sensor is arranged between the diverting swing rod and the weighing conveyor belt, and is triggered when the goods to be sorted pass through the fifth sensor; and a plurality of sixth sensors, wherein each packing box conveyor belt is provided with a sixth sensor, and the sixth sensors are arranged at the upstream of the boxing working position.

Further, the item sorting system further includes: and the feeding device is arranged at the upstream of the classifying device and is used for supplying a plurality of goods to be sorted which are linearly arranged to the classifying device.

Further, the feeding device includes: a feeding conveyor belt having a conveying speed smaller than that of the detection conveyor belt; the feeding box is arranged at the head part of the feeding conveyor belt and comprises a bottom plate and baffle plates, wherein the bottom plate is arranged obliquely downwards, and the baffle plates are positioned at two sides of the bottom plate and are used for conveying a plurality of goods to be sorted onto the feeding conveyor belt; the limiting plate is arranged on the feeding conveyor belt and positioned at the downstream of the feeding box, and comprises a top plate section positioned above the feeding conveyor belt and connecting plate sections positioned at two sides of the top plate section, and a feeding space is formed between the top plate section and the feeding conveyor belt; the two sorting boards are oppositely arranged, each sorting board comprises an inclined board section and a straight board section which are connected, the inclined board section is close to the limiting board, the straight board section extends to the detection conveyor belt through the feeding conveyor belt, the distance between the two inclined board sections of the two sorting boards is gradually reduced along the direction close to the straight board section, and the distance between the two straight board sections of the two sorting boards is used for allowing a goods to be sorted to pass through.

The utility model provides an article sorting system can be through grading plant according to the appearance quality, internal quality and the weight of waiting to sort the goods right wait to sort the goods, rethread sorting device is according to the grading result is right wait to sort the goods, have automatic classification and automatic sorting's function to can promote the efficiency of grading and sorting, reduce artifical judgement error, guarantee the quality of grading and sorting, can also reduce the recruitment cost.

The optimal scheme of the application also has the beneficial technical effects of high intelligent degree, high detection precision, batch detection, automatic sorting, reasonable layout and the like.

Drawings

Fig. 1 is a schematic perspective view showing an article sorting system according to an alternative embodiment of the present invention;

fig. 2 shows a schematic perspective view of a feed device in the item sorting system of fig. 1;

fig. 3 shows a top view of the feeding device of fig. 2;

fig. 4 is a schematic perspective view showing a visual inspection part, a first sorting mechanism, a spectrum inspection part, a second sorting mechanism, a detection conveyor, a cleaning device, a first sensor, a second sensor, a third sensor, a fourth sensor, and a fifth sensor in the article sorting system of fig. 1;

Fig. 5 shows a front view of fig. 4;

FIG. 6 shows a top view of FIG. 4;

fig. 7 is a schematic view showing the structure of the visual inspection part in fig. 4;

fig. 8 shows a schematic structural view of the spectrum sensing section in fig. 4;

fig. 9 shows a schematic structural view of a weighing section in the item sorting system of fig. 1;

fig. 10 shows a top view of the weighing section, the third sorting mechanism, the packing box conveyor drum and the sixth sensor in the article sorting system of fig. 1.

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention.

In the drawings:

1. an aluminum alloy frame; 10. a feeding device; 11. a feed conveyor; 12. a feed box; 121. a bottom plate; 122. a baffle; 13. a limiting plate; 131. a roof section; 132. a connecting plate section; 14. a sequencing plate; 141. an inclined plate section; 142. a straight plate section; 143. a connecting plate section; 20. a visual detection unit; 21. a first case; 22. a camera; 23. a first light source; 24. a first bracket; 30. a spectrum detection unit; 31. a second case; 32. an optical fiber probe; 33. a second light source; 34. a second bracket; 35. an optical fiber probe bracket; 40. a weighing section; 41. weighing a conveyor belt; 42. a third bracket; 43. a pressure sensor; 50. a first sorting mechanism; 51. removing the swing rod; 52. a first driving motor; 53. a recovery box; 531. a case; 532. a recovery plate; 54. a first drive motor bracket; 60. a second sorting mechanism; 61. a shunt swing rod; 62. a second driving motor; 63. a second driving motor bracket; 70. a third sorting mechanism; 71. sorting the conveyor belt; 72. sorting manipulator; 721. a flexible actuator; 80. detecting a conveyor belt; 90. a cleaning device; 100. a diverter plate; 110. a package box conveyor belt; 120. a package box conveying roller; 130. a first sensor; 140. a second sensor; 150. a third sensor; 160. a fourth sensor; 170. a fifth sensor; 180. and a sixth sensor.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

In order to solve the technical problem that the efficiency is low caused by manually classifying and sorting goods in the related art, the invention provides a goods sorting system.

As shown in fig. 1 to 10, the item sorting system includes: the classifying device classifies the goods to be sorted according to the appearance quality, the internal quality and the weight of the goods to be sorted; and the sorting device sorts the goods to be sorted according to the grading result. Like this, goods letter sorting system has automatic classification and automatic sorting's function to can promote the efficiency of classifying and letter sorting, reduce artifical judgement error, guarantee the quality of classifying and letter sorting, can also reduce the recruitment cost.

Optionally, the grading device includes a visual detection part 20, and the visual detection part 20 is used for collecting image information of the goods to be sorted, so as to judge the appearance quality grade of the goods to be sorted according to the image information. In this way, the visual inspection portion 20 can be utilized to realize automatic classification of the appearance quality level of the article to be sorted.

Alternatively, whether the appearance of the article to be sorted is damaged or not may be determined by using the image information, and whether the appearance of the article to be sorted is beautiful or not may be determined by using the image information, so that the appearance quality level specifically includes several levels and a determination criterion for each level is set in advance.

Optionally, the grading device includes a spectrum detecting portion 30, and the spectrum detecting portion 30 is configured to collect near infrared spectrum information of the article to be sorted, so as to determine an internal quality grade of the article to be sorted according to the near infrared spectrum information. In this way, an automatic grading of the internal quality level of the goods to be sorted can be achieved with the spectral detection section 30.

Optionally, the internal quality grade is a maturity grade or a sugar grade.

Alternatively, when the article to be sorted is fruit, the sugar degree level of the fruit may be determined using near infrared spectrum information, and the sugar degree level may be preset to include several levels and a determination criterion for each sugar degree level.

Optionally, the article to be sorted is a strawberry.

In the illustrated embodiment of the present application, the strawberry sugar degree grade is set to two grades, high sugar and low sugar, respectively.

In alternative embodiments of the present application, not shown, the internal quality level may also be set to a greater number of levels.

Optionally, when the article to be sorted is another article, the near infrared spectrum information may also be used to determine other internal quality indexes of the article to be sorted.

Optionally, the grading device includes a weighing portion 40, where the weighing portion 40 is configured to collect weight information of the articles to be sorted, so as to determine a size grade of the articles to be sorted according to the weight information. In this way, automatic grading of the size grade of the goods to be sorted can be achieved with the weighing section 40.

In the illustrated embodiment of the application, the size and the like of the strawberries are divided into three grades, namely a large grade, a medium grade and a small grade, weight thresholds corresponding to the grades can be correspondingly defined, and the weight of the strawberries to be sorted obtained through weighing is compared with the set weight threshold, so that the grade of the strawberries is judged.

Alternatively, when the article to be sorted is another article, the weight threshold and the weight of the size class may be adjusted according to the actual condition of the article.

In the alternative embodiment shown in fig. 1 to 10, the grading device includes the visual detection portion 20, the spectrum detection portion 30 and the weighing portion 40 which are sequentially arranged, so that the layout is more reasonable, the grading efficiency is higher, and the grading effect is better.

In alternative embodiments of the present application, not shown, other ways of grading the items to be sorted according to their appearance quality, internal quality and weight may also be used.

Optionally, the sorting apparatus includes a first sorting mechanism 50, the first sorting mechanism 50 being disposed downstream of the visual inspection portion 20 for sorting the articles to be sorted according to their appearance quality level, or at least one of their appearance quality level, their internal quality level, and their size level. In this way, automatic sorting of the items to be sorted can be achieved with the first sorting mechanism 50.

Optionally, the first sorting mechanism 50 includes a removal mechanism, a diverting mechanism, or a sorting robot.

When the appearance quality grade comprises two grades of qualified products and unqualified products, the unqualified products can be removed by the removing mechanism, the follow-up grading and sorting processes of the internal quality grade and the size grade are not participated, and the grading and sorting efficiency is improved.

When the appearance quality grades comprise first grade products and second grade products, the first grade products can be shunted to the first area by the shunting mechanism, the second grade products can be shunted to the second area, the first grade products and the second grade products can participate in the grading and sorting processes of the subsequent internal quality grades and the size grades, the appearance of the products is unbroken, attractive, the appearance of the products is unbroken and the products with flaws are graded, the grading and sorting efficiency is improved, and the grading and sorting quality is improved.

The appearance quality grades can also be selected and set with more grades and judging conditions of each grade according to actual conditions.

The corresponding number of preset positions can be set according to the number of the appearance quality grades, and then the goods to be sorted are directly conveyed to the corresponding preset positions by using the sorting manipulator.

When the goods to be sorted are strawberries, in order to avoid damage to the strawberries in the clamping process of the sorting manipulator, the sorting manipulator can be adopted only in the last boxing link, and meanwhile, the two functions of sorting and boxing in a grading manner are achieved.

Optionally, the sorting apparatus includes a second sorting mechanism 60, the second sorting mechanism 60 being disposed downstream of the spectrum detecting portion 30 to sort the articles to be sorted according to an internal quality level of the articles to be sorted or at least one of an internal quality level, an external quality level, and a size level. In this way, automatic sorting of the items to be sorted may be achieved with the second sorting mechanism 60.

Optionally, the second sorting mechanism 60 includes a removal mechanism, a diverting mechanism, or a sorting robot.

Similar to the first sorting mechanism 50, the second sorting mechanism 60 may also select the sort of the sorting mechanism according to the actual situation, so as to implement classification and sorting, which will not be described herein.

Optionally, the sorting apparatus includes a third sorting mechanism 70, the third sorting mechanism 70 being disposed downstream of the weighing section 40 for sorting the articles to be sorted according to their size grade, or at least one of their size grade, their appearance quality grade, and their internal quality grade. In this way, automatic sorting of the items to be sorted can be achieved with the third sorting mechanism 70.

Optionally, the third sorting mechanism 70 sorts the items to be sorted according to their size grade, appearance quality grade, and interior quality grade.

Optionally, the third sorting mechanism 70 includes a removal mechanism, a diverting mechanism, or a sorting robot.

Similar to the first sorting mechanism 50 and the second sorting mechanism 60, the third sorting mechanism 70 may also select the sort of the sorting mechanism according to the actual situation, so as to implement sorting and sorting, which will not be described herein.

According to the sequence of the setting positions of the visual detection part 20, the spectrum detection part 30 and the weighing part 40, and the setting positions and types of the sorting mechanisms, it is determined that the sorting mechanisms sort the goods to be sorted specifically according to one or more of the appearance quality grade, the internal quality grade and the size grade of the goods to be sorted.

For example, the visual inspection portion 20, the spectrum inspection portion 30, and the weighing portion 40 are provided in this order, and when the types of the first sorting mechanism 50 and the second sorting mechanism 60 are both removing mechanisms, the third sorting mechanism 70 only needs to sort the articles to be sorted according to the size grade of the articles to be sorted; when the first sorting mechanism 50 is a diverting mechanism or a sorting manipulator, and the second sorting mechanism 60 is a removing mechanism, the third sorting mechanism 70 only needs to sort the articles to be sorted according to the size grade and the appearance quality grade of the articles to be sorted; when the first sorting mechanism 50 is a removing mechanism and the second sorting mechanism 60 is a diverting mechanism or a sorting manipulator, the third sorting mechanism 70 only needs to sort the articles to be sorted according to the size grade and the internal quality grade of the articles to be sorted; when the kinds of the first sorting mechanism 50 and the second sorting mechanism 60 are both the diverting mechanism or the sorting robot, the third sorting mechanism 70 sorts the article to be sorted according to the appearance quality grade, the internal quality grade, and the size grade of the article to be sorted.

As shown in fig. 1, and 4 to 6, the sorting apparatus further includes a detection conveyor 80 for conveying the articles to be sorted. In this way, the transportation, detection, sorting and sorting of batches of goods to be sorted can be achieved by the detection conveyor 80.

In alternative embodiments of the present application, not shown, other types of conveyor means may be used for transporting the goods to be sorted.

As shown in fig. 7, the visual inspection unit 20 includes: the first box body 21, the middle part of the first box body 21 is provided with a yielding space, and at least part of the detection conveyor belt 80 passes through the yielding space; a camera 22, the camera 22 is arranged in the first box 21, and at least one camera 22 is respectively arranged above and below the detection conveyor belt 80 made of transparent materials and used for collecting image information of goods to be sorted; a first light source 23, the first light source 23 being position-adjustably disposed in the first housing 21 by a first bracket 24; the image processing module is not shown in the image processing module diagram, and is electrically connected with the camera 22, and is used for comparing the collected image information with pre-stored goods images with different appearance quality grades so as to judge the appearance quality grade of the goods to be sorted. Like this, the application can be through the camera 22 that is located detection conveyer 80 top and below to gather the 360 image information of waiting to sort goods, has the advantage that the judgement degree of accuracy is high, judgement efficiency is high.

Optionally, the first box 21 is provided with black material, avoiding stray light affecting the image acquisition of the goods to be sorted.

Optionally, the first light source 23 can adjust the angle of the light filling, thereby ensuring the effect of image acquisition.

Preferably, the first casing 21 is made of a black matte acrylic sheet.

In an alternative embodiment of the present application, not shown, the first light source 23 and the first housing 21 may be omitted, and the first light source 23 may be provided as non-adjustable in position.

Optionally, the item sorting system includes a computer having an image processing module, the camera being electrically connected to the computer.

As shown in fig. 1, and fig. 4 to 6, the first sorting mechanism 50 includes: a removal swing link 51 and a first driving motor 52, the removal swing link 51 being swingably provided above the detection conveyor belt 80 and downstream of the first casing 21, the first driving motor 52 being in driving connection with the removal swing link 51; a recovery box 53 disposed at one side of the detection conveyor 80 and opposite to the removal swing link 51; the appearance quality grade comprises qualified products and defective products, the removal swinging rod 51 is used for removing the goods to be sorted belonging to the defective product grade into the recovery box 53, and the goods to be sorted belonging to the qualified products are continuously conveyed by the detection conveyor belt 80. Like this, the first letter sorting mechanism 50 that this application provided simple structure, operation are reliable, with low costs, and the defective goods no longer participate in subsequent classification and letter sorting, are favorable to follow-up structural simplistic design, and the goods that wait to sort through the recovery tank 53 recovery can be retrieved and recycle.

Alternatively, the first drive motor 52 is coupled to the detection conveyor 80 via the first drive motor bracket 54.

In an alternative embodiment of the present application, not shown, the recovery tank 53 may be replaced with another conveying line, and the conveying may be performed at another designated position.

As shown in fig. 4 and 5, the recovery box 53 includes a box 531 and a recovery plate 532, one end of the recovery plate 532 extends to the detection conveyor belt, and the other end extends to the edge of the top of the box 531 near the detection conveyor belt, which is advantageous for more stably and accurately dropping the article to be sorted into the recovery box 53.

As shown in fig. 8, the spectrum detection unit 30 includes: the second box body 31, the second box body 31 is arranged on the detection conveyor belt 80 and is positioned at the downstream of the removal swing rod 51, and a second abdication space for the goods to be sorted to pass through is formed between the bottom of the second box body 31 and the detection conveyor belt 80; the optical fiber probe 32, the optical fiber probe 32 is arranged in the second box 31 and is used for collecting near infrared spectrum information of the interior of the goods to be sorted passing through the optical fiber probe 32; the second light source 33, the second light source 33 is adjustably arranged in the second box 31 through the second bracket 34; not shown in the spectrometer diagram, the spectrometer is electrically connected to the fiber optic probe 32; the spectrum processing module is electrically connected with the spectrometer and is used for comparing the collected near infrared spectrum information of the goods to be sorted with the pre-stored near infrared spectrum information of different internal quality grades so as to judge the internal quality grade of the goods to be sorted. Like this, this application can gather the inside near infrared spectrum information of waiting to sort goods through fiber optic probe 32 to judge the inside quality grade of waiting to sort goods through near infrared spectrum information, have the advantage that the judgement degree of accuracy is high, judgement efficiency is high.

Optionally, the second box 31 is provided with black material, avoiding stray light affecting the image acquisition of the goods to be sorted.

Optionally, the second light source 33 can adjust the angle of the light filling, thereby ensuring the effect of image acquisition.

Preferably, the second case 31 is made of a black matte acrylic sheet.

In an alternative embodiment of the present application, not shown, the second light source 33 and the second housing 31 may be omitted, and the second light source 33 may be provided as non-position-adjustable.

Optionally, the item sorting system includes a computer having a spectral processing module, the spectrometer being electrically connected to the computer.

As shown in fig. 1 and fig. 4 to 6, the second sorting mechanism 60 includes: the shunt swing rod 61 and the second driving motor 62, the shunt swing rod 61 is arranged above the detection conveyor belt 80 in a swinging way and is positioned at the downstream of the second box body 31, and the second driving motor 62 is in driving connection with the shunt swing rod 61; the internal quality grades include at least two, the detection conveyor belt 80 is divided into a plurality of diversion areas along the width direction thereof, the diversion swing rod 61 is provided with a plurality of swing positions corresponding to the diversion areas one by one, and the diversion swing rod 61 is used for diverting the goods to be sorted belonging to the corresponding internal quality grade into the corresponding diversion areas. Thus, the second sorting mechanism 60 provided by the present application is simple in structure, reliable in operation, and low in cost.

Alternatively, the second driving motor 62 is connected to the detection conveyor 80 through a second driving motor bracket 63.

In the illustrated embodiment, the internal quality class is split into two; in alternative embodiments of the present application, not shown, more may be provided.

As shown in fig. 1, 4 and 5, the item sorting system further includes: and a cleaning device 90, wherein the cleaning device 90 is arranged on the detection conveyor belt 80 and is used for cleaning the detection conveyor belt 80. Thus, the phenomenon that the goods to be sorted pollute the detection conveyor belt is avoided, and the grading effect is influenced.

Optionally, the cleaning device 90 is disposed below the detection conveyor belt 80, so as to clean the detection conveyor belt passing through the cleaning device, and also avoid affecting the transportation of the goods to be sorted above the detection conveyor belt 80.

When waiting to sort goods and being fruit, there is the pollution detection conveyer belt such as juice of damaged fruit probably to exist, can influence image information's collection under the more circumstances of accumulation, leads to hierarchical effect poor, also probably pollutes other fruit of waiting to sort, sets up cleaning device 90 and can solve these problems.

As shown in fig. 9, the weighing section 40 includes: the weighing conveyor belts 41 are arranged at the tail part of the detection conveyor belt 80 along the width direction of the detection conveyor belt 80, are arranged in one-to-one correspondence with the plurality of diversion areas and are used for receiving the goods to be sorted on the detection conveyor belt 80; the bottom of each weighing conveyer 41 is provided with a pressure sensor 43, each weighing conveyer 41 is connected with one pressure sensor 43 through a third bracket 42, and the pressure sensor 43 is used for weighing weight information of the goods to be sorted on the weighing conveyer 41; the weight processing module is not shown in the figure, and is electrically connected to the pressure sensors 43, and is configured to compare the weight information of the weighed goods to be sorted with pre-stored weight information, so as to determine the size grade of the goods to be sorted. In this way, the present application can obtain the weight of the article to be sorted through the weighing conveyer belt by the pressure sensor 43, thereby judging the size grade of the article to be sorted according to the weight information of the article to be sorted.

In the illustrated embodiment of the present application, the internal quality levels include two levels, two weighing conveyors are provided accordingly, one for transporting one level and the other for transporting the other level, and further through size grading, multiple grading results of different size levels and different internal quality level combinations can be obtained.

As shown in fig. 1 and 10, the third sorting mechanism 70 includes: a sorting conveyor 71, the sorting conveyor 71 being disposed downstream of the plurality of weighing conveyors 41, the sorting conveyor 71 having a plurality of sorting areas in one-to-one correspondence with the plurality of weighing conveyors 41 for receiving the items to be sorted on the plurality of weighing conveyors 41; a plurality of sorting manipulators 72, at least one sorting manipulator 72 being provided on each side of the sorting conveyor 71; wherein the size grades include at least two, each sorting manipulator 72 corresponds to an internal quality grade and a size grade, and the sorting manipulator 72 is used for sorting the goods to be sorted, which are located on the sorting conveyor 71 and correspond to the internal quality grade and the size grade, into the corresponding packing boxes. In this way, the sorting manipulator 72 can be used for directly carrying and boxing, and the sorting precision and the sorting efficiency are high.

In the illustrated alternative embodiment, the internal quality levels of the present application include two levels, the size levels include three levels of large, medium, and small, and accordingly, six sorting robots 72 are provided.

The size grade may also be replaced with a weight grade according to the actual situation.

Optionally, the sorting robot 72 includes a flexible actuator 721. In this way, damage to the goods to be sorted can be avoided.

Optionally, the sorting robot 72 includes a visual identification module. Thus, the position of the goods to be sorted can be accurately positioned, and the sorting efficiency and the sorting precision are improved.

Optionally, as shown in fig. 1, the grading apparatus further includes: and a plurality of diverter plates 100 for forming a plurality of diverter channels arranged in one-to-one correspondence with the plurality of weighing conveyors 41, each diverter plate 100 extending from above the detection conveyor 80 to above the weighing conveyor 41. In this way, the transfer of the goods to be sorted is facilitated.

Optionally, as shown in fig. 1 and 10, the article sorting system further includes: the two sides of the sorting conveyor belt 71 are respectively provided with at least one packing box conveyor belt 110, the end part of each packing box conveyor belt 110, which is close to the sorting conveyor belt 71, is provided with a boxing work position, each packing box conveyor belt 110 is used for conveying a packing box to the boxing work position, one end of each packing box conveyor belt 110, which is far away from the boxing work position, extends to a packing box supply work position, each packing box corresponds to an internal quality grade and a size grade, and the packing box conveyor belts 110 and the sorting manipulators 72 are arranged in a one-to-one correspondence. Like this, can realize waiting to sort the automatic vanning of goods, can promote packing efficiency.

Alternatively, a feeding robot or other automatic feeding device may be provided at the pack feeding work position, and manual feeding may be performed.

Optionally, as shown in fig. 1 and 10, the article sorting system further includes: the packing box conveying roller 120, at least part of the packing box conveying roller 120 extends to the lower side of the sorting conveying belt 71, a plurality of packing box conveying belts 110 are in butt joint with the packing box conveying roller 120, the packing box conveying roller 120 is used for receiving packing boxes of goods loaded on the packing box conveying belt 110, and one end, far away from the sorting conveying belt 71, of the packing box conveying roller 120 extends to a packing box packing working position. In this way, the packaging efficiency can be further improved.

Optionally, a packing robot or other automatic packing devices can be arranged at the packing work position of the packing box, and manual packing can be adopted.

As shown in fig. 1, 4 to 6, and 10, the article sorting system further includes: a first sensor 130 disposed upstream of the first tank 21, the first sensor 130 being triggered when the article to be sorted passes the first sensor 130; a second sensor 140 disposed between the removal swing link 51 and the first casing 21, the second sensor 140 being triggered when the article to be sorted passes the second sensor 140; a third sensor 150 disposed between the second casing 31 and the removing swing link 51, the third sensor 150 being triggered when the article to be sorted passes through the third sensor 150; a fourth sensor 160 disposed between the diverting swing rod 61 and the second box 31, the fourth sensor 160 being triggered when the goods to be sorted pass the fourth sensor 160; a fifth sensor 170 provided between the diverting swing lever 61 and the weighing conveyer 41, the fifth sensor 170 being triggered when the article to be sorted passes the fifth sensor 170; a plurality of sixth sensors 180, one sixth sensor 180 is provided on each pack conveyor 110, the sixth sensor 180 being disposed upstream of the boxing operation position. Like this, can detect the position of waiting to sort goods through the sensor, then judge the action opportunity of each part, promote the degree of intellectuality with the degree of accuracy and the efficiency of sorting of promotion.

As shown in fig. 1 to 3, the item sorting system further includes: a feeding device 10, the feeding device 10 being arranged upstream of the sorting device for feeding a plurality of goods to be sorted in a linear arrangement to the sorting device. Therefore, batch classification and sorting of goods to be sorted can be achieved, and the accuracy and efficiency of classification and sorting can be further improved after the goods to be sorted are linearly arranged.

As shown in fig. 2 and 3, the feeding device 10 includes: a feeding conveyor belt 11, the conveying speed of the feeding conveyor belt 11 is smaller than that of the detecting conveyor belt 80, so that the distance between two adjacent articles to be sorted on the detecting conveyor belt 80 can be adjusted by the speed difference; a feed box 12 disposed at the head of the feed conveyor 11, the feed box 12 including a bottom plate 121 disposed to be inclined downward and baffles 122 disposed at both sides of the bottom plate 121 for conveying a plurality of goods to be sorted onto the feed conveyor 11; the limiting plate 13 is arranged on the feeding conveyor belt 11 and positioned at the downstream of the feeding box 12, the limiting plate 13 comprises a top plate section 131 positioned above the feeding conveyor belt 11 and connecting plate sections 132 positioned at two sides of the top plate section 131, and a feeding space is formed between the top plate section 131 and the feeding conveyor belt 11; the two sorting boards 14 are oppositely arranged, each sorting board 14 comprises an inclined board section 141 and a straight board section 142 which are connected, the inclined board section 141 is arranged close to the limiting board 13, the straight board section 142 extends from the feeding conveyor belt 11 to the detection conveyor belt 80, the distance between the two inclined board sections 141 of the two sorting boards 14 is gradually reduced along the direction close to the straight board section 142, and the distance between the two straight board sections 142 of the two sorting boards 14 is used for one article to be sorted to pass through. In this way, it is possible to supply one article to be sorted at a time to the middle of the inspection conveyor 80, facilitating the subsequent sorting and sorting.

Optionally the straight plate section 142 is connected to the detection conveyor belt 80 by a connecting plate section 143.

Optionally, the article sorting system provided by the application is used for sorting fruits.

Optionally, the article sorting system provided by the application is used for sorting strawberries.

With the change of world trade patterns, fruits are the third largest planted product in China beyond vegetables and grains. Along with the rapid development of economy, the requirements of people on living standard are higher and higher, and fruit quality detection becomes an increasingly popular topic nowadays, so that the method is also a key step of fruit marketing and income increment, and the market competition of agricultural products at home and abroad is influenced by fruit detection and classification technology. At present, most of classification is based on manual classification, so that classification is mainly judged by artificial light, automatic quality detection is relatively less, most of classification is mainly judged by manual, time and labor are consumed, and judgment errors exist.

The invention provides a goods sorting system which has the characteristics of high intelligent degree, high detection precision, batch detection, automatic sorting and the like.

In one embodiment of the present application, an article sorting system is provided for intelligent, non-destructive sorting of strawberries, comprising a feeding device 10, a visual inspection portion 20, a first sorting mechanism 50, a spectral inspection portion 30, a second sorting mechanism 60, a weighing portion 40, a third sorting mechanism 70, and a detection conveyor 80.

The feeding device 10 comprises a feeding box 12, a low-speed feeding conveyor belt 11 and a sorting plate 14, wherein the feeding box is arranged above the conveyor belt, and the sorting plate 14 is used for changing strawberries which are originally stacked together into discrete states which are in linear arrangement. The vision detection part 20 comprises a first box body 21, a first light source 23 and a CCD camera 22 are respectively arranged at the upper part and the lower part of the first box body 21, a detection conveyor belt 80 is made of PU transparent materials, a cleaning device 90 is arranged at the rear end of the detection conveyor belt 80, and the detection conveyor belt 80 and a feeding conveyor belt 11 are used for utilizing the speed difference between the detection conveyor belt 80 and the feeding conveyor belt 11 to enable the strawberry spacing to reach the subsequent detection demand spacing. The detection conveyor belt 80 passes through the middle of the box body, an infrared sensor is arranged on the detection conveyor belt 80 and used for detecting strawberries, the infrared sensor is connected with a computer, a removing mechanism is arranged on the detection conveyor belt 80 behind the box body, namely, the first sorting mechanism 50 and the first sorting mechanism 50 comprise a first driving motor 52 and a removing swing rod 51, and the removing swing rod 51 corresponds to the lower part of the detection conveyor belt 80 and is provided with a recovery box 53. The spectrum detecting unit 30 includes a second case 31, a second light source 33 and an optical fiber probe 32 are mounted on the second case 31, the optical fiber probe 32 is connected to a spectrometer, and the spectrometer is connected to a computer.

Optionally, the fiber optic probe 32 is connected to the second housing 31 by a fiber optic probe mount 35.

The weighing part 40 is an online weighing device, the weighing part 40 comprises a weighing conveyor belt 41 and a pressure sensor 43, and the pressure sensor 43 is connected with a computer.

The computer ranks the strawberries after integrating all the above information.

Finally, the article sorting system includes a discharge device including a sorting robot 72, a sorting conveyor 71, a packing box conveyor 110, and a packing box conveyor drum 120. The sorting robot 72 instructs the strawberries to be placed in the packages on the corresponding level of package conveyor 110 by the computer. The pack is further packed by the pack transfer roller 120.

Strawberries fall onto the feed conveyor 11 through the feed bin 12, are arranged linearly through the inclined plate sections 141 of the sorting plate 14, and are positioned at the center of the conveyor through the straight plate sections 142 for subsequent detection. The strawberry passes through the infrared sensor on the detection conveyor 80, namely, the detection position of the first sensor 130, the first sensor 130 transmits signals to a computer, the computer controls the visual detection part 20 to shoot according to the speed of the detection conveyor 80 and the distance between the shooting position and the position of the first sensor 130, the image information shot by the upper CCD camera 22 and the lower CCD camera 22 of the visual detection part 20 is transmitted into the computer, and the computer judges whether the appearance of the strawberry is damaged or not. The visual inspection unit 20 can collect 360 ° image information of the strawberry, and prevent erroneous judgment due to incomplete information collection. If the strawberry is damaged, after passing through the detection position of the second sensor 140, the computer controls the first driving motor 52 to act to drive the removal swing rod 51, so that the strawberry enters the recovery box 53; if the strawberry is not damaged, the strawberry passes through the detection position of the second sensor 140 and then directly enters the spectrum detection unit 30. At the detection position where the strawberry passes the third sensor 150, the third sensor 150 transmits a signal to a computer, and the computer controls the optical fiber probe 32 to detect the strawberry sugar degree according to the distance between the third sensor 150 and the optimal detection position of the optical fiber probe 32 of the spectrum detection section 30. The strawberry sugar degree is detected to be divided into two stages, namely, the sugar degree is high and the sugar degree is low. After strawberries with sugar degree detected pass through the fourth sensor 160, the computer controls the second driving motor 62 to act to drive the diverting swing rod 61 to deflect the angle, so that the strawberries enter two online weighing detection pipelines (high sugar degree and low sugar degree). The strawberry sugar degree is analyzed by adopting the near infrared spectrum, and the strawberry sugar degree information can be obtained without damaging strawberries.

A cleaning device 90 is installed below the detection conveyor belt 80 to clean the conveyor belt and prevent the conveyor belt from being stained due to strawberry breakage or other reasons, which may result in inaccurate detection results.

The fifth sensor 170 detects the position and then enters the weighing part 40, and the weighing part 40 detects the weight information of the strawberries and returns the weight information to the computer.

Finally, the computer comprehensively judges the grade of the qualified strawberries according to the image information detected by the visual detection part 20, the near infrared spectrum information detected by the spectrum detection part 30 and the weight information detected by the weighing part 40 according to the first sensor 130, the second sensor 140, the third sensor 150, the fourth sensor 160 and the fifth sensor 170, namely grade A (big sweet), grade B (big sweet), grade C (medium sweet), grade D (medium sweet), grade E (small sweet) and grade F (small sweet).

The packing boxes are conveyed to the sorting manipulator 72 by the packing box conveyor belt 110, and the sorting manipulator 72 respectively grabs strawberries of different grades on the sorting conveyor belt 71 and places the strawberries in the corresponding packing boxes. The sorting manipulator 72 has a visual recognition function, can recognize the position of strawberries, and accurately grabs the strawberries; the manipulator 72 adopts the flexible actuator 721, and the pneumatic control actuator is used for grabbing the strawberry force, and after corresponding pneumatic pressure is set, the quick grabbing of the strawberries can be realized, and the strawberries can be grabbed without being damaged.

Finally, after the package is filled with the strawberry, the package enters the package conveying roller 120 for subsequent packaging, the sixth sensor 180 detects that the package is conveyed away, feedback information is fed back to the computer, and the computer controls the package conveying belt 110 to convey a new package to a designated position.

The first and

second brackets

24 and 34 mounted in the visual inspection portion 20 and the spectrum inspection portion 30 are LED lamp brackets, which can adjust the positions of the first and second

light sources

23 and 33, that is, the LED lamps, up, down, left, right, front, back, and control the irradiation angles of the LED lamps. The LED lamp is convenient to finely adjust aiming at strawberries of different varieties, the optimal illumination condition is obtained, the photographing effect and the near infrared reflection spectrum are enhanced, and the error is reduced. The outer frames of the first box 21 and the second box 31 of the visual detection part 20 and the spectrum detection part 30 are made of black matte acrylic plates, so that the influence of external parasitic light on detection information is reduced.

The weighing part 40 is provided with a pressure sensor 43, the weighing conveyor belt 41 runs stably, when strawberries pass through the weighing conveyor belt 41, the pressure is transmitted to the pressure sensor 43 through a third bracket 42, the pressure sensor 43 collects information and inputs the information into a computer, and the computer analyzes the pressure information changing in real time and calculates the weight of the strawberries.

Optionally, the first sensor 130, the second sensor 140, the third sensor 150, the fourth sensor 160, the fifth sensor 170, and the sixth sensor 180 are all infrared sensors.

Optionally, each conveyor belt has an aluminum alloy frame 1.

The method and the device can acquire the picture information, the near infrared spectrum information and the weight information of the strawberries. The image information can reflect the external quality characteristics of the strawberries, the near infrared spectrum information can reflect the internal quality characteristics of the fruits, and the acquired analog signals are converted into digital signals through the image acquisition card. By setting the qualified strawberry picture information, near infrared spectrum information and weight information threshold range, when the current strawberries to be classified are collected to be within the threshold range, the strawberries belonging to the grade are judged, and by controlling an executing mechanism, the strawberries are conveyed out through different output channels, so that classification is realized.

The beneficial effects of the invention are mainly shown in the following steps: the labor amount is reduced, the production efficiency is improved, the sorting reliability is improved, and the strawberry damage in the sorting process is reduced.

The invention discloses a goods sorting system, which belongs to agricultural products and aims to solve the problems of quality detection and classification after strawberry picking, and mainly comprises a visual detection part 20, a spectrum detection part 30 and a weighing part 40. The visual detection unit 20, the spectrum detection unit 30, and the weighing unit 40 acquire the appearance information, the near infrared spectrum information, and the weight information of the strawberries. After analyzing the information, the computer controls the executing mechanisms such as the sorting manipulator 72 and the like to carry out grading treatment on the strawberries. The article sorting system achieves lossless grading of the strawberries after picking by applying visual inspection, near infrared spectral analysis, and the weighing part 40, and can package the strawberries after sorting. The invention has the advantages of high intelligent degree, high detection precision, batch detection, automatic sorting and the like, is beneficial to standardized operation of each link of strawberry production, circulation and the like, and reduces the loss of processing links.

Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that this disclosure is not limited to the particular arrangements, instrumentalities and implementations described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An item sorting system, comprising:

the classifying device classifies the goods to be sorted according to the appearance quality, the internal quality and the weight of the goods to be sorted;

and the sorting device sorts the goods to be sorted according to the grading result.

2. The item sorting system of claim 1, wherein,

the classifying device includes:

a visual detection part (20), wherein the visual detection part (20) is used for collecting image information of the goods to be sorted so as to judge the appearance quality grade of the goods to be sorted according to the image information; and/or

The spectrum detection part (30), the said spectrum detection part (30) is used for gathering the near infrared spectrum information of the said goods to be sorted, in order to judge the internal quality grade of the said goods to be sorted according to the said near infrared spectrum information; and/or

And the weighing part (40) is used for collecting weight information of the goods to be sorted so as to judge the size grade of the goods to be sorted according to the weight information.

3. The item sorting system of claim 2, wherein,

the sorting apparatus includes:

a first sorting mechanism (50), wherein the first sorting mechanism (50) is arranged at the downstream of the visual detection part (20) and sorts the goods to be sorted according to at least one of the appearance quality grade, the internal quality grade and the size grade of the goods to be sorted; and/or

A second sorting mechanism (60), the second sorting mechanism (60) is arranged at the downstream of the spectrum detecting part (30), and sorts the goods to be sorted according to at least one of the internal quality grade or the internal quality grade, the appearance quality grade and the size grade of the goods to be sorted; and/or

And a third sorting mechanism (70), wherein the third sorting mechanism (70) is arranged at the downstream of the weighing part (40) and sorts the goods to be sorted according to the size grade of the goods to be sorted or at least one of the size grade, the appearance quality grade and the internal quality grade.

4. The article sorting system of claim 3, wherein,

the sorting device further comprises a detection conveyor (80) for conveying the goods to be sorted;

the visual inspection unit (20) comprises:

the detection device comprises a first box body (21), wherein a yielding space is arranged in the middle of the first box body (21), and at least part of the detection conveyor belt (80) passes through the yielding space;

the cameras (22) are arranged in the first box body (21), and at least one camera (22) is arranged above and below the detection conveyor belt (80) made of transparent materials and used for collecting image information of the goods to be sorted;

a first light source (23), wherein the first light source (23) is adjustably arranged in the first box body (21) through a first bracket (24) in position;

the image processing module is electrically connected with the camera (22) and is used for comparing the acquired image information with prestored goods images with different appearance quality grades so as to judge the appearance quality grades of the goods to be sorted;

The first sorting mechanism (50) includes:

the removal swinging rod (51) and the first driving motor (52) are arranged above the detection conveyor belt (80) in a swinging manner, and are positioned at the downstream of the first box body (21), and the first driving motor (52) is in driving connection with the removal swinging rod (51);

the recovery box (53) is arranged on one side of the detection conveyor belt (80) and is opposite to the removal swing rod (51);

the appearance quality grade comprises qualified products and defective products, the removal swinging rod (51) is used for removing the goods to be sorted belonging to the defective product grade into the recovery box (53), and the goods to be sorted belonging to the qualified products are continuously conveyed by the detection conveying belt (80).

5. The item sorting system of claim 4, wherein,

the spectrum detection unit (30) comprises:

the second box body (31) is arranged on the detection conveyor belt (80) and positioned at the downstream of the removal swing rod (51), and a second abdication space for the goods to be sorted to pass through is formed between the bottom of the second box body (31) and the detection conveyor belt (80);

the optical fiber probe (32) is arranged in the second box body (31) and is used for collecting near infrared spectrum information of the interior of the goods to be sorted passing through the optical fiber probe (32);

A second light source (33), wherein the second light source (33) is arranged in the second box body (31) in a position adjustable way through a second bracket (34);

a spectrometer electrically connected to the fiber optic probe (32);

the spectrum processing module is electrically connected with the spectrometer and is used for comparing the acquired near infrared spectrum information of the goods to be sorted with pre-stored near infrared spectrum information with different internal quality grades so as to judge the internal quality grade of the goods to be sorted;

the second sorting mechanism (60) includes:

the shunt swing rod (61) and the second driving motor (62) are arranged above the detection conveyor belt (80) in a swinging way, and are positioned at the downstream of the second box body (31), and the second driving motor (62) is in driving connection with the shunt swing rod (61);

the internal quality grades comprise at least two, the detection conveyor belt (80) is divided into a plurality of diversion areas along the width direction of the detection conveyor belt, the diversion swing rods (61) are provided with a plurality of swing positions corresponding to the diversion areas one by one, and the diversion swing rods (61) are used for diverting goods to be sorted belonging to the corresponding internal quality grades into the corresponding diversion areas.

6. The item sorting system of claim 4, further comprising:

and the cleaning device (90) is arranged on the detection conveyor belt (80) and is used for cleaning the detection conveyor belt (80).

7. The item sorting system of claim 5, wherein,

the weighing section (40) includes:

the weighing conveyor belts (41) are arranged at the tail part of the detection conveyor belt (80) along the width direction of the detection conveyor belt (80) and are arranged in one-to-one correspondence with the plurality of diversion areas and are used for receiving the goods to be sorted on the detection conveyor belt (80);

a plurality of pressure sensors (43), wherein one pressure sensor (43) is arranged at the bottom of each weighing conveyor belt (41), each weighing conveyor belt (41) is connected with one pressure sensor (43) through a third bracket (42), and the pressure sensors (43) are used for weighing weight information of goods to be sorted on the weighing conveyor belts (41);

the weight processing module is electrically connected with the pressure sensors (43) and is used for comparing the weighed weight information of the goods to be sorted with pre-stored weight information so as to judge the size grade of the goods to be sorted;

The third sorting mechanism (70) comprises:

a sorting conveyor (71), the sorting conveyor (71) being arranged downstream of the plurality of weighing conveyors (41), the sorting conveyor (71) having a plurality of sorting areas in one-to-one correspondence with the plurality of weighing conveyors (41) for receiving items to be sorted on the plurality of weighing conveyors (41);

a plurality of sorting manipulators (72), wherein at least one sorting manipulator (72) is respectively arranged on two sides of the sorting conveyor belt (71);

wherein the size grades comprise at least two, each sorting manipulator (72) corresponds to one internal quality grade and one size grade, and the sorting manipulator (72) is used for sorting the goods to be sorted, which are positioned on the sorting conveyor belt (71) and correspond to the internal quality grade and the size grade, into the corresponding packaging boxes.

8. The item sorting system of claim 7, wherein,

the sorting manipulator (72) comprises a flexible actuator (721) and a visual recognition module; and/or

The grading device further includes: and the plurality of flow dividing plates (100) are used for forming a plurality of flow dividing channels which are arranged in one-to-one correspondence with the plurality of weighing conveyor belts (41), and each flow dividing plate (100) extends from the upper part of the detection conveyor belt (80) to the upper part of the weighing conveyor belt (41).

9. The item sorting system of claim 7, further comprising:

the automatic sorting machine comprises a plurality of packing box conveying belts (110), wherein at least one packing box conveying belt (110) is arranged on two sides of each sorting conveying belt (71), a boxing working position is arranged at the end, close to each sorting conveying belt (71), of each packing box conveying belt (110), one end, far away from each boxing working position, of each packing box conveying belt (110) extends to a packing box supply working position, each packing box conveying belt (110) is used for conveying a packing box to the boxing working position, each packing box corresponds to one inner quality grade and one size grade, and the packing box conveying belts (110) and the sorting manipulators (72) are arranged in a one-to-one correspondence mode.

10. The item sorting system of claim 9, further comprising:

the packing box conveying roller (120), at least part of packing box conveying roller (120) extends to the below of letter sorting conveyer belt (71), a plurality of packing box conveyer belts (110) all with packing box conveying roller (120) butt joint, packing box conveying roller (120) are used for accepting the packing box that has loaded goods on packing box conveyer belt (110), the one end that keeps away from of packing box conveying roller (120) sorting conveyer belt (71) extends to packing box packing position.

11. The item sorting system of claim 9, further comprising:

a first sensor (130) arranged upstream of the first tank (21), the first sensor (130) being triggered when the articles to be sorted pass the first sensor (130);

a second sensor (140) disposed between the removal swing link (51) and the first box (21), the second sensor (140) being triggered when an article to be sorted passes the second sensor (140);

a third sensor (150) disposed between the second casing (31) and the removal swing link (51), the third sensor (150) being triggered when an article to be sorted passes the third sensor (150);

a fourth sensor (160) disposed between the diverting swing rod (61) and the second box (31), the fourth sensor (160) being triggered when the article to be sorted passes the fourth sensor (160);

a fifth sensor (170) disposed between the diverting rocker (61) and the weighing conveyer belt (41), the fifth sensor (170) being triggered when the article to be sorted passes the fifth sensor (170);

and a plurality of sixth sensors (180), wherein each of the packing box conveyor belts (110) is provided with one sixth sensor (180), and the sixth sensor (180) is arranged at the upstream of the packing box working position.

12. The item sorting system of any one of claims 4 to 11, further comprising:

and the feeding device (10) is arranged at the upstream of the classifying device and is used for supplying a plurality of goods to be sorted in a linear arrangement to the classifying device.

13. The item sorting system according to claim 12, wherein the feeding device (10) comprises:

-a feed conveyor belt (11), the conveying speed of the feed conveyor belt (11) being smaller than the conveying speed of the detection conveyor belt (80);

a feed box (12) arranged at the head of the feed conveyor belt (11), wherein the feed box (12) comprises a bottom plate (121) arranged obliquely downwards and baffle plates (122) positioned at two sides of the bottom plate (121) and is used for conveying a plurality of goods to be sorted onto the feed conveyor belt (11);

the limiting plate (13) is arranged on the feeding conveyor belt (11) and is positioned at the downstream of the feeding box (12), the limiting plate (13) comprises a top plate section (131) positioned above the feeding conveyor belt (11) and connecting plate sections (132) positioned at two sides of the top plate section (131), and a feeding space is formed between the top plate section (131) and the feeding conveyor belt (11);

Two sequencing boards (14) that set up relatively, each sequencing board (14) are including the inclined plate section (141) and the straight plate section (142) that are connected, inclined plate section (141) are close to limiting plate (13) set up, straight plate section (142) by feed conveyer belt (11) extend to detect conveyer belt (80), the distance between two inclined plate section (141) of two sequencing boards (14) is followed and is close to direction of straight plate section (142) reduces gradually, the distance between two straight plate section (142) of two sequencing boards (14) supplies one to wait to sort goods to pass through.