CN219475374U - Omnibearing fruit detecting device - Google Patents

Abstract

The utility model provides an omnibearing fruit detection device, and relates to the technical field of agricultural informationized equipment. The fruit-peeling machine comprises a box body, a hyperspectral sensor, a supporting seat, a first linear module, a second linear module, a first rotary driving mechanism and a second rotary driving mechanism, wherein the supporting seat is rotatably arranged on the second linear module through the first rotary driving mechanism, concave wheels are respectively arranged on two opposite sides of the supporting seat, the second rotary driving mechanism is used for driving the concave wheels to rotate, and the hyperspectral sensor is used for detecting fruits placed on the concave wheels. The first rotary driving mechanism can drive the supporting seat to rotate in the horizontal direction, so that the fruits transversely rotate; the second rotary driving mechanism can drive the concave wheel to rotate, so that the fruits longitudinally rotate, the first linear module and the second linear module can enable the supporting seat to transversely and longitudinally move, the positions of the fruits relative to the hyperspectral sensor are changed, the postures of the fruits are adjusted more comprehensively and rapidly, and the fruit detection efficiency is improved.

Description

Omnibearing fruit detecting device

Technical Field

The utility model relates to the technical field of agricultural informatization equipment, in particular to an omnibearing fruit detection device.

Background

Fruit is an essential important resource in life, and with the improvement of living standard, the requirements of people on fruit are not only edible, but also the appearance, the plumpness, the taste and the like of the fruit become important indexes for measuring the quality of the fruit, so that the detection of the quality of the fruit and the collection of relevant information become important.

At present, fruit information is obtained mainly by the following methods:

(1) And (5) manual collection. Fixing fruits, and acquiring information of the fruits from different directions by using a hand-held sensor of a worker;

(2) And the sensor is fixed on the acquisition device. The sensors in the device are fixedly arranged, and the information acquisition is carried out on all aspects of the fruits by manually adjusting the postures of the fruits;

(3) And the acquisition device is used for acquiring the movement of the sensor. The sensors in such devices are capable of movement, collecting information from different orientations on the fruit.

The above methods have a disadvantage that informationized data of all parts of fruits cannot be obtained rapidly and comprehensively, so that the detection efficiency and accuracy are low.

Disclosure of Invention

The utility model provides an omnibearing fruit detection device which is used for solving the defect that the detection device in the prior art cannot comprehensively collect information of all parts of fruits.

The utility model provides an omnibearing fruit detection device, which comprises: the hyperspectral sensor comprises a box body, a hyperspectral sensor, a supporting seat, a first linear module, a second linear module, a first rotary driving mechanism and a second rotary driving mechanism, wherein the second linear module is arranged on the first linear module, the conveying direction of the first linear module is perpendicular to that of the second linear module, the supporting seat is rotatably arranged on the second linear module through the first rotary driving mechanism, concave wheels are respectively arranged on two opposite sides of the supporting seat, the second rotary driving mechanism is used for driving the concave wheels to rotate, and the hyperspectral sensor is used for detecting fruits placed on the concave wheels.

According to the fruit omnibearing detection device provided by the utility model, the first linear module comprises the first linear driving piece, the first sliding block and the first linear sliding rail, wherein the first linear driving piece is fixed on the first linear sliding rail, the second linear module is arranged on the first sliding block, and the output end of the first linear driving piece is in transmission connection with the first sliding block so as to drive the first sliding block to slide along the first linear sliding rail.

According to the fruit omnibearing detection device provided by the utility model, the first linear module further comprises an input gear and an output gear, the input gear is in transmission connection with the output gear, the first linear driving piece is a stepping motor, the stepping motor is in transmission connection with the input gear, a rack is arranged on the first sliding block, and the output gear is meshed with the rack.

According to the fruit omnibearing detection device provided by the utility model, the second linear module comprises the base, the second linear driving piece and the second sliding block, wherein the base is fixed on the first sliding block, the second linear driving piece is fixed on the base, and the driving end of the second linear driving piece is in transmission connection with the second sliding block so as to drive the second sliding block to slide relative to the base.

According to the fruit omnibearing detection device provided by the utility model, the box body comprises the open box and the cover plate, and the cover plate is rotatably arranged in the open box.

According to the fruit omnibearing detection device provided by the utility model, the end part of the cover plate or the opening box is provided with the shading piece, and the shading piece is used for shading a connecting gap between the cover plate and the opening box.

According to the fruit omnibearing detection device provided by the utility model, the cover plate is provided with the lifting handle.

The utility model provides a fruit omnibearing detection device which further comprises a halogen lamp, wherein the halogen lamp is arranged on the inner wall of the box body.

According to the fruit omnibearing detection device provided by the utility model, the box body is provided with the operating rod and the display screen, the first linear module, the second linear module, the first rotary driving mechanism and the second rotary driving mechanism are all in communication connection with the operating rod, and the display screen is in communication connection with the hyperspectral sensor.

According to the fruit omnibearing detection device provided by the utility model, the fruit omnibearing detection device further comprises a camera, and the first linear module and the second linear module are respectively in communication connection with the camera.

According to the fruit omnibearing detection device provided by the utility model, fruits are supported by the concave wheels, the fruits are detected by the hyperspectral sensor, and the first rotary driving mechanism can drive the supporting seat to rotate in the horizontal direction, so that the fruits transversely rotate; the second rotary driving mechanism can drive the concave wheel to rotate, so that the fruits longitudinally rotate, and all parts of the fruits are detected. The first linear module and the second linear module can enable the supporting seat to move transversely and longitudinally, so that the position of fruits relative to the hyperspectral sensor is changed, the gestures of the fruits are adjusted more comprehensively and rapidly, and the fruit detection efficiency is improved.

Drawings

In order to more clearly illustrate the utility model or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of an omnibearing fruit detecting device provided by the utility model;

fig. 2 is a schematic diagram of the internal structure of the fruit omnibearing detection device provided by the utility model;

fig. 3 is a result diagram of an image photographed by the camera after binarization processing.

Reference numerals:

1. a case; 11. an open box; 12. a cover plate; 2. a hyperspectral sensor; 3. a support base; 31. a concave wheel; 4. a first linear module; 41. a first linear slide rail; 42. a first slider; 43. a first linear driving member; 5. a second linear module; 51. a base; 52. a second slider; 53. a second linear driving member; 6. an operation lever; 7. a display screen; 8. a camera is provided.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

The following describes an omnibearing fruit detection device provided by the embodiment of the utility model with reference to fig. 1-3.

The embodiment of the utility model provides a fruit omnibearing detection device, as shown in fig. 1 and 2, which comprises a box body 1, a hyperspectral sensor 2, a supporting seat 3, a first linear module 4, a second linear module 5, a first rotary driving mechanism and a second rotary driving mechanism, wherein the second linear module 5 is arranged on the first linear module 4, the conveying direction of the first linear module 4 is perpendicular to the conveying direction of the second linear module 5, the supporting seat 3 is rotatably arranged on the second linear module 5 through the first rotary driving mechanism, concave wheels 31 are respectively arranged on two opposite sides of the supporting seat 3, the second rotary driving mechanism is used for driving the concave wheels 31 to rotate, and the hyperspectral sensor 2 is used for detecting fruits placed on the concave wheels 31.

The box body 1 can be a columnar body with any shape, and the box body 1 is hollow. The case 1 can be opened to place the fruit to be measured on the concave wheel 31. For example, the case 1 is a rectangular parallelepiped, the hyperspectral sensor 2 is disposed on any side wall of the case 1, and the top wall of the case 1 can be opened and closed. To ensure a larger field of view for the hyperspectral sensor 2 to detect fruit, the hyperspectral sensor 2 is arranged in the upper part of the side wall of the box 1.

The first linear module 4 is disposed on the bottom wall of the case 1, the first linear module 4 can make the second linear module 5 reciprocate along a certain line parallel to the bottom wall of the case 1, and the second linear module 5 can make the supporting seat 3 reciprocate along another line parallel to the bottom wall of the case 1. For example, the first linear module 4 drives the second linear module 5 and the supporting seat 3 to move along the length direction of the bottom wall of the box body 1, the second linear module 5 drives the supporting seat 3 to move along the width direction of the bottom wall of the box body 1, and correspondingly, fruits borne on the supporting seat 3 can move transversely and longitudinally in the horizontal plane parallel to the bottom wall of the box body 1, so that the positions of the fruits can be quickly adjusted, and the hyperspectral sensor 2 can conveniently detect the fruits.

Wherein, supporting seat 3 is the level setting, and first rotary driving mechanism is servo motor or step motor, and first rotary driving mechanism can drive supporting seat 3 and rotate around vertical axis to make the fruit that bears on supporting seat 3 rotate around vertical axis, and then make hyperspectral sensor 2 carry out circumference to fruit and detect.

As shown in fig. 2, the concave wheel 31 is a cylinder-like body with a larger cross-sectional diameter at both ends than at the middle, and the cross-sectional diameters of both ends of the concave wheel 31 are the same and gradually decrease from both ends to the middle. The concave wheels 31 are arranged in two, the two concave wheels 31 are arranged in parallel at intervals, and the axes of the two concave wheels 31 are parallel to the bottom wall of the box body 1. It should be noted that the fruits in this embodiment are spheroids, such as apples, oranges, kiwi fruits, and the like. The spacing between the two concave wheels 31 can be set according to actual needs. For example, the apple has a smaller volume, and two concave wheels 31 can be arranged closer together; the watermelon is relatively bulky and the two concave wheels 31 can be located relatively far. The second rotary driving mechanism is a servo motor or a stepping motor, and is used for driving the two concave wheels 31 to rotate around the horizontal axis at the same time, and the rotating directions and the angular speeds of the two concave wheels 31 are the same, so that fruits placed on the two concave wheels 31 rotate around the horizontal axis. From this, first rotary driving mechanism makes fruit rotate around vertical axis in box 1, and second rotary driving mechanism makes fruit rotate around horizontal axis in box 1 to adjust fruit gesture, make hyperspectral sensor 2 detect each position of fruit, thereby reach the purpose of all-round detection.

In the embodiment of the utility model, fruits to be detected are borne on the two concave wheels 31, and the first linear module 4 and the second linear module 5 can enable the fruits to transversely and longitudinally move on the horizontal plane in the box body 1, so that the relative positions of the fruits and the hyperspectral sensor 2 are adjusted, the hyperspectral sensor 2 can better detect the fruits, the first rotary driving mechanism can drive the supporting seat 3 to rotate around the vertical axis, the second rotary driving mechanism can drive the two concave wheels 31 to simultaneously rotate around the horizontal axis, and the posture of the fruits is adjusted, so that the hyperspectral sensor 2 can detect all parts of the fruits, and the purpose of omnibearing detection is achieved.

According to the fruit omnibearing detection device provided by the embodiment of the utility model, as shown in fig. 2, the first linear module 4 comprises a first linear driving member 41, a first sliding block 42 and a first linear sliding rail 41, the first linear driving member 41 is fixed on the first linear sliding rail 41, the second linear module 5 is mounted on the first sliding block 42, and the output end of the first linear driving member 41 is in transmission connection with the first sliding block 42 to drive the first sliding block 42 to slide along the first linear sliding rail 41.

Wherein the first linear slide 41 is arranged on the bottom wall of the case 1. Optionally, the first linear sliding rail 41 is a sliding groove formed on the bottom wall, or two vertical plates are fixedly arranged on the bottom wall, and the two baffles and the bottom wall form the sliding groove. The first linear rail 41 extends along the length direction of the bottom wall of the case 1, the first slider 42 is slidably engaged in the first linear rail 41, and the first linear driving member 41 is fixed to either end of the first linear rail 41.

The first linear driving member 41 is an electric push rod, or the first linear driving member 41 includes a motor and a screw assembly connected to the motor, so long as the first slider 42 can slide along the first linear rail 41.

In the embodiment of the utility model, the first slider 42 is driven by the first linear driving member 41 to reciprocate on the first linear sliding rail 41, and the first slider 42 drives the second linear module 5 to move, so that the fruit carried on the supporting seat 3 transversely moves on the horizontal plane in the box body 1, and the purpose of adjusting the fruit position is achieved.

According to the fruit omnibearing detection device provided by the embodiment of the utility model, the first linear module 4 further comprises an input gear and an output gear, the input gear is in transmission connection with the output gear, the first linear driving piece 41 is a stepping motor, the stepping motor is in transmission connection with the input gear, a rack is arranged on the first sliding block 42, and the output gear is meshed with the rack.

Specifically, the output gear is rotatably installed below the first slider 42, the rack is disposed on the bottom wall of the first slider 42, and the output gear is meshed with the rack. Belt drive, chain drive or gear drive can be used between the input gear and the output gear. When the stepping motor drives the input gear to rotate, the output gear rotates to drive the rack to move, so that the first slider 42 moves.

In the embodiment of the utility model, the stepping motor drives the input gear to rotate, the input gear drives the output gear to rotate, the output gear rotates to enable the rack to move, so that the first sliding block 42 is driven to move, the stepping motor can quantify the moving distance, and the gear-rack transmission efficiency is high, so that the first sliding block 42 can move more quickly and accurately.

According to the fruit omnibearing detection device provided by the embodiment of the utility model, as shown in fig. 2, the second linear module 5 comprises a base 51, a second linear driving piece 53 and a second sliding block 52, wherein the base 51 is fixed on the first sliding block 42, the second linear driving piece 53 is fixed on the base 51, and the driving end of the second linear driving piece 53 is in transmission connection with the second sliding block 52 so as to drive the second sliding block 52 to slide relative to the base 51.

Specifically, the second linear module 5 is similar to the first linear module 4, the base 51 is a linear rail and is perpendicular to the first linear rail 41, the first slider 42 is fixed at the center of the base 51, the second linear driving member 53 is located at one end of the base 51, and the supporting seat 3 is disposed on the second slider 52. Alternatively, the second linear driving member 53 is a stepping motor, and the second linear driving member 53 is capable of driving the second slider 52 to move longitudinally.

In the embodiment of the utility model, the second linear driving piece 53 drives the second sliding block 52 to move and drives the supporting seat 3 to move, so that fruits longitudinally move in the box body 1, and the purpose of adjusting the positions of the fruits is achieved.

According to the fruit omnibearing detection device provided by the embodiment of the utility model, as shown in fig. 1, a box body 1 comprises an open box 11 and a cover plate 12, and the cover plate 12 is rotatably arranged on the open box 11.

The open end of the open box 11 is provided with a rotating shaft hole, one side of the cover plate 12 is fixedly provided with a rotating shaft, and the rotating shaft is rotatably inserted in the rotating shaft hole, so that the cover plate 12 is hinged with the open box 11 to open and close the box body 1.

Optionally, a handle is provided on the cover 12 to facilitate the user to open or close the open box 11.

In a further alternative embodiment, the respective outer walls of the case 1 are fixedly connected, and an operation window is provided on one of the side walls, and the cover plate 12 is hinged to the operation window to seal the case 1. Fruits can be placed in the case 1 through the operation window.

According to the fruit omnibearing detection device provided by the embodiment of the utility model, the end part of the cover plate 12 or the open box 11 is provided with the shading piece, and the shading piece is used for shading a connecting gap between the cover plate 12 and the open box 11.

Wherein, the shading piece is a light-proof piece with elasticity such as foam, sponge or silica gel, and can play a role in buffering and unloading when the cover plate 12 is opened, so that the box body 1 is not easy to damage.

In the embodiment of the utility model, the shading piece shades light, so that the inside of the box body 1 is a darkroom, the interference of external light is avoided, and the detection precision of the hyperspectral sensor 2 is improved.

The fruit omnibearing detection device provided by the embodiment of the utility model further comprises a halogen lamp, wherein the halogen lamp is arranged on the inner wall of the box body 1.

The halogen lamp has the advantages of long service life, high luminous efficiency, good color rendering and the like. Wherein the number and the installation position of the halogen lamps can be set according to actual needs. For example, the halogen lamps are provided in eight, respectively at eight vertexes of the case 1, so as to cover the entire case 1.

According to the fruit omnibearing detection device provided by the embodiment of the utility model, as shown in fig. 1, an operating rod 6 and a display screen 7 are arranged on a box body 1, a first linear module 4, a second linear module 5, a first rotary driving mechanism and a second rotary driving mechanism are all in communication connection with the operating rod 6, and the display screen 7 is in communication connection with a hyperspectral sensor 2.

The operating rod 6 is arranged at the top of the box body 1, so that the operation is convenient. The user dials the operating lever 6, and the operating lever 6 transmits pulse signals to the first linear driving piece 41 and the second linear driving piece 53, and the first linear driving piece 41 and the second linear driving piece 53 can do quantized rotation according to the pulse number of the pulse signals, so that the moving distance of fruits is quantized, and the moving precision of the fruits is improved. Similarly, the operation lever 6 transmits the pulse signal to the first rotating mechanism and the second rotating mechanism, and the first rotating mechanism and the second rotating mechanism perform quantized rotation, so that the rotation angle of the fruit is quantized, and the precision of fruit rotation is improved.

The display screen 7 sets up at the top of box 1, and hyperspectral sensor 2 detects the information of fruit and feeds back to display screen 7, conveniently observes.

In an embodiment of the present utility model, the fruit omnibearing detection device further includes a camera 8, and the first linear module 4 and the second linear module 5 are respectively connected with the camera 8 in a communication manner.

The position of the camera 8 can be selected according to actual needs, and fruits can be shot. The camera 8 is selected from, but not limited to, an RGB digital camera 8, where the camera 8 is used to record an initial position and a moved position of the fruit, and the camera 8 can feed back the change of the moved position and posture of the fruit to the user.

Specifically, a planar two-dimensional coordinate system is established with the detection surface of the hyperspectral sensor 2, and the center of the detection surface is the origin of the coordinate system, which is also the center point of the imaging surface of the camera 8. When the cover plate 12 is closed, the camera 8 can acquire an RGB image of the detection surface, the contrast between the black background area and the fruit area in the RGB image is enhanced by constructing the characteristic enhancement index of the black background area in the image, and then a threshold value is set for segmentation and binarization processing, so that the black background area is removed and the fruit area is extracted. And further calculating the coordinates of the central point of the fruit area according to the coordinate values of the pixel points of the fruit area, and calculating the difference between the coordinates of the central point of the fruit area and the coordinate values of the central point of the detection surface of the sensor, so as to quantify the initial position of the fruit.

Wherein, the black background characteristic enhancement formula is:

I＝2R-G-B

wherein I is an image gray value matrix after feature enhancement, R is a red channel gray image gray value matrix in an RGB image, G is a green channel gray image gray value matrix in the RGB image, and B is a blue channel gray image gray value matrix in the RGB image.

Specifically, the threshold is set to 10, the background black area is distinguished from the fruit area, and the binarization operation is to reset the pixel value with the pixel value larger than the threshold to 1 and reset the pixel value smaller than the threshold to 0. The binarized schematic diagram is shown in fig. 3, the square area is a black background area in the detection surface range of the sensor, and the round area is a fruit area.

The coordinate calculation formula of the center point i of the fruit area is as follows:

(xi，yi)＝[(Xc-Xb)/2，(Ya-Yd)/2]

where xi and yi are the horizontal and vertical coordinates of the center point of the fruit area, a, b, c, d are the uppermost, leftmost, rightmost and bottommost points of the fruit area, xc is the maximum horizontal coordinate value of the fruit area, xb is the minimum horizontal coordinate value of the fruit area, ya is the maximum vertical coordinate value of the fruit area, and Yd is the minimum vertical coordinate value of the fruit area.

The calculation formula of the coordinate difference from the center point i of the fruit area to the center point f of the detection surface of the sensor is as follows:

(Xd，Yd)＝(xi-xf，yi-yf)

wherein Xd is the horizontal coordinate difference from the center point of the fruit area to the center point of the sensor detection surface, and Yd is the vertical coordinate difference from the center point of the fruit area to the center point of the sensor detection surface.

After the initial fruit posture quantification is completed, calculating the transverse distance and the longitudinal distance of the actual movement of the fruit according to the coordinate difference from the central point i of the fruit area to the central point f of the detection surface of the sensor, wherein the calculation mode is as follows:

(dx，dy)＝[Xd*(H/w)，Yd*(H/w)]

wherein dx is the transverse distance of the actual movement of the fruit, dy is the longitudinal distance of the actual movement of the fruit, H is the height of the actual detection surface of the sensor, and w is the number of rows of the image pixel matrix.

And sending instructions to the first linear module 4 and the second linear module 5 according to the transverse distance and the longitudinal distance of the actual movement of the fruits, so that the fruits are aligned with the center point of the detection surface. Then, whether the alignment needs to be manually triggered to repeat is judged according to the updated RGB image so as to reach the requirement. If the automatic alignment is not possible, the position of the fruit is adjusted by the user manually controlling the lever 6.

In the detection process, fruits are adjusted according to the historical fruit posture and direction adjustment record on the display screen 7, so that the repetition of the movement track of the fruits is avoided, the fruits are prevented from being repeatedly detected by the hyperspectral sensor 2, and the detection efficiency is improved.

In the embodiment of the utility model, the camera 8 is used for shooting the current image of the fruit, and the first linear module 4 and the second linear module 5 are controlled according to the current image, so that the fruit is aligned with the center point of the detection surface of the hyperspectral sensor 2, and the fruit is better detected.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims (10)

1. The utility model provides an all-round detection device of fruit, its characterized in that includes box, hyperspectral sensor, supporting seat, first straight line module, second straight line module, first rotary driving mechanism and second rotary driving mechanism, the second straight line module sets up on the first straight line module, the direction of delivery of first straight line module with the direction of delivery of second straight line module is perpendicular, the supporting seat passes through first rotary driving mechanism rotatable install in the second straight line module, the opposite both sides of supporting seat are equipped with the concave wheel respectively, second rotary driving mechanism is used for the drive concave wheel rotates, hyperspectral sensor is used for detecting fruit placed on the concave wheel.

2. The device of claim 1, wherein the first linear module comprises a first linear driving member, a first slider and a first linear rail, the first linear driving member is fixed on the first linear rail, the second linear module is mounted on the first slider, and an output end of the first linear driving member is in transmission connection with the first slider to drive the first slider to slide along the first linear rail.

3. The fruit omnibearing detection device according to claim 2, wherein the first linear module further comprises an input gear and an output gear, the input gear is in transmission connection with the output gear, the first linear driving member is a stepping motor, the stepping motor is in transmission connection with the input gear, a rack is arranged on the first sliding block, and the output gear is meshed with the rack.

4. The fruit omnibearing detection device according to claim 2, wherein the second linear module comprises a base, a second linear driving member and a second slide block, the base is fixed on the first slide block, the second linear driving member is fixed on the base, and a driving end of the second linear driving member is in transmission connection with the second slide block so as to drive the second slide block to slide relative to the base.

5. The fruit omnibearing detection device according to claim 1, wherein the case body comprises an open case and a cover plate rotatably mounted to the open case.

6. The fruit omnibearing detection device according to claim 5, wherein a light shielding member is provided at an end of the cover plate or the open box, the light shielding member being for shielding a connection gap between the cover plate and the open box.

7. The device of claim 6, wherein the cover plate is provided with a handle.

8. The fruit omnibearing detection device according to claim 1, further comprising a halogen lamp mounted to an inner wall of the case.

9. The fruit omnibearing detection device according to claim 1, wherein the box body is provided with an operation rod and a display screen, the first linear module, the second linear module, the first rotary driving mechanism and the second rotary driving mechanism are all in communication connection with the operation rod, and the display screen is in communication connection with the hyperspectral sensor.

10. The fruit omnibearing detection device according to claim 1 or 9, further comprising a camera, wherein the first linear module and the second linear module are respectively in communication connection with the camera.