Tomato sorting system based on combination of touch sense and vision

• Main Authors: ZUO XUE, CAI LIHUA, WEI YANGYANG, CHEN HONGYAO, FANG HAIFENG, LIANG TAO, ZHONG-WANG YONGJIA, HUANG TIANYU
• Format: Patent
• Language: Chinese; English
• Published: 30.04.2024
• Subjects: PERFORMING OPERATIONS; POSTAL SORTING; SEPARATING SOLIDS FROM SOLIDS; SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTEDPIECE-MEAL, e.g. BY PICKING; TRANSPORTING

The invention discloses a tomato sorting system based on combination of touch and vision. Comprising a frame, a conveying device located in the frame and used for conveying tomatoes, and a visual detection device connected with the frame, located over the conveying device and used for recognizing the damaged state of the surfaces of the tomatoes. The first manipulator device is connected with the frame, is positioned right above the conveying device and is used for grabbing the damaged tomatoes and putting the damaged tomatoes into the corresponding storage boxes; the second manipulator device is connected with the frame, is positioned right above the conveying device, and is used for identifying the maturity state of the tomatoes, grabbing the tomatoes, classifying and putting the tomatoes into the storage boxes corresponding to different maturity degrees; and the controller is respectively connected with the conveying device, the visual detection device, the first manipulator device and the second manipulat