RGB based fruit sorting method and sorting device

The invention discloses a RGB based fruit sorting method which comprises the following steps: (1) detecting RGB components of fruit surfaces through a RGB color identifying sensor, detecting fruit surface staining degree to obtain an image color value, and using a proper color-phase value to accumulate coloring area percentage to perform color grading; (2) acquiring an image through a camera, pre-processing including image grey processing, proper threshold value cutting, morphological processing and edge detecting, image area point extracting, and image area, gravity center and circumference characteristic parameter calculating; (3) extracting the characteristic parameter through edge detecting and gravity center calculating, and calculating positions, relative to a platform, of the fruits; and (4) operating a mechanical hand to a target position, and performing different-grade sorting on the fruits according to the results of the steps (1) and (2). The invention further discloses a sorting device of the RGB