CN107927817A - A kind of coconut tapping equipment working status recognition methods - Google Patents
A kind of coconut tapping equipment working status recognition methods Download PDFInfo
- Publication number
- CN107927817A CN107927817A CN201710967685.0A CN201710967685A CN107927817A CN 107927817 A CN107927817 A CN 107927817A CN 201710967685 A CN201710967685 A CN 201710967685A CN 107927817 A CN107927817 A CN 107927817A
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- China
- Prior art keywords
- coconut
- cutter
- tightly
- control unit
- embedded control
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Classifications
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N5/00—Machines for hulling, husking or cracking nuts
- A23N5/03—Machines for hulling, husking or cracking nuts for coconuts
Abstract
The purpose of the present invention is：Realize efficient coconut Tapping procedures.In order to achieve the above object, the technical scheme is that providing a kind of coconut tapping equipment working status recognition methods.Related sensor and execution electrical equipment combination coconut tapping equipment working status recognition methods of the present invention by auxiliary, realize efficient coconut Tapping procedures.Recognition methods provided by the invention can carry out coconut condition by the variation tendency of related executing agency's feedback signal in Tapping procedures the assessment and anticipation of state, ensure that different condition coconut Tapping procedures stability and improve the beauty of equipment work efficiency and perforate effect.
Description
Technical field
Identification and intelligent control method the present invention relates to the automatic tapping equipment working status of coconut, belong to electronic technology
Field and machinery equipment field.
Background technology
With the improvement of living standards, coconut becomes daily drinking and edible fruit.The consumption of coconut is presented at present
The trend risen year by year.People also have the demand to the edible aspect of coconut meat while coconut juice is drunk.This generates to fast
The demand of fast reliable, without personnel's intervention coconut tapping equipment.The hole that equipment opens coconut can either will meet to drink
The demand of coconut juice, while be also convenient for digging out coconut meat using tableware.Therefore coconut top drilling diameter will could be protected in 50-100mm
The demand that card drinks coconut juice and coconut meat is eaten.
Coconut is one of maximum drupe, rounded or oval, mainly by coconut fibre, cocoanut shell, kind skin, coconut meat
(solid endosperm) and coconut water (liquid endosperm) form.Coconut is mainly coconut meat and coconut water two parts from edible angle, is had
Very high nutritive value.
Since coconut meat and coconut water are wrapped in inside coconut husk, coconut husk quality is hard, cold and hot is unlikely to deform.In edible coconut meat
And hard shell is pried open during coconut water need relevant instrument and time-consuming and laborious.
The content of the invention
The purpose of the present invention is：Realize efficient coconut Tapping procedures.
In order to achieve the above object, know the technical scheme is that providing a kind of coconut tapping equipment working status
Other method, it is characterised in that comprise the following steps：
Whether step 1, embedded control unit are detected by hold-fast body subtended angle position limit switch holds pawl tightly from upper one
A working status returns back to predetermined initial position, if returning back to initial position, holds motor driving tightly by coconut and holds pawl tightly
Coconut is held tightly, during holding, embedded control unit holds current of electric detection sensor tightly by coconut and detects coconut
Hold the holding motor working current of motor tightly, coconut is held tightly the moment, is held motor working current tightly and is produced transition, embedded control
Unit processed carries out differential calculation so as to judge that it holds the tightness that pawl holds coconut tightly tightly to holding motor working current tightly；
After step 2, holding pawl hold coconut tightly, embedded control unit judges cutter by the initial limit switch of cutter
Whether from a upper working status predetermined initial position is returned back to, if returning back to initial position, embedded control unit is led to
Cutter feed arrangement driving cutter is crossed while move from top to bottom, passes through boring cutter rotary drive motor and drives cutter synchronous
Rotation, in the process, embedded control unit detect boring cutter rotation driving electricity by electric rotating machine current detection sensor
The cutter operating current of machine, when embedded control unit detects that cutter operating current produces small upward Spline smoothing,
Represent that cutter touches coconut palm fibre coat layer, when embedded control unit detects that the upward step amount of cutter operating current increases
When adding larger, represent that cutter touches the casting skin layer of coconut and wooden crust layer, when embedded control unit detects cutter work
When making the step of electric current generation descent direction, represent that cutter touches white flesh layer softer in coconut, at this time, embedded control
Unit processed is quickly lifted cutter by cutter feed arrangement
Preferably, the embedded control unit passes through the first derivative of the cutter operating current and second dervative
Computing come differentiate the rising step of electric current and decline step.
The present invention is identified by the related sensor and execution electrical equipment combination coconut tapping equipment working status of auxiliary
Method, realizes efficient coconut Tapping procedures.
Recognition methods provided by the invention can be become in Tapping procedures by the change of related executing agency's feedback signal
Gesture carries out coconut condition the assessment and anticipation of state, ensure that different condition coconut Tapping procedures stability and improves equipment
The beauty of work efficiency and perforate effect.
Brief description of the drawings
Fig. 1 is the working status identifying system general structure schematic diagram of the present invention；
Fig. 2 is the coconut tapping equipment structure diagram of the present invention；
Fig. 3 is the coconut tapping equipment working status identification process schematic diagram of the present invention.
Embodiment
With reference to specific embodiment, the present invention is further explained.It is to be understood that these embodiments are merely to illustrate the present invention
Rather than limit the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, people in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Scope.
The system that a kind of coconut tapping equipment working status recognition methods provided by the invention is related to is as shown in Figure 1, including work
State recognition unit, working status switch unit, embedded control unit and working status recognizer.
For embedded control unit using ARM series STM32F103RCT6 as MCU, each modular unit running is coordinated in control, and
Gathered data is handled and is stored and with the communication of background devices etc..
Working status recognition unit, mainly realizes the current detecting of cutter driving element and coconut holding driving element in equipment,
Offer basis is accurately identified for the working status and coconut Tapping procedures of equipment, is sensed using current sensor and position switch etc.
Element is realized.
Working status recognition unit includes being used to detect holding the hold-fast body subtended angle position limit whether pawl 1 is returned to initial position tightly
Bit switch, the holding current of electric detection sensor for holding the holding motor working current of motor tightly for detecting coconut, for examining
The initial limit switch of cutter whether cutter 2 is returned to initial position is surveyed, for detecting the cutter of boring cutter rotary drive motor
The electric rotating machine current detection sensor of operating current.
For above-mentioned current detection signal, be respectively adopted Hall type current sensor be acquired with embedded control unit it
Between pass through A/D converting transmitted informations.AD conversion uses 2 passage, 14 precision components, switching rate 16kHz.Embedded Control
Unit is connected with the wireless communication module that background devices serial line interface extends, by the automatic perforate of coconut in embedded control unit
The relevant information and state transfer of machine are to background data base.
Working status switch unit, mainly includes：Coconut holds motor and related power driving element tightly, such as relay group or electric power
The H bridges that electronic component is formed；Boring cutter rotary drive motor and relevant power drive device, such as high power relay group and electricity
The H bridges that power electronic component is formed；For driving the boring cutter lifting motor and related power driving element of cutter feed arrangement 3,
The H bridges formed such as relay group or power electronic element.
Used by embedded control unit and working status switch unit between component by digital driver circuitry element and
Optoelectronic isolating element is controlled the action switching for the working status that coconut tapping equipment is realized after the amplification of signal.
Working status recognizer is programmed by embedded software and realized.Hold the work of actuating motor tightly to coconut by controller
Electric current and the collection for holding the initial spacing state of the operating current and cutter of initial spacing state and cutter motor tightly.It is electric for holding tightly
Stream and cutter operating current, judge holding action using the second dervative of the first derivative and current value of current value and current value
The state of state and coconut opening；For the dynamic change situation analysis for holding initial limit signal and the initial limit signal of cutter tightly
And judge whether coconut tapping equipment is in normal condition.
With reference to Fig. 3, based on said system, the working status recognition methods of coconut tapping equipment comprises the following steps：
Whether step 1, embedded control unit are detected by hold-fast body subtended angle position limit switch holds pawl 1 tightly from a upper work
Make replying state to predetermined initial position, if returning back to initial position, motor driving is held tightly by coconut and holds pawl 1 tightly by coconut palm
Son is held tightly, and during holding, embedded control unit holds current of electric detection sensor tightly by coconut and detects coconut holding
The holding motor working current of motor, coconut are held tightly the moment, are held motor working current tightly and are produced transition, embedded control unit
Differential calculation is carried out so as to judge that it holds the tightness that pawl 1 holds coconut tightly tightly to holding motor working current tightly；
After step 2, holding pawl 1 hold coconut tightly, whether embedded control unit judges cutter 2 by the initial limit switch of cutter
Predetermined initial position is returned back to from a upper working status, if returning back to initial position, embedded control unit is by cutting
While the driving cutter 2 of knife feed arrangement 3 moves from top to bottom, pass through boring cutter rotary drive motor and drive cutter 2 is synchronous to revolve
Turn, in the process, embedded control unit detects boring cutter rotary drive motor by electric rotating machine current detection sensor
Cutter operating current, when embedded control unit detects that cutter operating current produces small upward Spline smoothing, table
Show that cutter 1 touches coconut palm fibre coat layer, when embedded control unit detects the upward step amount increase of cutter operating current
When larger, represent that cutter 1 touches the casting skin layer of coconut and wooden crust layer, when embedded control unit detects that cutter works
When electric current produces the step of descent direction, represent that cutter 1 touches white flesh layer softer in coconut, at this time, embedded Control
Unit is quickly lifted cutter 2 by cutter feed arrangement 3, wherein, embedded control unit passes through the cutter operating current
First derivative and second dervative computing come differentiate the rising step of electric current and decline step.
Claims (2)
1. a kind of coconut tapping equipment working status recognition methods, it is characterised in that comprise the following steps：
Whether step 1, embedded control unit are detected by hold-fast body subtended angle position limit switch holds pawl (1) tightly from upper one
Working status returns back to predetermined initial position, if returning back to initial position, holds motor driving tightly by coconut and holds pawl (1) tightly
Coconut is held tightly, during holding, embedded control unit holds current of electric detection sensor tightly by coconut and detects coconut
Hold the holding motor working current of motor tightly, coconut is held tightly the moment, is held motor working current tightly and is produced transition, embedded Control
Unit carries out differential calculation so as to judge that it holds the tightness that pawl (1) holds coconut tightly tightly to holding motor working current tightly；
After step 2, holding pawl (1) hold coconut tightly, embedded control unit judges cutter (2) by the initial limit switch of cutter
Whether from a upper working status predetermined initial position is returned back to, if returning back to initial position, embedded control unit is led to
Cutter feed arrangement (3) driving cutter (2) is crossed while move from top to bottom, passes through boring cutter rotary drive motor and drives cutter
(2) synchronous rotary, in the process, embedded control unit detect boring cutter by electric rotating machine current detection sensor and rotate
The cutter operating current of motor is driven, when embedded control unit detects that cutter operating current produces small upward step and becomes
During change, represent that cutter (1) touches coconut palm fibre coat layer, when embedded control unit detects the upward rank of cutter operating current
When the increase of jump amount is larger, represent that cutter (1) touches the casting skin layer of coconut and wooden crust layer, when embedded control unit detects
When producing the step of descent direction to cutter operating current, represent that cutter (1) touches white flesh layer softer in coconut, this
When, embedded control unit is quickly lifted cutter (2) by cutter feed arrangement (3).
2. a kind of coconut tapping equipment working status recognition methods as claimed in claim 1, it is characterised in that described embedded
Control unit by the computing of the first derivative and second dervative of the cutter operating current come differentiate the rising step of electric current and
Decline step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710967685.0A CN107927817B (en) | 2017-10-17 | 2017-10-17 | Coconut tapping equipment working state identification method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710967685.0A CN107927817B (en) | 2017-10-17 | 2017-10-17 | Coconut tapping equipment working state identification method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107927817A true CN107927817A (en) | 2018-04-20 |
| CN107927817B CN107927817B (en) | 2020-08-11 |
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ID=61936186
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710967685.0A Active CN107927817B (en) | 2017-10-17 | 2017-10-17 | Coconut tapping equipment working state identification method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109588734A (en) * | 2018-12-26 | 2019-04-09 | 深圳市证通电子股份有限公司 | Drilling method, device and computer readable storage medium |
| CN109770381A (en) * | 2019-03-12 | 2019-05-21 | 东华大学 | A kind of automatic tapping equipment of coconut and its working method using coconut palm blueness capacitive characteristics |
| CN109998127A (en) * | 2019-05-17 | 2019-07-12 | 海南大学 | A kind of air-cylinder type coconut tapping machine |
| CN110398910A (en) * | 2018-04-25 | 2019-11-01 | 海南大学 | A kind of coconut stripping machine electric control system |
| US20220354327A1 (en) * | 2019-04-09 | 2022-11-10 | Lg Electronics Inc. | Cleaner and charging mechanism, and cleaner package comprising same |
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| WO2008067653A1 (en) * | 2006-12-04 | 2008-06-12 | Pierre Beloin | A coconut splitting device |
| CN101268853A (en) * | 2008-05-14 | 2008-09-24 | 中国农业大学 | Cutting process method for chestnut and castanea henryi and equipment thereof |
| CN105942546A (en) * | 2016-06-27 | 2016-09-21 | 中国热带农业科学院农业机械研究所 | Macadamia nut hull breaking machine and hull breaking method |
| US20160345619A1 (en) * | 2014-12-02 | 2016-12-01 | Monarch Media Llc. | Coconut removal device and method therefor |
| CN205969298U (en) * | 2016-08-23 | 2017-02-22 | 道美科技(上海)有限公司 | Coconut tapping machine |
| CN206507233U (en) * | 2016-12-25 | 2017-09-22 | 湛江市汉成科技有限公司 | A kind of transportable simple coconut juicing machine |
| CN107242584A (en) * | 2017-04-26 | 2017-10-13 | 海南大学 | The automatic perforate juicing machine of coconut and perforate juice extracting method |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2008067653A1 (en) * | 2006-12-04 | 2008-06-12 | Pierre Beloin | A coconut splitting device |
| CN101268853A (en) * | 2008-05-14 | 2008-09-24 | 中国农业大学 | Cutting process method for chestnut and castanea henryi and equipment thereof |
| US20160345619A1 (en) * | 2014-12-02 | 2016-12-01 | Monarch Media Llc. | Coconut removal device and method therefor |
| CN105942546A (en) * | 2016-06-27 | 2016-09-21 | 中国热带农业科学院农业机械研究所 | Macadamia nut hull breaking machine and hull breaking method |
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| CN206507233U (en) * | 2016-12-25 | 2017-09-22 | 湛江市汉成科技有限公司 | A kind of transportable simple coconut juicing machine |
| CN107242584A (en) * | 2017-04-26 | 2017-10-13 | 海南大学 | The automatic perforate juicing machine of coconut and perforate juice extracting method |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110398910A (en) * | 2018-04-25 | 2019-11-01 | 海南大学 | A kind of coconut stripping machine electric control system |
| CN109588734A (en) * | 2018-12-26 | 2019-04-09 | 深圳市证通电子股份有限公司 | Drilling method, device and computer readable storage medium |
| CN109588734B (en) * | 2018-12-26 | 2021-10-26 | 深圳市证通电子股份有限公司 | Punching method, punching device and computer readable storage medium |
| CN109770381A (en) * | 2019-03-12 | 2019-05-21 | 东华大学 | A kind of automatic tapping equipment of coconut and its working method using coconut palm blueness capacitive characteristics |
| US20220354327A1 (en) * | 2019-04-09 | 2022-11-10 | Lg Electronics Inc. | Cleaner and charging mechanism, and cleaner package comprising same |
| CN109998127A (en) * | 2019-05-17 | 2019-07-12 | 海南大学 | A kind of air-cylinder type coconut tapping machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107927817B (en) | 2020-08-11 |
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