CN108347478A - Control method, fruits and vegetables automatic cutting equipment and the system of automatic cutting fruits and vegetables - Google Patents
Control method, fruits and vegetables automatic cutting equipment and the system of automatic cutting fruits and vegetables Download PDFInfo
- Publication number
- CN108347478A CN108347478A CN201810071176.4A CN201810071176A CN108347478A CN 108347478 A CN108347478 A CN 108347478A CN 201810071176 A CN201810071176 A CN 201810071176A CN 108347478 A CN108347478 A CN 108347478A
- Authority
- CN
- China
- Prior art keywords
- vegetables
- fruits
- cutting
- characteristic information
- automatic cutting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N20/00—Machine learning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Medical Informatics (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Automation & Control Theory (AREA)
- Evolutionary Biology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention discloses a kind of control method of automatic cutting fruits and vegetables, fruits and vegetables automatic cutting equipment and system, by the characteristic information for obtaining fruits and vegetables, whether the fruits and vegetables characteristic information of acquisition is matched with the target fruits and vegetables characteristic information to prestore, if when the fruits and vegetables characteristic information really received is matched with the target fruits and vegetables characteristic information to prestore, corresponding control instruction packet is generated；And cutwork is carried out to fruits and vegetables according to the cutting perform script control cutting apparatus automatically generated, and then can realize automatic cutting fruits and vegetables, to solve the problems, such as that manual cutting is time-consuming and laborious, be easy to cause food materials waste.
Description
Technical field
The present invention relates to fruits and vegetables peeling technical field, more particularly to a kind of control method of automatic cutting fruits and vegetables, fruits and vegetables are certainly
Dynamic cutting apparatus and system.
Background technology
Food materials cutting is to prepare a necessary program of food materials, and traditional cutting way is all to use manual cutting, manually
The mode of cutting is not only time-consuming and laborious, but also in food materials cutting process, it is difficult to the thickness for controlling cutting causes the waste of food materials,
, also easily there is the phenomenon that being cut to hand in especially some smooth food materials, have certain danger.Therefore, it adopts at present
The mode manually cut at least there are problems that it is time-consuming and laborious, be easy to cause food materials waste, bring inconvenience to life.
Invention content
The main object of the present invention is to provide a kind of control method of automatic cutting fruits and vegetables, it is intended to it is time-consuming to solve manual cutting
Arduously, the problem of be easy to causeing food materials waste.
To achieve the above object, the control method of a kind of automatic cutting fruits and vegetables proposed by the present invention, this method include as follows
Step：
S1, the characteristic information for obtaining fruits and vegetables to be cut；
When the characteristic information for the fruits and vegetables to be cut that S2, determination obtain is matched with the target fruits and vegetables characteristic information to prestore, generate
Corresponding control instruction packet；
S3, the cutwork that fruits and vegetables to be cut are controlled according to the control instruction packet.
Preferably, the step S2, the target fruits and vegetables feature for determining the characteristic information of the fruits and vegetables to be cut obtained and prestoring
When information matches, generating corresponding control instruction packet includes：
S201, the characteristic information that the fruits and vegetables to be cut are sent to cloud server, so that cloud server is according to acquisition
Fruits and vegetables to be cut characteristic information and the target fruits and vegetables characteristic information matching that prestores after generate corresponding control instruction packet and anti-
Feedback；
S202, the control instruction packet for receiving cloud server feedback.
Preferably, the corresponding control instruction packet of the generation is specially：It is generated and is corresponded to by the initial cuts model to prestore
Control instruction packet.
Preferably, after executing the step S3, controlling the cutworks of fruits and vegetables to be cut according to the control instruction packet,
The control method of the automatic cutting fruits and vegetables further includes：
S4, the cutting characteristic information for recording fruits and vegetables cutwork, and the cutting for corresponding to fruits and vegetables is stored according to the type of fruits and vegetables
Characteristic information；
S5, the cutting characteristic information of fruits and vegetables is called to carry out cutting study；
S6, the control instruction packet that fruits and vegetables are corresponded to according to the result optimizing cutting of cutting study；
The control instruction that S7, the initial cuts model that the control instruction packet of the fruits and vegetables after optimization is substituted to corresponding fruits and vegetables generate
Packet.
To achieve the above object, the present invention also provides a kind of fruits and vegetables automatic cutting equipment, including cutting apparatus, memory,
Processor and the control program for being stored in the automatic cutting fruits and vegetables that can be run on memory and on a processor, the memory
It is arranged on the cutting apparatus with processor, the control program of the automatic cutting fruits and vegetables by the processor when being executed
The step of realizing the control method of the automatic cutting fruits and vegetables as described in claim.
Preferably, the fruits and vegetables automatic cutting equipment further includes the image-scanning device being set on the cutting apparatus,
Described image scanning means is used to scan the image information of fruits and vegetables to be cut on the cutting apparatus, and is sent to the processing
Device, so that the processor obtains the characteristic information of fruits and vegetables to be cut from described image information.
Preferably, described image scanning means includes one or more cameras.
Preferably, the cutting apparatus includes the clamping device and cutting mechanism of holder and setting on the bracket, institute
The clamping device and cutting mechanism stated are electrically connected with the processor, wherein
The clamping device, for fruits and vegetables to be clamped under the control of the processor；
The cutting mechanism, it is dynamic for carrying out cutting to the fruits and vegetables on the clamping device under the control of the processor
Make.
Preferably, the fruits and vegetables automatic cutting equipment further includes the wireless communication unit being set on the cutting apparatus,
The wireless communication unit is connected to the processor.
In addition, to achieve the above object, the present invention also provides a kind of fruits and vegetables automatic cutting system, which includes high in the clouds clothes
Business device and fruits and vegetables automatic cutting equipment as described above, the cloud server are stored with the control program of automatic cutting fruits and vegetables,
The fruits and vegetables automatic cutting equipment calls and the control program for executing the dynamic cutting fruits and vegetables, at least to realize as discussed
The step of control method of automatic cutting fruits and vegetables.
A technical solution in said program has the following advantages that or technique effect：By the spy for obtaining fruits and vegetables to be cut
Reference ceases, and whether the fruits and vegetables characteristic information to be cut of acquisition is matched with the target fruits and vegetables characteristic information to prestore, if ought really receive
Fruits and vegetables characteristic information to be cut when being matched with the target fruits and vegetables characteristic information to prestore, generated according to the initial cuts model to prestore
Corresponding control instruction packet；And fruits and vegetables to be cut are cut according to corresponding control instruction packet control cutting apparatus is produced
Cut work；Since control instruction packet is multiple corresponding cutting perform scripts, is controlled and cut by corresponding cutting perform script
Device completes different stock removal actions, and then can realize automatic cutting fruits and vegetables, as long as in this way, user wants that cutting fruits and vegetables just only needs
Fruits and vegetables are placed on the specific position of cutting apparatus, cutting apparatus can be automatically performed the cutwork to placing fruits and vegetables, from
And it solves the problems, such as that manual cutting is time-consuming and laborious, be easy to cause food materials waste.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the flow diagram of one embodiment of control method of automatic cutting fruits and vegetables of the present invention；
Fig. 2 is the flow diagram of another embodiment of control method of automatic cutting fruits and vegetables of the present invention；
Fig. 3 is the flow diagram of the another embodiment of control method of automatic cutting fruits and vegetables of the present invention；
Fig. 4 is the structural schematic diagram of one embodiment of fruits and vegetables automatic cutting equipment of the present invention；
Fig. 5 is the structural schematic diagram of one embodiment of fruits and vegetables automatic cutting system of the present invention.
Drawing reference numeral explanation：
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining relative position relation, motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as referring to
Show or imply its relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " are defined as a result,
Two " feature can explicitly or implicitly include at least one of the features.In addition, the technical solution between each embodiment can
To be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when the combination of technical solution occurs
Conflicting or cannot achieve when, will be understood that the combination of this technical solution is not present, also not the present invention claims protection model
Within enclosing.
The present invention proposes a kind of control method of automatic cutting fruits and vegetables, can realize that automatic cutting fruits and vegetables, solution are manually cut
Cut it is time-consuming and laborious, be easy to cause food materials waste the problem of.
Referring to Fig.1, it is the flow diagram of one embodiment of control method of automatic cutting fruits and vegetables of the present invention；The present embodiment
In, the control method of the automatic cutting fruits and vegetables includes the following steps：
S1, the characteristic information for obtaining fruits and vegetables to be cut；
In this step, it should be noted that one or more may be used in the characteristic information for obtaining fruits and vegetables to be cut
The mode of camera shooting is realized, but is not limited to obtain by the way of camera, for example can also use Sensor monitoring
Mode is realized or is realized in such a way that sensor is combined using camera.
Fruits and vegetables characteristic information includes color, shape and size of fruits and vegetables etc., and fruits and vegetables can be apple, orange, pears
The fruit and vegetables that the needs such as son, sugarcane, dragon fruit, Kiwi berry, pumpkin, cucumber are peeled.
When the characteristic information for the fruits and vegetables to be cut that S2, determination obtain is matched with the target fruits and vegetables characteristic information to prestore, generate
Corresponding control instruction packet；
Generating corresponding control instruction packet is specially：Corresponding control instruction is generated by the initial cuts model to prestore
Packet.
The target fruits and vegetables characteristic information to prestore is the target information according to different fruits and vegetables category classifications, the apple such as to prestore
The data such as size matching range value, color size matching value and shape size matching value believe the fruits and vegetables feature got
It ceases target fruits and vegetables characteristic information corresponding with prestoring to match one by one, so that it is determined that the characteristic information obtained and target fruits and vegetables feature
Whether information matches, and is corresponded according to the initial cuts model to prestore if matching and generates corresponding control instruction packet, if fruits and vegetables
Characteristic information is mismatched with target fruits and vegetables characteristic information, then the initial cuts model to prestore does not generate corresponding control instruction packet.
S3, the cutwork that fruits and vegetables to be cut are controlled according to the control instruction packet.
It should be noted that the control instruction packet generated is cutting perform script, the cutting perform script includes at least
Control peel action script, stop peel action script, control peeling knife rotation script, executed by above-mentioned cutting
The execution of the corresponding stock removal action of Script controlling, to complete automatic cutting fruits and vegetables.
Technical solution of the present invention by obtaining fruits and vegetables characteristic information to be cut, by the fruits and vegetables characteristic information to be cut of acquisition with
Pre-stored target fruits and vegetables characteristic information carries out fuzzy matching, if the fruits and vegetables characteristic information to be cut obtained and the target to prestore
Fruits and vegetables characteristic information successful match then generates corresponding control instruction packet, then according to generation by the initial cuts model to prestore
Corresponding control instruction packet control the cutworks of fruits and vegetables to be cut, since control instruction packet is the fruit to be cut by acquisition
The one-to-one control instruction generated after the characteristic information of vegetable and the target fruits and vegetables characteristic information successful match to prestore, Jin Erneng
Enough control stock removal actions are automatically performed cutwork, are not necessarily to manual intervention, time-consuming and laborious so as to solve manual cutting, are easy
The problem of causing food materials to waste.
In the present embodiment, optionally, with reference to figure 2, the step S2, determine obtain fruits and vegetables to be cut characteristic information with
When the target fruits and vegetables characteristic information matching to prestore, generating corresponding control instruction packet includes：
S201, the characteristic information that the fruits and vegetables to be cut are sent to cloud server, so that cloud server is according to acquisition
Fruits and vegetables to be cut characteristic information and the target fruits and vegetables characteristic information matching that prestores after generate corresponding control instruction packet and anti-
Feedback；
S202, the control instruction packet for receiving cloud server feedback.
It should be noted that target fruits and vegetables characteristic information and cutting control instruction packet are stored in cloud server,
The matching process of fruits and vegetables characteristic information to be cut and target fruits and vegetables characteristic information is completed in server beyond the clouds, is then generated and is corresponded to
Control instruction packet.
In the present embodiment, target fruits and vegetables characteristic information is stored by cloud server and the cutting Model to prestore control refers to
The data such as packet are enabled, and Data Matching processing is carried out to the fruits and vegetables characteristic information to be cut of acquisition by cloud server, compared to
For traditional technology, hardware cost is not only greatly saved, and cloud server cannot be easily caused the loss of data, facilitate fruits and vegetables
The data update of characteristic information and control instruction packet.
In the present embodiment, optionally, with reference to figure 3, execute above-mentioned steps S3, controlled according to the control instruction packet it is to be cut
After the cutwork of fruits and vegetables, the control method of above-mentioned automatic cutting fruits and vegetables further includes：
S4, the cutting characteristic information for recording fruits and vegetables cutwork, and the cutting for corresponding to fruits and vegetables is stored according to the type of fruits and vegetables
Characteristic information；
S5, the cutting characteristic information of fruits and vegetables is called to carry out cutting study；
S6, the control instruction packet that fruits and vegetables are corresponded to according to the result optimizing cutting of cutting study；
The control instruction that S7, the initial cuts model that the control instruction packet of the fruits and vegetables after optimization is substituted to corresponding fruits and vegetables generate
Packet.
In the present embodiment, during cutting fruits and vegetables, shoot and record the cutting characteristic information of cutwork, and by this
A little cutting characteristic informations store and classify, and by taken cutting characteristic information according to the cutting learning model to prestore into
Row cutting study, and be corresponding control instruction packet by the result optimizing of cutting study, and the control instruction packet after being optimized
The control instruction packet of the initial cuts model production of corresponding fruits and vegetables is substituted, the number for cutting fruits and vegetables through the above way is more, cuts
The effect for cutting fruits and vegetables is better.
It is stored as cutting next time and its fruits and vegetables pair it can be readily appreciated that the fruits and vegetables after above-mentioned optimization correspond to control instruction packet
Control instruction packet, that is, the cutting perform script after optimizing is answered to substitute original cutting perform script so that cutting is same next time
Fruits and vegetables when the effect of cutting can be made more preferable than the effect of last time cutting, optimized by the perform script of above-mentioned repetition
Journey can make the machine learning progress of cutting fruits and vegetables, keep its more intelligent.
More specifically, it records the cutting characteristic information of cutwork and cuts the cutting characteristic information classification storage
Study is cut to be as follows：
The characteristic information being recorded in cutting process is classified and marked, that is, cuts training data set；
It determines the hypothesis space of all cutting Models, that is, cuts the set of learning model；
The criterion for determining cutting Model selection, that is, cut the strategy of study；
It realizes the algorithm for solving optimal cutting Model, that is, cuts the algorithm of study；
The cutting Model optimal by cutting the method choice learnt；
New cutting characteristic information is predicted and analyzed using the optimal models of cutting study, generates cutting after optimization
Perform script is cut, and the cutting perform script after being optimized stores and replaces initial cuts model.
In the present embodiment, Pass through above-mentioned technical proposal can record the process cut every time, and optimize so that next time
Cutting process is more perfect compared to last time cutting process, to realize the automatic study of cutting apparatus.
Based on above-described embodiment, the present invention also proposes a kind of fruits and vegetables automatic cutting equipment, with reference to figure 4, including cutting apparatus
30, memory 70, processor 20 and the automatic cutting fruits and vegetables that can be run on memory 70 and on processor 20 are stored in
Program is controlled, the memory 70 and processor 20 are arranged on the cutting apparatus 30, the control of the automatic cutting fruits and vegetables
Processing procedure sequence realizes the step of the control method of the automatic cutting fruits and vegetables as described in claim when being executed by the processor 202
Suddenly.
Above-mentioned fruits and vegetables automatic cutting equipment further includes the image-scanning device 10 being set on the cutting apparatus 30, described
Image-scanning device 10 is used to scan the image information of fruits and vegetables to be cut on the cutting apparatus 30, and is sent to the processor
20, so that the processor 20 obtains the characteristic information of fruits and vegetables to be cut from described image information.
Specifically, processor 20, the characteristic information for obtaining fruits and vegetables to be cut from described image information, and in determination
When the characteristic information of the fruits and vegetables to be cut obtained is matched with the target fruits and vegetables characteristic information to prestore, according to the initial cuts mould to prestore
Type generates corresponding control instruction packet, and controls the cutting apparatus 30 to fruits and vegetables to be cut according to the control instruction packet
Cutwork.
In the embodiment, the characteristic information of fruits and vegetables is obtained by image-scanning device 10, then by the fruits and vegetables feature of acquisition
Information is compared with the target fruits and vegetables characteristic information to prestore to memory 70, the fruits and vegetables characteristic information of acquisition whether with target fruit
Vegetable characteristic information matches, if the fruits and vegetables characteristic information obtained is matched with target fruits and vegetables characteristic information, the processor 20 is according to institute
The fruits and vegetables characteristic information of acquisition generates cutting script by initial cuts model, and controls cutting apparatus 30 and execute cutwork,
To make fruits and vegetables be automatically performed cutwork, without human intervention, avoids waste food materials and manual cutting is time-consuming and laborious
Problem.
It should be noted that above-mentioned image information includes at least fruits and vegetables characteristic information and fruits and vegetables cut characteristic information, it is above-mentioned
Fruits and vegetables characteristic information includes the color, shape and size of fruits and vegetables；Fruits and vegetables cutting characteristic information includes the mistake of fruits and vegetables cutting
Journey.
Further, above-mentioned image-scanning device 10 includes one or more cameras, camera also rotatable shooting, easily
In understanding, the image information of above-mentioned acquisition can be the image that camera is taken pictures, or the video of camera shooting
Information, it can be video information such as to shoot fruits and vegetables cutting characteristic information.
It should be noted that above-mentioned corresponding control instruction packet includes a kind of control of automatic cutting fruits and vegetables of above-described embodiment
Cutting perform script described in method makes cutting apparatus realize automation mechanized operation, can reach the same skill of above-mentioned control method
Art effect, no longer excessively repeats herein.
In the present embodiment, further, with reference to figure 5, the cutting apparatus 30 includes holder and is arranged on the bracket
Clamping device 301 and cutting mechanism 302, the clamping device 301 and cutting mechanism 302 be electrically connected with the processor 20
It connects, wherein
The clamping device 301, for fruits and vegetables to be clamped under the control of the processor 20；
The cutting mechanism 302, under the control of the processor 20 to the fruits and vegetables on the clamping device 301 into
Row stock removal action.
The fruits and vegetables automatic cutting equipment further includes the wireless communication unit 60 being set on the cutting apparatus 30, described
Wireless communication unit 60 is connect with the processor 20.
Specifically, the cutting apparatus further includes Power Management Unit 80, and Power Management Unit 80 is electrically connected to processor
20, for powering to cutting apparatus.
Above-mentioned clamping device 301 can be held for fruits and vegetables to be clamped by the corresponding control for controlling clamping device 301
Its clamping device 301 rotation of row Script controlling corresponds to the perform script of control cutting mechanism 302 according to the rotation of clamping device 301
The automation that row cutwork realizes cutting fruits and vegetables is rotated into, manual intervention is not necessarily to.
In the present embodiment, optionally, with reference to figure 5, above-mentioned image-scanning device 10 is additionally operable to shooting fruits and vegetables cutting process
Characteristic information is cut, cutting characteristic information includes the information such as the variation of color in cutting process, the thickness peeled.
Above-mentioned fruits and vegetables automatic cutting equipment further includes machine learning module 50, for obtaining fruits and vegetables from described image information
Characteristic information is cut, and stores the cutting characteristic information of corresponding fruits and vegetables according to the type of fruits and vegetables, the cutting feature of fruits and vegetables is called to believe
It ceases and carries out cutting study, and correspond to the control instruction packet of fruits and vegetables according to the result optimizing cutting of cutting study, and will be after optimization
The control instruction packets of fruits and vegetables substitute the control instruction packet that the initial cuts model of corresponding fruits and vegetables generates.
Above-mentioned processor 20, the cutting characteristic information for being additionally operable to take are uploaded to machine learning module study 50.
Above-mentioned machine learning module 50 includes at least characteristic identifying system, characteristic categorizing system, cutting study
System；Storage is identified in characteristic identifying system, and characteristic categorizing system divides the cutting characteristic information of storage
Class, cutting learning system call classified cutting characteristic information, and imported into corresponding cutting learning model, while in machine
Modifying model is carried out under the intervention of supervised learning, the cutting script after final cutting learning model output optimization is stored in first to prestoring
In the raw data base of beginning cutting Model；In the present embodiment, obtained using automatic cutting fruits and vegetables system by user
Perform script is cut after optimization.
It should be noted that the cutting perform script after above-mentioned optimization substitutes original cutting perform script, i.e., it is original
Cutting perform script is stored to raw data base, can be according to matching when for reusing automatic cutting fruits and vegetables system next time
Fruits and vegetables characteristic information automatically generate optimization after cutting perform script control cutting apparatus execute cutwork.It is above-mentioned to cut
Journey, shooting cutting process and optimization cutting perform script are to be carried out repeating shooting according to the other fruits and vegetables characteristic information of one species
Optimize with script, i.e., when user is more using automatic cutting fruits and vegetables system, the cutting perform script of the system automatically generated becomes
It obtains and more optimizes so that cutting process and cutting effect are more perfect.
In addition, the present invention also provides a kind of fruits and vegetables automatic cutting system, with reference to figure 5, which includes cloud server 40
And fruits and vegetables automatic cutting equipment as described above, the cloud server 40 are stored with the control program of automatic cutting fruits and vegetables, institute
It states fruits and vegetables automatic cutting equipment calls and executes the control program of the dynamic cutting fruits and vegetables, at least to realize as discussed oneself
The step of control method of dynamic cutting fruits and vegetables.
In the embodiment, specifically, fruits and vegetables cutting characteristic information is obtained from the image information that camera is shot, and will cut
It cuts the cutting characteristic information obtained in the course of work and is transmitted to cloud server 40, it can be readily appreciated that above-mentioned machine learning mould
Block 50 runs on cloud server 40.
Specifically, by obtaining the characteristic information of fruits and vegetables to be cut from the clamping device 301 on cutting apparatus, and by its
Characteristic information to be cut is uploaded to cloud server 40 by the processor 20 of cutting apparatus, is obtained by cloud server 40
Fruits and vegetables characteristic information to be cut and the target fruits and vegetables characteristic information being pre-stored on cloud server 40 carry out fuzzy matching, if matching
Success, then automatically generate corresponding control instruction packet, and controlled and referred to by cloud server 40 according to the initial model to prestore
Packet is enabled to be issued to cutting apparatus, controlling cutting apparatus according to corresponding control instruction packet by the processor of cutting apparatus is cut
Work.
In the embodiment, in cutting apparatus executes cutwork, the fruits and vegetables feature to be cut letter of the camera shooting
The cutting characteristic information of breath and cutting process, unit 60 is uploaded to cloud service to the image information shot by radio communication
The machine learning module 50 of device, cloud server 40 carry out its data to automatically generate corresponding control instruction after handling accordingly
Packet.
It is special by obtaining the cutting waited in fruits and vegetables characteristic information and cutting process from clamping device 301 in the embodiment
Reference ceases, to control the carry out cutwork of cutting mechanism 302, while can be by the processing of data and storage running in high in the clouds
Server not only saves hardware cost, and facilitates the processing and update of cutting fruits and vegetables characteristic.
It should be noted that complete as described above due to that can be realized when automatic cutting fruits and vegetables control program is executed by processor
Therefore the automatic cutting fruits and vegetables control method of portion's embodiment has embodiment and implementation result same as mentioned above, can
With reference to realizing, no longer excessively repeat herein.
Based on above-mentioned at least one embodiment, citing below illustrates automatic cutting fruits and vegetables system and realizes automatic cutting
Process.
In a kind of scene, when user needs to peel to apple, apple is positioned over 301 top of clamping device,
Storage control unit 202 senses that fruits and vegetables are positioned on clamping device 301, and control is installed on the shooting of 301 top of clamping device
Characteristic informations, storage control unit 202 and the apples shot according to camera such as color, size dimension, the shape of head shooting apple
The control of fruit characteristic information is uploaded to cloud server 40 through wireless communication unit 60, and cloud server 40 believes the feature of its apple
Breath cuts the perform script of apple according to the initial cuts auto-building model to prestore, and the perform script for being cut apple issues
To processor 20, processor 20 controls cutting mechanism 302 to being held on clamping machine according to the perform script of the cutting apple issued
Apple on structure 301 is peeled.
It should be noted that apple cutting perform script includes the rotation control of cutting mechanism 302 script, cutting control foot
Originally, stop cutting control script etc..In the present embodiment, the color change of apples peeling can also be shot by camera, by it
The characteristic information of color change is transmitted to cloud server 40, is compared with pre-stored color of object variation characteristic information
It is right, to automatically generate the cutting perform script that control cutting mechanism 302 stops cutwork.
When executing the script of cutting apple, the whole process of camera shooting cutting, and cut the cutting of apple
Process character information is uploaded to machine learning module 50, and having inside machine learning module 50 makes cutting apple process feature believe
The learning model for ceasing optimization optimizes the apple according to learning model and cuts characteristic information, and the apple cutting feature optimized
Information is converted to the cutting perform script after optimization, and the apple cutting perform script after the optimization substitutes the production of initial model model
Cutting apple perform script, facilitate next time using automatic cutting fruits and vegetables system cutting apple when, can than last time generate
Apple cutting perform script it is more optimized, cutting process is also more preferable than last cutting process effect.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or system.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions use so that a station terminal equipment (can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of control method of automatic cutting fruits and vegetables, which is characterized in that this method comprises the following steps：
S1, the characteristic information for obtaining fruits and vegetables to be cut；
When the characteristic information for the fruits and vegetables to be cut that S2, determination obtain is matched with the target fruits and vegetables characteristic information to prestore, generates and correspond to
Control instruction packet；
S3, the cutwork that fruits and vegetables to be cut are controlled according to the control instruction packet.
2. the control method of automatic cutting fruits and vegetables as described in claim 1, which is characterized in that the step S2, determine acquisition
The characteristic information of fruits and vegetables to be cut when being matched with the target fruits and vegetables characteristic information to prestore, generate corresponding control instruction packet
It includes：
S201, the characteristic information that the fruits and vegetables to be cut are sent to cloud server, for cloud server waiting for according to acquisition
Corresponding control instruction packet is generated after the characteristic information of cutting fruits and vegetables and the target fruits and vegetables characteristic information matching to prestore and is fed back；
S202, the control instruction packet for receiving cloud server feedback.
3. the control method of automatic cutting fruits and vegetables as claimed in claim 1 or 2, which is characterized in that described to generate corresponding control
System instruction, which is wrapped, is specially：Corresponding control instruction packet is generated by the initial cuts model to prestore.
4. the control method of automatic cutting fruits and vegetables as claimed in claim 3, which is characterized in that execute the step S3, basis
After the control instruction packet controls the cutwork of fruits and vegetables to be cut, the control method of the automatic cutting fruits and vegetables further includes：
S4, the cutting characteristic information for recording fruits and vegetables cutwork, and the cutting feature for corresponding to fruits and vegetables is stored according to the type of fruits and vegetables
Information；
S5, the cutting characteristic information of fruits and vegetables is called to carry out cutting study；
S6, the control instruction packet that fruits and vegetables are corresponded to according to the result optimizing cutting of cutting study；
The control instruction packet that S7, the initial cuts model that the control instruction packet of the fruits and vegetables after optimization is substituted to corresponding fruits and vegetables generate.
5. a kind of fruits and vegetables automatic cutting equipment, which is characterized in that including cutting apparatus, memory, processor and be stored in
On reservoir and the control program of automatic cutting fruits and vegetables that can run on a processor, the memory and processor are arranged at institute
It states on cutting apparatus, the control program of the automatic cutting fruits and vegetables realizes such as Claims 1-4 when being executed by the processor
Any one of described in automatic cutting fruits and vegetables control method the step of.
6. fruits and vegetables automatic cutting equipment as claimed in claim 5, which is characterized in that the fruits and vegetables automatic cutting equipment further includes
The image-scanning device being set on the cutting apparatus, described image scanning means are to be cut on the cutting apparatus for scanning
Cut the image information of fruits and vegetables, and be sent to the processor, for the processor obtained from described image information it is to be cut
The characteristic information of fruits and vegetables.
7. fruits and vegetables automatic cutting equipment as claimed in claim 6, which is characterized in that described image scanning means include one or
Multiple cameras.
8. fruits and vegetables automatic cutting equipment as claimed in claim 6, which is characterized in that the cutting apparatus includes holder and setting
Clamping device on the bracket and cutting mechanism, the clamping device and cutting mechanism are electrically connected with the processor,
Wherein,
The clamping device, for fruits and vegetables to be clamped under the control of the processor；
The cutting mechanism, for carrying out stock removal action to the fruits and vegetables on the clamping device under the control of the processor.
9. fruits and vegetables automatic cutting equipment as claimed in claim 5, which is characterized in that the fruits and vegetables automatic cutting equipment further includes
The wireless communication unit being set on the cutting apparatus, the wireless communication unit are connected to the processor.
10. a kind of fruits and vegetables automatic cutting system, which is characterized in that the system includes cloud server and such as claim 5 to 9 times
Fruits and vegetables automatic cutting equipment described in one, the cloud server are stored with the control program of automatic cutting fruits and vegetables, the fruit
Vegetable automatic cutting equipment calls and the control program for executing the dynamic cutting fruits and vegetables, at least to realize as appointed in Claims 1-4
The step of control method of automatic cutting fruits and vegetables described in one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810071176.4A CN108347478B (en) | 2018-01-24 | 2018-01-24 | Control method for automatically cutting fruits and vegetables, automatic fruit and vegetable cutting equipment and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810071176.4A CN108347478B (en) | 2018-01-24 | 2018-01-24 | Control method for automatically cutting fruits and vegetables, automatic fruit and vegetable cutting equipment and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108347478A true CN108347478A (en) | 2018-07-31 |
| CN108347478B CN108347478B (en) | 2022-04-19 |
Family
ID=62961321
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810071176.4A Active CN108347478B (en) | 2018-01-24 | 2018-01-24 | Control method for automatically cutting fruits and vegetables, automatic fruit and vegetable cutting equipment and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108347478B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110441782A (en) * | 2019-07-11 | 2019-11-12 | 深圳市深创谷技术服务有限公司 | Infrared detecting device |
| CN111955757A (en) * | 2020-07-24 | 2020-11-20 | 上海云喷餐饮管理有限公司 | Method and equipment for peeling fruits and vegetables |
| CN116548195A (en) * | 2023-07-12 | 2023-08-08 | 北京市农林科学院智能装备技术研究中心 | Stock cutting method, device, system, equipment, medium and grafting robot |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101406314A (en) * | 2008-11-20 | 2009-04-15 | 杭州电子科技大学 | Small-sized auto-feed sugarcane-peeling machine |
| CN101601497A (en) * | 2009-07-09 | 2009-12-16 | 沈善 | Automatic fruit peeling machine |
| CN201360526Y (en) * | 2008-11-20 | 2009-12-16 | 杭州电子科技大学 | Small sugarcane peeler |
| CN103093208A (en) * | 2013-01-23 | 2013-05-08 | 中国科学技术大学 | Method and system for fruit and vegetable recognition |
| CN103222667A (en) * | 2013-05-10 | 2013-07-31 | 安徽省颍上县蕴旺食品机械有限公司 | Automatic peeling machine for melon and fruit |
| CN104361698A (en) * | 2014-11-25 | 2015-02-18 | 湖南大学 | Self-service intelligent electronic weighing settlement method and system |
| US20160050852A1 (en) * | 2013-03-29 | 2016-02-25 | Chul Hee Lee | Agricultural robot system |
| US9311568B1 (en) * | 2014-05-21 | 2016-04-12 | Yummly, Inc. | Recipe text and image extraction |
| CN205162708U (en) * | 2015-11-06 | 2016-04-20 | 九阳股份有限公司 | Intelligence juice extractor |
| CN106182125A (en) * | 2016-07-12 | 2016-12-07 | 张学衡 | One cuts fruit robot |
| CA3008562A1 (en) * | 2015-12-16 | 2017-06-22 | Mbl Limited | Robotic manipulation methods and systems for executing a domain-specific application in an instrumented environment with containers and electronic minimanipulation libraries |
| CN107438384A (en) * | 2016-05-16 | 2017-12-05 | 深圳市柔宇科技有限公司 | A kind of Intelligent cup and detection method |
-
2018
- 2018-01-24 CN CN201810071176.4A patent/CN108347478B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101406314A (en) * | 2008-11-20 | 2009-04-15 | 杭州电子科技大学 | Small-sized auto-feed sugarcane-peeling machine |
| CN201360526Y (en) * | 2008-11-20 | 2009-12-16 | 杭州电子科技大学 | Small sugarcane peeler |
| CN101601497A (en) * | 2009-07-09 | 2009-12-16 | 沈善 | Automatic fruit peeling machine |
| CN103093208A (en) * | 2013-01-23 | 2013-05-08 | 中国科学技术大学 | Method and system for fruit and vegetable recognition |
| US20160050852A1 (en) * | 2013-03-29 | 2016-02-25 | Chul Hee Lee | Agricultural robot system |
| CN103222667A (en) * | 2013-05-10 | 2013-07-31 | 安徽省颍上县蕴旺食品机械有限公司 | Automatic peeling machine for melon and fruit |
| US9311568B1 (en) * | 2014-05-21 | 2016-04-12 | Yummly, Inc. | Recipe text and image extraction |
| CN104361698A (en) * | 2014-11-25 | 2015-02-18 | 湖南大学 | Self-service intelligent electronic weighing settlement method and system |
| CN205162708U (en) * | 2015-11-06 | 2016-04-20 | 九阳股份有限公司 | Intelligence juice extractor |
| CA3008562A1 (en) * | 2015-12-16 | 2017-06-22 | Mbl Limited | Robotic manipulation methods and systems for executing a domain-specific application in an instrumented environment with containers and electronic minimanipulation libraries |
| CN107438384A (en) * | 2016-05-16 | 2017-12-05 | 深圳市柔宇科技有限公司 | A kind of Intelligent cup and detection method |
| CN106182125A (en) * | 2016-07-12 | 2016-12-07 | 张学衡 | One cuts fruit robot |
Non-Patent Citations (1)
| Title |
|---|
| 牛乃龙等: ""哈密瓜削皮机的设计"", 《中国农机化学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110441782A (en) * | 2019-07-11 | 2019-11-12 | 深圳市深创谷技术服务有限公司 | Infrared detecting device |
| CN111955757A (en) * | 2020-07-24 | 2020-11-20 | 上海云喷餐饮管理有限公司 | Method and equipment for peeling fruits and vegetables |
| CN116548195A (en) * | 2023-07-12 | 2023-08-08 | 北京市农林科学院智能装备技术研究中心 | Stock cutting method, device, system, equipment, medium and grafting robot |
| CN116548195B (en) * | 2023-07-12 | 2023-10-20 | 北京市农林科学院智能装备技术研究中心 | Stock cutting method, device, system, equipment, medium and grafting robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108347478B (en) | 2022-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108347478A (en) | Control method, fruits and vegetables automatic cutting equipment and the system of automatic cutting fruits and vegetables | |
| US11538208B2 (en) | Picture generation method and device, storage medium, and electronic device | |
| CN109951627A (en) | Image processing method, device, storage medium and electronic equipment | |
| US11412270B2 (en) | Method and apparatus for processing multimedia file, storage medium, and electronic apparatus | |
| CN102420712B (en) | Testing method and equipment | |
| CN105518558B (en) | A kind of aerial mission processing method, apparatus and system | |
| CN106878767A (en) | Video broadcasting method and device | |
| CN109894383B (en) | Article sorting method and device, storage medium and electronic equipment | |
| CN107632814A (en) | Audio information playing method, device and system, storage medium and processor | |
| CN110704681B (en) | Method and system for generating video | |
| CN110008829A (en) | The method of adjustment and device of food | |
| CN108337471A (en) | The processing method and processing device of video pictures | |
| CN106604056B (en) | Video broadcasting method and device | |
| CN106713291A (en) | Multi-screen interaction method, communication terminal and server | |
| US10511788B2 (en) | Video switching apparatus, video switching method, program, and information processing apparatus | |
| CN110934508A (en) | Oven control method and device | |
| CN1450806A (en) | Image distribution method | |
| CN104615432A (en) | Splash screen information handling method and customer terminal | |
| CN112019800A (en) | Image sharing method and device, range hood and storage medium | |
| CN110415318B (en) | Image processing method and device | |
| CN108197680A (en) | A kind of product test method, apparatus and system | |
| CN109451238A (en) | A kind of communication means, communication system and unmanned plane | |
| CN104731979A (en) | Method and device for storing all exclusive information resources of specific user | |
| CN107783856A (en) | A kind of method of testing and system of image processor parameter | |
| CN111726654A (en) | Video pushing and playing method, device, system and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |