CN108347478B - Control method for automatically cutting fruits and vegetables, automatic fruit and vegetable cutting equipment and system - Google Patents
Control method for automatically cutting fruits and vegetables, automatic fruit and vegetable cutting equipment and system Download PDFInfo
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Abstract
The invention discloses a control method for automatically cutting fruits and vegetables, automatic fruit and vegetable cutting equipment and a system, wherein the control method comprises the steps of acquiring characteristic information of fruits and vegetables, judging whether the acquired characteristic information of the fruits and vegetables is matched with pre-stored target fruit and vegetable characteristic information, and if the received characteristic information of the fruits and vegetables is matched with the pre-stored target fruit and vegetable characteristic information, generating a corresponding control instruction packet; and the cutting device is controlled to cut fruits and vegetables according to the automatically generated cutting execution script, so that the fruits and vegetables can be automatically cut, and the problems that manual cutting wastes time and labor and food materials are wasted easily are solved.
Description
Technical Field
The invention relates to the technical field of fruit and vegetable peeling, in particular to a control method for automatically cutting fruits and vegetables, automatic fruit and vegetable cutting equipment and an automatic fruit and vegetable cutting system.
Background
Food material cutting is a necessary procedure for preparing food materials, the traditional cutting mode adopts manual cutting, the manual cutting mode is time-consuming and labor-consuming, in addition, the cutting thickness is difficult to control in the food material cutting process, the waste of food materials is caused, particularly, the phenomenon that hands are cut easily occurs in some smooth food materials, and certain dangerousness is realized. Therefore, the current manual cutting mode at least has the problems of time and labor waste and easy waste of food materials, and inconvenience is brought to life.
Disclosure of Invention
The invention mainly aims to provide a control method for automatically cutting fruits and vegetables, and aims to solve the problems that manual cutting wastes time and labor and food materials are easily wasted.
In order to achieve the purpose, the invention provides a control method for automatically cutting fruits and vegetables, which comprises the following steps:
s1, acquiring characteristic information of the fruits and vegetables to be cut;
s2, generating a corresponding control instruction packet when the acquired characteristic information of the fruits and vegetables to be cut is determined to be matched with the pre-stored characteristic information of the target fruits and vegetables;
and S3, controlling the cutting work of the fruits and vegetables to be cut according to the control instruction packet.
Preferably, when the step S2 determines that the acquired characteristic information of the fruit and vegetable to be cut matches with the pre-stored characteristic information of the target fruit and vegetable, the generating of the corresponding control instruction packet includes:
s201, sending the characteristic information of the fruits and vegetables to be cut to a cloud server, and enabling the cloud server to generate and feed back a corresponding control instruction packet after matching the acquired characteristic information of the fruits and vegetables to be cut with the pre-stored target fruit and vegetable characteristic information;
s202, receiving a control instruction packet fed back by the cloud server.
Preferably, the generating the corresponding control instruction packet specifically includes: and generating a corresponding control instruction packet through a pre-stored initial cutting model.
Preferably, after the step S3 is executed and the cutting operation of the to-be-cut fruit and vegetable is controlled according to the control instruction packet, the control method for automatically cutting the fruit and vegetable further includes:
s4, recording cutting characteristic information of the cutting work of the fruits and the vegetables, and storing the cutting characteristic information of the corresponding fruits and the vegetables according to the types of the fruits and the vegetables;
s5, calling cutting characteristic information of the fruits and vegetables for cutting learning;
s6, optimizing a control instruction packet for cutting the corresponding fruits and vegetables according to the cutting learning result;
and S7, replacing the optimized control instruction packet of the fruit and vegetable with the control instruction packet generated by the initial cutting model of the corresponding fruit and vegetable.
In order to achieve the above object, the present invention further provides an automatic fruit and vegetable cutting apparatus, which includes a cutting device, a memory, a processor, and a control program for automatically cutting fruits and vegetables, stored in the memory and executable on the processor, wherein the memory and the processor are both disposed on the cutting device, and the control program for automatically cutting fruits and vegetables, when being executed by the processor, implements the steps of the control method for automatically cutting fruits and vegetables as claimed in the claims.
Preferably, the automatic fruit and vegetable cutting equipment further comprises an image scanning device arranged on the cutting device, wherein the image scanning device is used for scanning image information of fruits and vegetables to be cut on the cutting device and sending the image information to the processor, so that the processor can obtain characteristic information of the fruits and vegetables to be cut from the image information.
Preferably, the image scanning device comprises one or more cameras.
Preferably, the cutting device comprises a bracket, and a clamping mechanism and a cutting mechanism which are arranged on the bracket, the clamping mechanism and the cutting mechanism are electrically connected with the processor, wherein,
the clamping mechanism is used for clamping the fruits and vegetables under the control of the processor;
and the cutting mechanism is used for cutting the fruits and vegetables on the clamping mechanism under the control of the processor.
Preferably, the automatic fruit and vegetable cutting equipment further comprises a wireless communication unit arranged on the cutting device, and the wireless communication unit is connected with the processor.
In addition, in order to achieve the above object, the present invention further provides an automatic fruit and vegetable cutting system, which includes a cloud server and the automatic fruit and vegetable cutting device as described above, wherein the cloud server stores a control program for automatically cutting fruits and vegetables, and the automatic fruit and vegetable cutting device calls and executes the control program for automatically cutting fruits and vegetables, so as to at least implement the steps of the control method for automatically cutting fruits and vegetables as described above.
One of the technical solutions has the following advantages or technical effects: the method comprises the steps of acquiring characteristic information of a fruit and a vegetable to be cut, judging whether the acquired characteristic information of the fruit and the vegetable to be cut is matched with pre-stored target fruit and vegetable characteristic information, and if so, generating a corresponding control instruction packet according to a pre-stored initial cutting model; controlling a cutting device to cut the fruits and vegetables to be cut according to a control instruction packet corresponding to production; because the control command package is a plurality of cutting execution scripts that correspond, accomplish different cutting actions through the cutting execution script control cutting device that corresponds, and then can realize the automatic cutting fruit vegetables, so, as long as the user wants to cut the fruit vegetables just only need put the fruit vegetables on the specific position of cutting device, cutting device just can accomplish the cutting work to placing the fruit vegetables automatically to solve artifical cutting and wasted time and energy, caused the extravagant problem of edible material easily.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic flow chart of an embodiment of a control method for automatically cutting fruits and vegetables according to the present invention;
FIG. 2 is a schematic flow chart of another embodiment of the control method for automatically cutting fruits and vegetables according to the present invention;
FIG. 3 is a schematic flow chart illustrating a control method for automatically cutting fruits and vegetables according to another embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an embodiment of the automatic fruit and vegetable cutting apparatus according to the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of the automatic fruit and vegetable cutting system of the present invention.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a control method for automatically cutting fruits and vegetables, which can realize automatic cutting of fruits and vegetables and solve the problems that manual cutting wastes time and labor and food materials are easily wasted.
Referring to fig. 1, a flow chart of an embodiment of the control method for automatically cutting fruits and vegetables is shown; in this embodiment, the control method for automatically cutting fruits and vegetables includes the following steps:
s1, acquiring characteristic information of the fruits and vegetables to be cut;
in this step, it should be noted that the obtaining of the characteristic information of the fruits and vegetables to be cut may be achieved by shooting with one or more cameras, but is not limited to obtaining with a camera, for example, may also be achieved by monitoring with a sensor or by combining a camera and a sensor.
The characteristic information of the fruits and vegetables comprises the colors, shapes, sizes and the like of the fruits and vegetables, and the fruits and vegetables can be fruits and vegetables needing peeling, such as apples, oranges, pears, sugarcanes, dragon fruits, kiwi fruits, pumpkins, cucumbers and the like.
S2, generating a corresponding control instruction packet when the acquired characteristic information of the fruits and vegetables to be cut is determined to be matched with the pre-stored characteristic information of the target fruits and vegetables;
the specific steps for generating the corresponding control instruction packet are as follows: and generating a corresponding control instruction packet through a pre-stored initial cutting model.
The pre-stored target fruit and vegetable feature information is classified according to different fruit and vegetable categories, and is matched with the pre-stored corresponding target fruit and vegetable feature information one by one, so that whether the obtained feature information is matched with the target fruit and vegetable feature information is determined, if the obtained feature information is matched with the target fruit and vegetable feature information, corresponding control instruction packets are generated according to the pre-stored initial cutting models one by one, and if the fruit and vegetable feature information is not matched with the target fruit and vegetable feature information, the pre-stored initial cutting models do not generate the corresponding control instruction packets.
And S3, controlling the cutting work of the fruits and vegetables to be cut according to the control instruction packet.
The generated control instruction packet is a cutting execution script, the cutting execution script at least comprises a script for controlling peeling action, a script for stopping peeling action and a script for controlling the rotation of a peeling tool, and the cutting execution script controls the execution of corresponding cutting action so as to finish the automatic cutting of the fruits and vegetables.
According to the technical scheme, the characteristic information of the fruits and vegetables to be cut is obtained, fuzzy matching is conducted on the obtained characteristic information of the fruits and vegetables to be cut and the prestored target fruit and vegetable characteristic information, if the obtained characteristic information of the fruits and vegetables to be cut is successfully matched with the prestored target fruit and vegetable characteristic information, the prestored initial cutting model generates a corresponding control instruction packet, then cutting work of the fruits and vegetables to be cut is controlled according to the generated corresponding control instruction packet, and the control instruction packet is a one-to-one corresponding control instruction generated after the obtained characteristic information of the fruits and vegetables to be cut is successfully matched with the prestored target fruit and vegetable characteristic information, so that cutting work can be automatically completed through control over cutting actions, manual intervention is not needed, and the problems that manual cutting wastes time and labor and food materials are easily caused can be solved.
In this embodiment, optionally, referring to fig. 2, when determining that the acquired characteristic information of the to-be-cut fruit and vegetable matches with the pre-stored characteristic information of the target fruit and vegetable in step S2, generating a corresponding control instruction packet includes:
s201, sending the characteristic information of the fruits and vegetables to be cut to a cloud server, and enabling the cloud server to generate and feed back a corresponding control instruction packet after matching the acquired characteristic information of the fruits and vegetables to be cut with the pre-stored target fruit and vegetable characteristic information;
s202, receiving a control instruction packet fed back by the cloud server.
It should be noted that the target fruit and vegetable characteristic information and the cutting control instruction packet are both stored in the cloud server, the matching process of the to-be-cut fruit and vegetable characteristic information and the target fruit and vegetable characteristic information is completed in the cloud server, and then the corresponding control instruction packet is generated.
In this embodiment, data such as target fruit vegetables characteristic information and the cutting model control command package that prestores are saved through high in the clouds server to carry out data matching processing to the fruit vegetables characteristic information of waiting to cut that obtains through high in the clouds server, compare in traditional technology, not only saved the hardware cost greatly, and high in the clouds server is difficult to cause losing of data, makes things convenient for the data update of fruit vegetables characteristic information and control command package.
In this embodiment, optionally, referring to fig. 3, after the step S3 is executed and the cutting operation of the to-be-cut fruit and vegetable is controlled according to the control instruction packet, the control method for automatically cutting the fruit and vegetable further includes:
s4, recording cutting characteristic information of the cutting work of the fruits and the vegetables, and storing the cutting characteristic information of the corresponding fruits and the vegetables according to the types of the fruits and the vegetables;
s5, calling cutting characteristic information of the fruits and vegetables for cutting learning;
s6, optimizing a control instruction packet for cutting the corresponding fruits and vegetables according to the cutting learning result;
and S7, replacing the optimized control instruction packet of the fruit and vegetable with the control instruction packet generated by the initial cutting model of the corresponding fruit and vegetable.
In the embodiment, in the process of cutting fruits and vegetables, cutting characteristic information of cutting work is shot and recorded, the cutting characteristic information is stored and classified, the shot cutting characteristic information is subjected to cutting learning according to a pre-stored cutting learning model, the cutting learning result is optimized into a corresponding control instruction packet, the optimized control instruction packet replaces a control instruction packet produced by an initial cutting model of the corresponding fruits and vegetables, and the more the fruits and vegetables are cut in the mode, the better the fruit and vegetable cutting effect is.
It is easy to understand that the optimized control command packet corresponding to the fruits and vegetables is stored as the control command packet corresponding to the fruits and vegetables in the next cutting, namely, the optimized cutting execution script replaces the original cutting execution script, so that the cutting effect is better than the last cutting effect when the same fruits and vegetables are cut in the next cutting, and through the repeated execution script optimization process, the machine learning progress of the fruits and vegetables can be realized, and the fruits and vegetables can be more intelligent.
More specifically, the specific steps of recording the cutting characteristic information of the cutting work and storing the cutting characteristic information in a classified manner for cutting learning are as follows:
classifying and marking the characteristic information recorded in the cutting process, namely a cutting training data set;
determining a hypothesis space of all cutting models, namely a set of cutting learning models;
determining a criterion for cutting model selection, namely a cutting learning strategy;
an algorithm for solving the optimal cutting model, namely a cutting learning algorithm, is realized;
selecting an optimal cutting model by a cutting learning method;
and predicting and analyzing the new cutting characteristic information by using the optimal model of cutting learning, generating an optimized cutting execution script, storing the optimized cutting execution script and replacing the initial cutting model.
In the embodiment, the cutting process can be recorded and optimized each time through the technical scheme, so that the next cutting process is more perfect than the last cutting process, and the automatic learning of the cutting device is realized.
Based on the above embodiment, the present invention further provides an automatic fruit and vegetable cutting apparatus, referring to fig. 4, including a cutting device 30, a memory 70, a processor 20, and a control program for automatically cutting fruits and vegetables, stored on the memory 70 and operable on the processor 20, where the memory 70 and the processor 20 are both disposed on the cutting device 30, and when being executed by the processor 202, the control program for automatically cutting fruits and vegetables implements the steps of the control method for automatically cutting fruits and vegetables as claimed in the claims.
The automatic cutting equipment for fruits and vegetables further comprises an image scanning device 10 arranged on the cutting device 30, wherein the image scanning device 10 is used for scanning image information of fruits and vegetables to be cut on the cutting device 30 and sending the image information to the processor 20, so that the processor 20 can obtain characteristic information of the fruits and vegetables to be cut from the image information.
Specifically, the processor 20 is configured to obtain feature information of the fruit and vegetable to be cut from the image information, generate a corresponding control instruction packet according to a pre-stored initial cutting model when it is determined that the obtained feature information of the fruit and vegetable to be cut matches with pre-stored target fruit and vegetable feature information, and control the cutting device 30 to cut the fruit and vegetable to be cut according to the control instruction packet.
In this embodiment, the characteristic information of the fruits and vegetables is acquired through the image scanning device 10, then the acquired characteristic information of the fruits and vegetables is compared with the target characteristic information of the fruits and vegetables prestored in the memory 70, whether the acquired characteristic information of the fruits and vegetables is matched with the target characteristic information of the fruits and vegetables is determined, if the acquired characteristic information of the fruits and vegetables is matched with the target characteristic information of the fruits and vegetables, the processor 20 generates a cutting script through an initial cutting model according to the acquired characteristic information of the fruits and vegetables, and controls the cutting device 30 to execute cutting work, so that the fruits and vegetables automatically complete the cutting work without manual operation, and the problems of waste of food materials and time and labor in manual cutting are avoided.
It should be noted that the image information at least includes fruit and vegetable characteristic information and fruit and vegetable cutting characteristic information, and the fruit and vegetable characteristic information includes color, shape and size of the fruit and vegetable; the fruit and vegetable cutting characteristic information comprises a fruit and vegetable cutting process.
Further, the image scanning device 10 includes one or more cameras, and the cameras can also rotate to shoot, and it is easy to understand that the obtained image information may be an image shot by the cameras, and may also be video information shot by the cameras, for example, the information for shooting the cutting characteristics of fruits and vegetables may be video information.
It should be noted that the corresponding control instruction packet includes the cutting execution script described in the control method for automatically cutting fruits and vegetables in the embodiment, so that the cutting device realizes automatic operation, and the same technical effect as the control method can be achieved, and redundant description is omitted here.
In this embodiment, further referring to fig. 5, the cutting device 30 includes a support, and a clamping mechanism 301 and a cutting mechanism 302 disposed on the support, the clamping mechanism 301 and the cutting mechanism 302 being electrically connected to the processor 20, wherein,
the clamping mechanism 301 is used for clamping fruits and vegetables under the control of the processor 20;
the cutting mechanism 302 is configured to perform a cutting operation on the fruits and vegetables on the clamping mechanism 301 under the control of the processor 20.
The automatic fruit and vegetable cutting equipment further comprises a wireless communication unit 60 arranged on the cutting device 30, and the wireless communication unit 60 is connected with the processor 20.
Specifically, the cutting apparatus further includes a power management unit 80, and the power management unit 80 is electrically connected to the processor 20 for supplying power to the cutting apparatus.
The clamping mechanism 301 is used for clamping fruits and vegetables, the clamping mechanism 301 can be controlled to rotate by the control execution script correspondingly controlling the clamping mechanism 301, and the execution script correspondingly controlling the cutting mechanism 302 carries out cutting according to the rotation of the clamping mechanism 301, so that the automation of cutting the fruits and vegetables is realized, and manual intervention is not needed.
In this embodiment, optionally, referring to fig. 5, the image scanning apparatus 10 is further configured to capture cutting characteristic information of the fruit and vegetable cutting process, where the cutting characteristic information includes information such as color change and peeling thickness during the cutting process.
The automatic fruit and vegetable cutting equipment further comprises a machine learning module 50, wherein the machine learning module 50 is used for acquiring cutting characteristic information of the fruits and vegetables from the image information, storing the cutting characteristic information of the corresponding fruits and vegetables according to the types of the fruits and vegetables, calling the cutting characteristic information of the fruits and vegetables for cutting learning, optimizing a control instruction packet for cutting the corresponding fruits and vegetables according to the cutting learning result, and replacing the optimized control instruction packet of the fruits and vegetables with a control instruction packet generated by an initial cutting model of the corresponding fruits and vegetables.
The processor 20 is further configured to upload the captured cutting feature information to the machine learning module 50.
The machine learning module 50 at least includes a feature data recognition system, a feature data classification system, and a cutting learning system; the characteristic data identification system carries out identification and storage, the characteristic data classification system classifies the stored cutting characteristic information, the cutting learning system calls the classified cutting characteristic information and introduces the classified cutting characteristic information into a corresponding cutting learning model, model correction is carried out under the intervention of machine supervision and learning, and finally the cutting learning model outputs an optimized cutting script and stores the optimized cutting script into an original database of a pre-stored initial cutting model; in this embodiment, the user can obtain the optimized post-cutting execution script by using the automatic fruit and vegetable cutting system.
It should be noted that the optimized cutting execution script replaces the original cutting execution script, that is, the original cutting execution script is stored in the original database, so that when the automatic fruit and vegetable cutting system is used again next time, the optimized cutting execution script can be automatically generated according to the matched fruit and vegetable feature information to control the cutting device to execute cutting work. The cutting process, the shooting cutting process and the optimized cutting execution script are repeatedly shot and script optimized according to the same type of fruit and vegetable characteristic information, namely, when the user uses the automatic fruit and vegetable cutting system more, the cutting execution script automatically generated by the system is more optimized, so that the cutting process and the cutting effect are more perfect.
In addition, the invention also provides an automatic fruit and vegetable cutting system, referring to fig. 5, the system comprises a cloud server 40 and the automatic fruit and vegetable cutting equipment, the cloud server 40 stores a control program for automatically cutting fruits and vegetables, and the automatic fruit and vegetable cutting equipment calls and executes the control program for automatically cutting fruits and vegetables, so as to at least realize the steps of the control method for automatically cutting fruits and vegetables.
In this embodiment, specifically, the cutting feature information of the fruits and vegetables is acquired from the image information shot by the camera, and the cutting feature information acquired in the cutting process is transmitted to the cloud server 40, and it is easy to understand that the machine learning module 50 operates on the cloud server 40.
Specifically, the characteristic information of the fruits and vegetables to be cut is obtained from the clamping mechanism 301 on the cutting device, the characteristic information of the fruits and vegetables to be cut is uploaded to the cloud server 40 through the processor 20 of the cutting device, the cloud server 40 conducts fuzzy matching on the obtained characteristic information of the fruits and vegetables to be cut and the target fruit and vegetable characteristic information prestored on the cloud server 40, if matching is successful, the cloud server 40 automatically generates a corresponding control instruction packet according to a prestored initial model, the control instruction packet is issued to the cutting device, and the processor of the cutting device controls the cutting device to conduct cutting work according to the corresponding control instruction packet.
In this embodiment, in the cutting operation performed by the cutting device, the characteristic information of the fruits and vegetables to be cut and the cutting characteristic information of the cutting process, which are shot by the camera, are uploaded to the machine learning module 50 of the cloud server through the wireless communication unit 60, and the cloud server 40 performs corresponding processing on the data thereof and then automatically generates a corresponding control instruction packet.
In this embodiment, the cutting mechanism 302 is controlled to perform cutting work by acquiring the characteristic information of the fruits and vegetables to be cut and the cutting characteristic information in the cutting process from the clamping mechanism 301, and meanwhile, the processing and storage of data can be operated on a cloud server, so that the hardware cost is saved, and the processing and updating of the characteristic data of the fruits and vegetables to be cut are facilitated.
It should be noted that, since the automatic fruit and vegetable cutting control program can implement the automatic fruit and vegetable cutting control method according to all the embodiments described above when executed by the processor, the implementation manner and implementation effect that are the same as those of the above-described method can be referred to for implementation, and redundant description is omitted here.
Based on at least one embodiment, the following example specifically illustrates a process of realizing automatic cutting by the automatic fruit and vegetable cutting system.
In a scene, when a user needs to peel an apple, the apple is placed above the clamping mechanism 301, the storage control unit 202 senses that a fruit and a vegetable are placed on the clamping mechanism 301, a camera arranged above the clamping mechanism 301 is controlled to shoot characteristic information of the apple, such as color, size and shape, the storage control unit 202 controls the apple to be uploaded to the cloud server 40 through the wireless communication unit 60 according to the characteristic information shot by the camera, the cloud server 40 automatically generates an execution script for cutting the apple according to a pre-stored initial cutting model, the execution script for cutting the apple is issued to the processor 20, and the processor 20 controls the cutting mechanism 302 to peel the apple clamped on the clamping mechanism 301 according to the issued execution script for cutting the apple.
The apple cutting execution script includes a cutting mechanism 302 rotation control script, a cutting control script, a stop cutting control script, and the like. In this embodiment, the color change of the peeled apple can be shot through the camera, the characteristic information of the color change of the peeled apple is transmitted to the cloud server 40, and the characteristic information of the color change of the peeled apple is compared with the pre-stored characteristic information of the color change of the target, so that the cutting execution script for controlling the cutting mechanism 302 to stop the cutting operation is automatically generated.
When the script for cutting the apple is executed, the whole cutting process is shot by the camera, the cutting process characteristic information of the cut apple is uploaded to the machine learning module 50, the machine learning module 50 is internally provided with a learning model for optimizing the cutting process characteristic information of the cut apple, the cutting characteristic information of the apple is optimized according to the learning model, the optimized cutting characteristic information of the apple is converted into the optimized cutting execution script, the optimized cutting execution script replaces the execution script of the cut apple produced by the initial model, when the automatic fruit and vegetable cutting system is used for cutting the apple next time, the cutting execution script generated at the last time can be optimized, and the effect of the cutting process is better than that of the cutting process at the last time.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A control method for automatically cutting fruits and vegetables is characterized by comprising the following steps:
s1, acquiring characteristic information of the fruits and vegetables to be cut, wherein the characteristic information comprises the colors, the shapes and the sizes of the fruits and vegetables;
s2, when the acquired characteristic information of the fruits and vegetables to be cut is determined to be matched with the pre-stored characteristic information of the target fruits and vegetables, generating a corresponding control instruction packet through a pre-stored initial cutting model, wherein the control instruction comprises a cutting execution script, and the cutting execution script at least comprises a script for controlling a peeling action, a script for stopping the peeling action and a script for controlling the rotation of a peeling cutter;
s3, controlling the cutting work of the fruits and vegetables to be cut according to the control instruction packet;
s4, color change information of the fruits and vegetables to be cut during cutting is obtained, the color change characteristic information is transmitted to a cloud server and is compared with pre-stored target color change characteristic information, and therefore scripts for stopping peeling actions are automatically generated;
s5, recording cutting characteristic information of the cutting work of the fruits and the vegetables, and storing the cutting characteristic information of the corresponding fruits and the vegetables according to the types of the fruits and the vegetables;
s6, calling cutting characteristic information of the fruits and vegetables for cutting learning;
s7, optimizing a control instruction packet for cutting the corresponding fruits and vegetables according to the cutting learning result;
and S8, replacing the optimized control instruction packet of the fruit and vegetable with the control instruction packet generated by the initial cutting model of the corresponding fruit and vegetable.
2. The control method for automatically cutting fruits and vegetables according to claim 1, wherein the step S2 of generating the corresponding control instruction packet when determining that the acquired characteristic information of the fruits and vegetables to be cut is matched with the pre-stored characteristic information of the target fruits and vegetables comprises:
s201, sending the characteristic information of the fruits and vegetables to be cut to a cloud server, and enabling the cloud server to generate and feed back a corresponding control instruction packet after matching the acquired characteristic information of the fruits and vegetables to be cut with the pre-stored target fruit and vegetable characteristic information;
s202, receiving a control instruction packet fed back by the cloud server.
3. An automatic fruit and vegetable cutting device, which is characterized by comprising a cutting device, a memory, a processor and a control program for automatically cutting fruits and vegetables, wherein the control program is stored on the memory and can run on the processor, the memory and the processor are both arranged on the cutting device, and the control program for automatically cutting fruits and vegetables realizes the steps of the control method for automatically cutting fruits and vegetables according to claim 1 or 2 when being executed by the processor.
4. The automatic fruit and vegetable cutting equipment according to claim 3, further comprising an image scanning device disposed on the cutting device, wherein the image scanning device is configured to scan image information of the fruit and vegetable to be cut on the cutting device and send the image information to the processor, so that the processor can obtain feature information of the fruit and vegetable to be cut from the image information.
5. The automatic fruit and vegetable cutting apparatus of claim 4, wherein the image scanning device comprises one or more cameras.
6. The automatic fruit and vegetable cutting equipment according to claim 4, wherein the cutting device comprises a bracket, a clamping mechanism and a cutting mechanism which are arranged on the bracket, the clamping mechanism and the cutting mechanism are electrically connected with the processor, wherein,
the clamping mechanism is used for clamping the fruits and vegetables under the control of the processor;
and the cutting mechanism is used for cutting the fruits and vegetables on the clamping mechanism under the control of the processor.
7. The automatic fruit and vegetable cutting equipment of claim 3, further comprising a wireless communication unit disposed on the cutting device, wherein the wireless communication unit is connected with the processor.
8. An automatic fruit and vegetable cutting system is characterized by comprising a cloud server and the automatic fruit and vegetable cutting equipment as claimed in any one of claims 3 to 7, wherein a control program for automatically cutting fruits and vegetables is stored in the cloud server, and the automatic fruit and vegetable cutting equipment calls and executes the control program for automatically cutting fruits and vegetables so as to at least realize the steps of the control method for automatically cutting fruits and vegetables as claimed in claim 1 or claim 2.
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| CN110441782B (en) * | 2019-07-11 | 2023-07-21 | 深圳市深创谷技术服务有限公司 | Infrared detection 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 |
| 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 |
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