CN109875085B

CN109875085B - Automatic food detection and processing system and method for 3D food printer

Info

Publication number: CN109875085B
Application number: CN201910316270.6A
Authority: CN
Inventors: 吉丽雄
Original assignee: Liaoning Haiyue Food Co ltd
Current assignee: Liaoning Haiyue Food Co.,Ltd.
Priority date: 2019-04-19
Filing date: 2019-04-19
Publication date: 2021-02-05
Anticipated expiration: 2039-04-19
Also published as: CN109875085A

Abstract

The food automatic detection and processing system and method for the 3D food printer comprise a food processing device, a food conveying device, a controller, a food image data cloud platform and a server, wherein the food processing device comprises the 3D food printer, a laser printing mechanism, a food packaging mechanism and a two-dimensional code generating module, the food conveying device comprises a conveying branch groove, a driving motor, a conveying crawler, a packaging groove, a laying mechanism, a second camera and a conveying main groove, the controller is arranged at the inner position of the 3D food printer, and the food image data cloud platform is respectively in wireless connection with the first camera, the second camera, the two-dimensional code generating module and external equipment of a food safety management department; the intelligent 3D food printing method comprises the steps of intelligently packaging printed foods, identifying two-dimensional codes for the printed foods by laser, and intelligently removing substandard foods; the user who buys food can obtain the course of working and the food processing factory image of food through scanning the two-dimensional code.

Description

Automatic food detection and processing system and method for 3D food printer

Technical Field

The invention relates to the field of food processing and safety monitoring, in particular to a food automatic detection and processing system and method for a 3D food printer.

Background

In recent years, with the rapid development of economy, the living standard of people is continuously improved, the food safety problem gradually becomes the focus of attention of people, the endless food safety events are continuously challenged to government supervision and attack the confidence of consumers, and the investigation report of the business department shows that the confidence of consumers on the safety of any kind of food is lower than 50 percent at present. The food safety supervision organization needs to supervise whether the food marketing is illegal, but cannot obtain accurate food marketing and sales data and a data analysis method. At present, no system method is formed for food quality safety supervision, the food quality safety supervision is only carried out in a manual spot check mode, and the information management of food sale only relates to management problems such as marketing management, inventory management and the like, and does not relate to a supervision level; the sale of illegal food can only be completed by a manual spot check method, and the market cannot be comprehensively supervised.

The 3D food printer adopts a brand-new electronic blueprint system, so that not only is food convenient to print, but also people can be helped to design foods with different styles. The ink used in the printer is edible material, such as chocolate juice, batter, cheese, etc. Once people draw the style drawing of food and match the raw materials on a computer, the electronic blueprint system displays the operation steps of the printer to complete the 'building' project of the food. The food printer can greatly simplify the making process of food, and can help people to make more nutritious, healthy and interesting food.

However, how to combine together 3D food printer, food processing and food safety monitoring, the food of automatic demand of making and in food manufacturing accomplish at food surface laser marking unique two-dimensional code, through the process image that scans the two-dimensional code and obtain food processing and the inside environment image of food processing factory when customer purchases this food, and carry out the automated transportation and carry out intelligent rejection, crushing and the recovery to food not up to standard for the food that makes the completion and be the problem that needs to solve at present urgently.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the disadvantages in the background art, embodiments of the present invention provide a system and a method for automatically detecting and processing food for a 3D food printer, which can effectively solve the problems related to the background art.

The technical scheme is as follows:

a food automatic detection and processing system for a 3D food printer comprises a food processing device, a food conveying device, a controller, a food image data cloud platform and a server, wherein the food processing device comprises a 3D food printer, a laser printing mechanism, a food packaging mechanism and a two-dimensional code generating module, and the 3D food printer is uniformly arranged and stored in the internal position of a food processing plant; the laser printing mechanism comprises a laser generator, a first camera, a food identification module and a food positioning module, wherein the laser generator is arranged in the inner position of a printing space of the 3D food printer and is respectively connected with the first camera, the food identification module and the food positioning module; the first camera is arranged at the lower surface of the laser generator and is connected with the food identification module; the food identification module is positioned in the laser generator and identifies food by adopting an image identification algorithm; the food positioning module is positioned in the laser generator and connected with the food identification module, and performs space coordination on the food identified by the food identification module; the food packaging mechanism comprises a food printing platform, a food printing area, a food packaging groove, a first rotating shaft, a plane plate, an arc-shaped unit, a mechanical arm and a bundling unit, wherein the food printing platform is arranged in the printing space of the 3D food printer; the food printing area corresponds to a food printing head of the 3D food printer; the food packaging groove is arranged at the outer ring position of the food printing area and is adjacent to the food printing area; the first rotating shaft is arranged at the inner wall position on the side of the food mounting groove and is respectively connected with the food packaging groove and the plane plate; the plane plate is placed in the food mounting groove and is connected with the food mounting groove in a rotating mode; the arc-shaped unit consists of a second rotating shaft, an arc-shaped plate and an arc-shaped groove, and the second rotating shaft is arranged at the front end of the plane plate at the left side and the right side of the food printing area and is respectively connected with the plane plate and the arc-shaped plate; the arc-shaped plate is arranged at the front end of the second rotating shaft and is connected with the second rotating shaft; the arc-shaped groove is arranged at the front end of the arc-shaped plate, and an oval hollow space is formed after the arc-shaped plate of the left plane plate of the food printing area is abutted against the arc-shaped plate of the right plane plate of the food printing area; the mechanical arm is arranged at the side position of the printing space of the 3D food printer; the binding unit consists of an electric telescopic rod and an electric aluminum nailing and tying machine, and the electric telescopic rod is arranged at the inner wall position of the side of the printing space of the 3D food printer and is respectively connected with the printing space and the electric aluminum nailing and tying machine; the electric aluminum nailing and tying machine is arranged at the front end of the electric telescopic rod and corresponds to the food printing area; the two-dimensional code generation module is arranged at the inner position of the laser generator and is connected with the laser generator;

the food conveying device comprises a conveying branch groove, a driving motor, a conveying crawler belt, a packaging groove, a laying mechanism, a second camera and a conveying main groove, wherein the conveying branch groove is arranged at an inner position above the food printing platform; the driving motors are respectively arranged at the inner positions of the transportation branch groove and the transportation main groove and are connected with the transportation crawler; the transportation crawler belts are respectively arranged at the inner positions of the transportation branch grooves and the transportation main groove and are connected with the driving motor; the packaging groove is arranged at the position of the transportation crawler and corresponds to the food packaging groove; the laying mechanism consists of a throwing channel, a throwing port and a throwing and discharging machine, wherein the throwing channel is arranged in the printing space of the 3D food printer and is positioned in front of the food printing platform; the throwing port is arranged at the front end of the throwing channel and is connected with the throwing channel and the throwing motor; the throwing motor is arranged at the inner position of the throwing channel and stores food packaging bags; the second camera is arranged at the inner position of the printing space of the 3D food printer; the transportation main groove is arranged on the side of the 3D food printer and connected with the transportation branch groove;

the controller is arranged at the inner position of the 3D food printer and is respectively connected with the 3D food printer, the laser generator, the first camera, the food identification module, the food positioning module, the first rotating shaft, the second rotating shaft, the mechanical arm, the electric telescopic rod, the electric aluminum nailing and tying machine, the two-dimensional code generation module, the driving motor, the throwing motor and the second camera, wherein the driving motor, the throwing motor and the second camera are positioned in the transportation branch groove;

the food image data cloud platform is respectively in wireless connection with the first camera, the second camera, the two-dimensional code generation module and external equipment of a food safety management department;

the server is in wireless connection with the controller, the driving motor located in the transportation main tank, the user terminal and the food image data cloud platform respectively.

As a preferred mode of the present invention, the dispensing motor is connected to an electric fixing clamp, and the electric fixing clamp is disposed on a moving track on an inner wall of the dispensing passage, fixed to the food packaging bag, and connected to the controller and the dispensing motor, respectively.

In a preferred aspect of the present invention, the robot arm is provided with a third rotation shaft and an electric heating block, and the third rotation shaft is provided at a position lateral to a distal end of the robot arm and connected to the robot arm, the controller, and the electric heating block, respectively; the electric heating block is arranged at the front end of the third rotating shaft and is respectively connected with the controller and the third rotating shaft.

As a preferable mode of the invention, the food transportation device further comprises a two-dimensional code scanner and a storage shell, wherein the two-dimensional code scanner is arranged at the position of the inner wall of the printing space of the 3D food printer and is in wireless connection with the server; the storage shell is placed at the position of a connection area of the transportation branch groove and the transportation main groove, and a storage bin is arranged above the storage shell.

As a preferred mode of the invention, the food transportation device further comprises an eliminating mechanism, the eliminating mechanism comprises a pushing shell, a telescopic motor, a connecting rod, a spring and a pushing block, and the pushing shell is arranged at the position of a connection area of the transportation branch groove and the transportation main groove and is vertical to the transportation branch groove; the telescopic motor is arranged in the pushing shell and is respectively connected with the connecting rod and the controller; the connecting rod is arranged at the side position of the pushing shell facing the transportation branch groove and is respectively connected with the telescopic motor and the pushing block; the spring is placed between the connecting rod and the pushing block; the pushing block is arranged at the front end of the connecting rod.

As a preferred mode of the invention, the food transportation device further comprises an interception mechanism, wherein the interception mechanism consists of an interception frame and an interception net, and the interception frame is arranged above the storage shell and connected with the storage shell; the interception net is arranged in the interception frame and connected with the interception frame.

As a preferable mode of the present invention, the feed recycling device further comprises a recycling device, wherein the recycling device comprises a recycling channel, an electric motor, a conveyor belt, a crusher and a feed storage bin, and the recycling channel is arranged at a position below the storage shell; the electric motor is arranged in the inner position of the recovery channel and is respectively connected with the recovery channel, the controller and the conveyer belt; the conveying belt is arranged in the inner position of the recovery channel and is connected with the electric motor, the starting end of the conveying belt corresponds to the bottom of the storage shell, and the terminal end of the conveying belt is adjacent to the pulverizer; the crusher is arranged at the inner position of the ground at the tail end of the recovery channel and is connected with the server; the feed storage bin is arranged at the side position of the pulverizer and connected with the pulverizer.

A food automated detection and processing method for a 3D food printer, using a food automated detection and processing system for a 3D food printer, the method comprising the steps of:

the server receives a food processing instruction sent by the user terminal and sends a food processing signal to a connected controller, and the controller sends a first shooting signal to a connected first camera according to the food processing signal and sends a food printing signal to a connected 3D food printer;

the 3D food printer prints food in a food printing area of the food printing platform according to the food printing signal and a set printing program and feeds back a printing completion signal to the controller after the food printing is completed;

the controller sends a food identification signal to the connected food identification module according to the printing completion signal, and the food identification module identifies food information in the food printing area according to the food identification signal and feeds the food information back to the controller;

the controller sends a food positioning signal to the connected food positioning module according to food information and sends a two-dimensional code generation signal to the two-dimensional code generation module, the food positioning module positions food coordinate information of a food printing area according to the food positioning signal and feeds back the food coordinate information to the controller, the two-dimensional code generation module generates a unique two-dimensional code according to the two-dimensional code generation signal and the first image, stores the first image to the connected food image data cloud platform according to the generated two-dimensional code, and feeds back the generated two-dimensional code to the controller;

the controller sends the two-dimensional code signal of impressing to the laser generator who connects according to food coordinate information and two-dimensional code, laser generator is according to two-dimensional code signal of impressing start with two-dimensional code laser marking to food surface position and after marking the completion, controller feedback signal marks the completion signal.

As a preferred mode of the present invention, after the laser generator feeds back the marking completion signal to the controller, the method further includes the steps of:

the controller sends a first packaging signal to a connected first rotating shaft according to the marking completion signal and sends a second camera signal to a second camera, the first rotating shaft drives the connected plane plate to rotate by 90 degrees according to the first packaging signal and feeds a first rotation completion signal back to the controller after the rotation is completed, and the second camera starts to capture a second image in real time according to a second camera module;

the controller sends a collision signal to a connected second rotating shaft according to the first rotation completion signal and the second image and stores the second image to the food image data cloud platform in real time, and the second rotating shaft drives the connected arc-shaped plate to rotate according to the collision signal and collide with other arc-shaped plates on the side and feeds back the collision completion signal to the controller;

the controller sends a second image and a grabbing rotation signal to the mechanical arm according to the conflict completion signal, sends the second image and a stretching conflict signal to the electric telescopic handle, the mechanical arm grabs the food packaging bag stretched out from the arc-shaped groove of the arc-shaped plate according to the second image and the grabbing rotation signal, rotates for a preset number of turns and sends the rotation completion signal to the controller after the rotation is completed, and the electric telescopic handle drives the electric aluminum nailing and tying machine connected according to the second image and the stretching conflict signal to stretch out to conflict with the food packaging bag between the arc-shaped groove of the arc-shaped plate and the grabbing mechanical arm and feeds back the stretching completion signal to the controller after the stretching is completed;

the controller sends a tying signal to the connected electric aluminum tying machine according to the rotation completion signal and the extension completion signal, the electric aluminum tying machine starts to tie the food packaging bag according to the tying signal and feeds back a tying completion signal to the controller after tying is completed;

the controller sends a contraction signal to the connected electric telescopic rod, sends a grabbing releasing signal to the mechanical arm, sends a first reset signal to the second rotating shaft and sends a second reset signal to the first rotating shaft, the electric telescopic rod completely contracts according to the contraction signal, the mechanical arm releases grabbing of the food packaging bag according to the grabbing releasing signal, the second rotating shaft drives the connected arc-shaped plate to completely rotate and reset according to the first reset signal and feeds back a first resetting completion signal to the controller, and the first rotating shaft drives the connected plane plate to completely reset according to the second reset signal and feeds back a second resetting completion signal to the controller;

the controller sends a second image and a driving signal to the connected driving motor according to the first reset completion signal and the second reset completion signal, and the driving motor drives the connected transportation crawler belt to transport the packaged food from the transportation branch groove to the transportation main groove position according to the second image and the driving signal and feeds back a transportation completion signal to the controller after the transportation is completed;

the controller sends a throwing signal to the connected electric fixing clamp and a throwing motor according to the transportation completion signal, the electric fixing clamp releases the fixation with the food packaging bag according to the throwing signal, the food packaging bag is thrown to the surface position of the transportation track below, the throwing completion signal is fed back to the controller after the throwing is completed, and the throwing motor drives the electric fixing clamp which releases the fixation with the food packaging bag to move and rise on the moving track according to the throwing signal;

the controller sends the second image and prints the transportation signal to the driving motor who connects according to putting in the completion signal, driving motor transports the food package bag that will put in the completion to the food printing district according to the second image and the transportation track that the printing transportation signal drive is connected.

the controller sends a second image and a scanning identification request to a connected server, the server sends a scanning identification signal to a connected two-dimensional code scanner according to the scanning identification request, and the two-dimensional code scanner scans a two-dimensional code at the surface position of the food according to the scanning identification signal and feeds back two-dimensional code information to the server;

the server analyzes whether the two-dimension code of the food surface position is an effective two-dimension code or not according to the two-dimension code information;

if not, the server sends a second image and a rejection signal to a connected telescopic motor, the telescopic motor drives a connected pushing block to pop out according to the second image and the rejection signal so as to pop the packaged food reaching the position of the pushing shell to the position of the intercepting frame, drives the pushing block to shrink and reset after popping out, and feeds back the rejection completion signal to the server;

the server sends a crushing transportation signal to the connected electric motor and sends a crushing signal to the connected crusher according to the rejection completion signal, the electric motor drives the connected conveyer belt to start to transport food above the conveyer belt to the position of the crusher according to the crushing transportation signal, and the crusher starts to enter a crushing state according to the crushing signal.

The invention realizes the following beneficial effects:

1. the automatic detection and processing system is used for printing corresponding 3D food according to a food processing instruction by using a 3D food printer, marking a unique two-dimensional code bound with the food on the surface of the food by using a laser generator after the printing is finished, binding and uploading a 3D food printing process image and the two-dimensional code of the food to a food image data cloud platform for storage after the laser marking is finished, and scanning the two-dimensional code by using intelligent equipment after a customer purchases the food to obtain the 3D food printing process image of the food and obtain a real-time environment image inside a food processing factory; therefore, a customer who purchases the food can visually check the processing process of the food and the environment inside the video processing factory, the satisfaction degree of the customer on the food is improved, and meanwhile, the food image data cloud platform is provided for the food health management department and the common people to supervise.

2. After the laser marking on the surface of the food is finished by the laser generator, the automatic detection and processing system packages the food printed by the 3D food printer through the cooperation of the plane plate, the arc unit, the mechanical arm and the bundling unit and transports the packaged food from the transportation branch groove to the transportation main groove by the transportation crawler; therefore, the food is directly packaged when the food processing is finished, so that a purchasing customer can check the packaging process of the food and avoid a merchant from adding harmful substances to the food after the food processing.

3. After laser marking on the surface of food is finished by a laser generator, an automatic detection and processing system scans a two-dimensional code marked by the laser generator by using a two-dimensional code scanner and analyzes information of the scanned two-dimensional code, if the two-dimensional code is an invalid two-dimensional code, the food is transported to the position of a pushing shell by using a transportation crawler of a transportation branch groove and is popped to the position of a storage bin of the storage shell by a pushing block of the pushing shell, then the food is descended to the position of a conveying belt of a recovery channel by the position of the storage bin and is conveyed to the position of a started crusher by the conveying belt for crushing, and finally the crushed food is stored to a feed storage bin by the crusher; therefore, the food with the invalid two-dimensional code is removed, and the problem that a customer cannot observe the processing process of the food due to the fact that the customer buys the food with the invalid two-dimensional code is avoided.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a connection relationship diagram of a server according to an example of the present invention.

Fig. 2 is a connection diagram of a controller according to an example of the present invention.

Fig. 3 is a diagram of the electronics of the food processing device in connection with the controller provided in one example of the present invention.

Fig. 4 is a diagram of the electronics of the food transport device coupled to the controller according to one example of the present invention.

Fig. 5 is a connection relationship diagram of a food image data cloud platform according to an example of the present invention.

Fig. 6 is a partial schematic view of a food printing platform positioned within a printing volume according to one example of the present invention.

Fig. 7 is a first partial schematic view of a connection region of a transportation branch groove and a transportation main groove provided by one example of the present invention.

Fig. 8 is a second partial schematic view of a junction area of a branch shipping trough and a trunk shipping trough according to one embodiment of the present invention.

Fig. 9 is a partial schematic view of an area in which a food product printing area is provided according to one example of the present invention.

Fig. 10 is a partial schematic view of an area where a recycling channel is provided according to an example of the present invention.

Fig. 11 is a front view partially sectional schematic diagram of a printing space of a 3D food printer according to an example of the present invention.

Fig. 12 is a schematic partial cross-sectional view of a rear view of a printing space of a 3D food printer according to an example of the present invention.

Figure 13 is a partly cross-sectional view of the front end of the launch channel according to one example of the present invention.

Fig. 14 is a schematic diagram of the connection between the front end of the mechanical arm and the electric heating block according to one example of the present invention.

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.

Example one

Referring to fig. 1-6, 9, and 11-13.

Specifically, the present embodiment provides an automatic food detection and processing system for a 3D food printer 10, which includes a food processing device 1, a food transporting device 2, a controller 3, a food image data cloud platform 4 and a server 5.

The food processing device 1 comprises a 3D food printer 10, a laser printing mechanism 11, a food packaging mechanism 12 and a two-dimensional code generating module 13, wherein the 3D food printer 10 is uniformly arranged and stored in the internal position of a food processing factory; the laser printing mechanism 11 comprises a laser generator 110, a first camera 111, a food identification module 112 and a food positioning module 113, wherein the laser generator 110 is arranged in the printing space of the 3D food printer 10 and is respectively connected with the first camera 111, the food identification module 112 and the food positioning module 113; the first camera 111 is arranged at the lower surface of the laser generator 110 and connected with the food identification module 112; the food identification module 112 is located at the inner position of the laser generator 110 and adopts an image identification algorithm to identify food; the food positioning module 113 is positioned in the laser generator 110 and connected with the food recognition module 112, and performs spatial coordination on the food recognized by the food recognition module 112; the food packaging mechanism 12 comprises a food printing platform 120, a food printing area 121, a food packaging groove 122, a first rotating shaft 123, a plane plate 124, an arc unit 125, a mechanical arm 126 and a bundling unit 127, wherein the food printing platform 120 is arranged in the printing space of the 3D food printer 10; the food printing area 121 corresponds to a food printing head of the 3D food printer 10; the food packaging groove 122 is arranged at the outer ring position of the food printing area 121 and is adjacent to the food printing area 121; the first rotating shaft 123 is disposed at the inner side wall of the food mounting groove and connected to the food packaging groove 122 and the flat plate 124; the flat plate 124 is placed in the food mounting groove and is connected with the food mounting groove in a rotating way; the arc unit 125 is composed of a second rotating shaft 125-1, an arc plate 125-2 and an arc groove 125-3, the second rotating shaft 125-1 is arranged at the front end of the plane plate 124 at the left and right sides of the food printing area 121 and is respectively connected with the plane plate 124 and the arc plate 125-2; the arc-shaped plate 125-2 is arranged at the front end position of the second rotating shaft 125-1 and connected with the second rotating shaft 125-1; the arc-shaped groove 125-3 is arranged at the front end of the arc-shaped plate 125-2 and forms an oval hollow space after the arc-shaped plate 125-2 of the left plane plate 124 of the food printing area 121 is abutted against the arc-shaped plate 125-2 of the right plane plate 124 of the food printing area 121; the mechanical arm 126 is disposed at a lateral position of the printing space of the 3D food printer 10; the bundling unit 127 consists of an electric telescopic rod 127-1 and an electric aluminum nailing and sealing machine 127-2, wherein the electric telescopic rod 127-1 is arranged on the inner wall of the side of the printing space of the 3D food printer 10 and is respectively connected with the printing space and the electric aluminum nailing and sealing machine 127-2; the electric aluminum nailing and tying machine 127-2 is arranged at the front end of the electric telescopic rod 127-1 and corresponds to the food printing area 121; the two-dimensional code generation module 13 is disposed at an internal position of the laser generator 110 and connected to the laser generator 110.

The food conveying device 2 comprises a conveying branch groove 20, a driving motor 21, a conveying crawler 22, a packaging groove 23, a laying mechanism 24, a second camera 25 and a conveying main groove 26, wherein the conveying branch groove 20 is arranged at an inner position above the food printing platform 120; the driving motors 21 are respectively arranged at the inner positions of the transportation branch groove 20 and the transportation main groove 26 and are connected with the transportation crawler 22; the transportation crawler 22 is respectively arranged at the inner positions of the transportation branch groove 20 and the transportation main groove 26 and is connected with the driving motor 21; the packing groove 23 is arranged at the position of the transportation crawler 22 and corresponds to the food packing groove 122; the laying mechanism 24 is composed of a feeding channel 240, a feeding port 241 and a feeding motor 242, wherein the feeding channel 240 is arranged in the printing space of the 3D food printer 10 and is located in front of the food printing platform 120; the throwing port 241 is arranged at the front end of the throwing channel 240 and is connected with the throwing channel 240 and the throwing motor 242; the throwing motor 242 is arranged at an inner position of the throwing channel 240 and stores food packaging bags; the second camera 25 is disposed at an inner position of the printing space of the 3D food printer 10; the transportation header tank 26 is disposed at a side of the 3D food printer 10 and connected to the transportation branch tank 20.

The controller 3 is disposed inside the 3D food printer 10 and is connected to the 3D food printer 10, the laser generator 110, the first camera 111, the food recognition module 112, the food positioning module 113, the first rotating shaft 123, the second rotating shaft 125-1, the mechanical arm 126, the electric telescopic rod 127-1, the electric aluminum nailing and sealing machine 127-2, the two-dimensional code generation module 13, the driving motor 21 located inside the transportation branch groove 20, the releasing motor 242, and the second camera 25.

The food image data cloud platform 4 is wirelessly connected with the first camera 111, the second camera 25, the two-dimensional code generation module 13 and external equipment of a food safety management department.

The server 5 is respectively connected with the controller 3, the driving motor 21 positioned in the transportation main tank 26, the user terminal and the food image data cloud platform 4 in a wireless mode.

The image recognition algorithm at least adopts one of an image recognition algorithm based on a neural network, an image recognition algorithm based on a wavelet moment and an image recognition algorithm based on a fractal feature; the first camera 111 is an infrared camera; the 3D food printer 10 prints the food according to the stored recipe; the food printed by the 3D food printer 10 is formed into a regular shape, and an area capable of clearly displaying the laser identification two-dimensional code exists in the center of the upper surface of the printed food; after the food recognition module recognizes food in the image captured by the first camera 111, the food positioning module calculates the space coordinates of the food according to the food image recognized by the food recognition module and the image captured by the first camera 111; the transportation crawler 22 is provided with a plurality of hollow holes corresponding to the food packaging grooves 122, and after the transportation crawler 22 stops, the driving motor 21 positioned in the transportation branch groove 20 drives the transportation crawler 22 to enable the hollow holes to correspond to the food packaging grooves 122; the food packaging bag is an environment-friendly material taking seaweed as a raw material and is transparent; food image data cloud platform 4 stores the food processing image that corresponds with the two-dimensional code, and a two-dimensional code corresponds a food processing image, still stores the food transportation image that second camera 25 shot and the food processing factory environment image of real-time update.

Electronic devices in the food automatic detection and processing system are connected with a power supply system of a food processing factory; the first camera 111 and the second camera 25 are connected with an external device of a food safety management department in an area where the food processing plant is located, so that the food safety management department can monitor food processing in real time.

The embodiment further provides a food automatic detection and processing method for the 3D food printer 10, which uses a food automatic detection and processing system for the 3D food printer 10, and the method includes the following steps:

s1, the server 5 sends a food processing signal to the connected controller 3 after receiving the food processing command sent by the user terminal, and the controller 3 sends a first pickup signal to the connected first camera 111 and sends a food printing signal to the connected 3D food printer 10 according to the food processing signal.

Specifically, when the user starts the server 5, the server 5 sends a food processing signal to all the connected controllers 3 located inside the 3D food printer 10, and all the controllers 3 receiving the food processing signal send a first shooting signal to the connected first camera 111 and send a food printing signal to the 3D food printer 10 at the same time.

S2, the first camera 111 starts to capture the first image in real time according to the first capture signal, and the 3D food printer 10 prints food in the food printing area 121 of the food printing platform 120 according to the food printing signal and the set printing program and feeds back a printing completion signal to the controller 3 after the food printing is completed.

The first image refers to an environment image inside the printing space of the 3D food printer 10 captured by the first camera 111; the 3D food printer 10 prints the food product in a food package bag position on the upper surface of the conveyor track 22 in the food processing area.

S3, the controller 3 sends a food identification signal to the connected food identification module 112 according to the print completion signal, and the food identification module 112 identifies the food information of the food printing area 121 according to the food identification signal and feeds back the food information to the controller 3.

Wherein the food information comprises the type of food and the structure information of the food; the food identification signal includes a first image captured by the first camera 111, and the food identification module 112 identifies the food type and structure information of the food printing area 121 included in the first image according to the first image.

S4, the controller 3 sends a food positioning signal to the connected food positioning module 113 according to the food information and sends a two-dimensional code generating signal to the two-dimensional code generating module 13, the food positioning module 113 positions the food coordinate information of the food printing area 121 according to the food positioning signal and feeds back the food coordinate information to the controller 3, the two-dimensional code generating module 13 generates a unique two-dimensional code according to the two-dimensional code generating signal and the first image, stores the first image to the connected food image data cloud platform 4 according to the generated two-dimensional code, and feeds back the generated two-dimensional code to the controller 3.

Wherein, the food positioning signal includes the food information identified by the food identifying module 112; the two-dimensional code generation signal includes a process image of the food printed by the 3D food printer 10 captured by the first camera 111; the two-dimensional code generation module 13 binds the generated two-dimensional code and a first image containing a process that the 3D food printer 10 prints the food with each other and stores the bound first image and the two-dimensional code into the food image data cloud platform 4, when the intelligent device scans the two-dimensional code, the intelligent device is automatically connected with the food image data cloud platform 4 and feeds back scanned two-dimensional code information to the food image data cloud platform 4, and after the food image data cloud platform 4 receives the scanned two-dimensional code information fed back by the intelligent device, the process that the 3D food printer 10 bound with the two-dimensional code prints the food is fed back to the intelligent device, so that a customer can view a processing image corresponding to the purchased food; the customer can also send the food information of the required shape and the food material to the food image data cloud platform 4 through the intelligent device for ordering.

S5, the controller 3 sends a two-dimensional code imprinting signal to the connected laser generator 110 according to the food coordinate information and the two-dimensional code, and the laser generator 110 starts marking the two-dimensional code to the surface position of the food according to the two-dimensional code imprinting signal and feeds back a signal marking completion signal to the controller 3 after marking is completed.

Wherein, the two-dimensional code seal signal includes food coordinate information and two-dimensional code, and laser generator 110 marks the central point of two-dimensional code to the food upper surface and puts to the customer who buys this food utilizes the smart machine scanning.

Example two

Referring to fig. 1-6, 9, and 11-14.

Specifically, the present embodiment is substantially the same as the first embodiment, except that in the present embodiment, the throwing motor 242 is connected to an electric fixing clip 244, and the electric fixing clip 244 is disposed on a moving track 243 on the inner wall of the throwing channel 240, fixed with the food packaging bag, and connected to the controller 3 and the throwing motor 242 respectively.

In a preferred embodiment of the present invention, the robot arm 126 is provided with a third rotation shaft 126-1 and an electric heating block 126-2, and the third rotation shaft 126-1 is provided at a position lateral to the front end of the robot arm 126 and connected to the robot arm 126, the controller 3, and the electric heating block 126-2, respectively; the electric heating block 126-2 is disposed at a front end position of the third rotation shaft 126-1 and connected to the controller 3 and the third rotation shaft 126-1, respectively.

Wherein, the electric heating block 126-2 is connected with the third rotating shaft 126-1 through a telescopic rod designed by a telescopic structure.

As a preferred mode of the present invention, after the laser generator 110 feeds back the marking completion signal to the controller 3, the method further includes the steps of:

s6, the controller 3 sends a first packaging signal to the connected first rotating shaft 123 and sends a second camera signal to the second camera 25 according to the marking completion signal, the first rotating shaft 123 drives the connected plane plate 124 to rotate for 90 degrees according to the first packaging signal and feeds a first rotation completion signal back to the controller 3 after the rotation is completed, and the second camera 25 starts to capture a second image in real time according to the second camera module.

The second image refers to the printing space image of the food printing platform 120 captured by the second camera 25 and the environment image of the connection area between the transportation branch groove 20 and the transportation main groove 26; after 12490 ° rotation, plate 124 is perpendicular to food printing platform 120 and plate 124 rotates the food packaging bag up on the upper surface of conveyor track 22 in the food processing area.

S7, the controller 3 sends a collision signal to the connected second rotating shaft 125-1 according to the first rotation completion signal and the second image and stores the second image in the food image data cloud platform 4 in real time, and the second rotating shaft 125-1 drives the connected arc plate 125-2 to rotate according to the collision signal and collide with the other arc plates 125-2 at the side and feed back the collision completion signal to the controller 3.

Wherein, the arc-shaped plate 125-2 rotates from the outer side of the plane plate 124 to collide with other arc-shaped plates 125-2 at the inner side of the plane plate 124; after the flat plates 124 at both sides of the food printing area 121 are extended and the arc-shaped plate 125-2 is pressed against, the arc-shaped slot 125-3 of the arc-shaped plate 125-2 forms an oval hollow for the front end of the food packaging bag to extend out of the oval hollow formed by the arc-shaped slot 125-3.

S8, the controller 3 sends a second image and a grabbing rotation signal to the mechanical arm 126 according to the collision completion signal and sends a second image and a protrusion collision signal to the electric telescopic rod 127-1, the mechanical arm 126 grabs the food packaging bag extending out of the arc-shaped groove 125-3 of the arc-shaped plate 125-2 according to the second image and the grabbing rotation signal and rotates for a preset number of turns and sends a rotation completion signal to the controller 3 after the rotation is completed, and the electric telescopic rod 127-1 drives the electric aluminum nailing and sealing machine 127-2 connected according to the second image and the protrusion collision signal to protrude to collide with the food packaging bag between the arc-shaped groove 125-3 of the arc-shaped plate 125-2 and the grabbing mechanical arm 126 and feeds back the protrusion completion signal to the controller 3 after the protrusion is completed.

Wherein, the preset number of turns can be 0-50 turns, and is preferably 10 turns in the embodiment; the fact that the electric aluminum nailing and tying machine 127-2 connected with the electric telescopic rod 127-1 in a driving mode extends out to be abutted against the arc-shaped groove 125-3 of the arc-shaped plate 125-2 and the food packaging bag between the grabbing mechanical arms 126 means that the electric aluminum nailing and tying machine 127-2 connected with the electric telescopic rod 127-1 in a driving mode extends out to be abutted against the rotating area of the food packaging bag between the arc-shaped groove 125-3 of the arc-shaped plate 125-2 and the grabbing mechanical arms 126; if the user selects the heat sealing, the controller 3 cancels the sending of the grabbing rotation signal, then the controller 3 sends a heat sealing rotation signal to the third rotating shaft 126-1 at the front end of the mechanical arm 126 and sends a heating signal to the electric heating block 126-2 at the front end of the mechanical arm 126, the third rotating shaft 126-1 drives the connected electric heating block 126-2 to rotate according to the heat sealing rotation signal so as to enable the electric heating block 126-2 to be perpendicular to the front end of the mechanical arm 126, the electric heating block 126-2 starts to enter a heating state after receiving the heating signal and keeps the temperature between 130 ℃ and 135 ℃, and feeds back a heating completion signal to the controller 3 after the temperature reaches 130 ℃, the server 5 sends a second image and a heat sealing signal to the mechanical arm 126 according to the heating completion signal, the mechanical arm 126 rapidly collides the electric heating block 126-2 at the front end with the front end of the arc-shaped plate 125-2 according to the second image and the heat sealing signal, and collides the electric heating block 126 The speed of the mechanical arm 126 extending and raising the electric heating block 126-2 is set by the user after debugging, and after the heat sealing is completed if the user selects the heat sealing, the controller 3 jumping to step S10 sends a first reset signal to the second rotating shaft 125-1 and sends a second reset signal to the first rotating shaft 123.

S9, the controller 3 sends a tying signal to the connected electric aluminum tying machine 127-2 according to the rotation completion signal and the extension completion signal, the electric aluminum tying machine 127-2 starts tying the food packaging bag according to the tying signal and feeds back a tying completion signal to the controller 3 after tying is completed.

Wherein, the electric aluminum nail tying machine 127-2 utilizes aluminum nails to package the food packaging bag.

S10, the controller 3 sends a contraction signal to the connected electric telescopic rod 127-1, sends a grabbing releasing signal to the mechanical arm 126, sends a first reset signal to the second rotating shaft 125-1 and sends a second reset signal to the first rotating shaft 123, the electric telescopic rod 127-1 contracts completely according to the contraction signal, the mechanical arm 126 releases the grabbing of the food packaging bag according to the grabbing releasing signal, the second rotating shaft 125-1 drives the connected arc-shaped plate 125-2 to rotate completely and reset according to the first reset signal and feeds back a first reset completion signal to the controller 3, and the first rotating shaft 123 drives the connected plane plate 124 to reset completely according to the second reset signal and feeds back a second reset completion signal to the controller 3.

The grabbing mechanical arm 126 releases grabbing with the food packaging bag and moves to reset while the electric contraction rod contracts, the second rotating shaft 125-1 drives the connected arc-shaped plate 125-2 to rotate and reset after the grabbing mechanical arm 126 releases grabbing with the food packaging bag, and the first rotating shaft 123 drives the connected plane plate 124 to rotate 90 degrees anticlockwise to reset after the arc-shaped plate 125-2 rotates and resets.

S11, the controller 3 sends a second image and a driving signal to the connected driving motor 21 according to the first reset completion signal and the second reset completion signal, and the driving motor 21 drives the connected transportation crawler 22 according to the second image and the driving signal to transport the packaged food from the transportation branch chute 20 to the transportation main chute 26 and feeds back the transportation completion signal to the controller 3 after the transportation is completed.

After the plane plate 124 is reset, the driving motor 21 inside the transportation branch groove 20 drives the transportation crawler 22 according to the second image to transport the packaged video from the position of the transportation branch groove 20 to the position of the transportation main groove 26; after the server 5 receives the food processing signal, a transportation signal is sent to the connected driving motor 21 positioned in the transportation main groove 26, and the driving motor 21 positioned in the transportation main groove 26 drives the connected transportation crawler 22 to start to enter a transportation state according to the transportation signal so as to transport the food transported in the position of the transportation branch groove 20 to the storage position designated by the user.

S12, the controller 3 sends a release signal to the connected electric clamp 244 and the release motor 242 according to the transportation completion signal, the electric clamp 244 releases the fixation with the food package bag according to the release signal, the food package bag is released to the surface position of the lower transportation crawler 22, the release completion signal is fed back to the controller 3 after the release, and the release motor 242 drives the electric clamp 244 released from the fixation with the food package bag to move up on the moving rail 243 according to the release signal.

The controller 3 sends the release signal to the connected electric clamp 244 means that the controller 3 sends the release signal to the connected electric clamp 244 located at the bottommost end of the moving track 243; the electric fixing clip 244 that is driven by the dispensing motor 242 to be released from the food packaging bag moves up on the moving rail 243 means that the electric fixing clip 244 that is driven by the dispensing motor 242 to be released from the food packaging bag moves to the topmost position of the moving rail 243 at the bottommost end of the moving rail 243.

S13, the controller 3 sends a second image and a printing transportation signal to the connected driving motor 21 according to the feeding completion signal, and the driving motor 21 drives the connected transportation crawler 22 to transport the fed food packaging bag to the food printing area 121 according to the second image and the printing transportation signal.

When the driving motor 21 drives the connected transportation crawler 22 to transport the food packaging bags to the food printing area 121 according to the second image and the printing transportation signal, the hollow holes of the transportation crawler 22 correspond to the food packaging grooves 122.

EXAMPLE III

Referring to fig. 1-5, fig. 7-8, and fig. 10.

Specifically, the present embodiment is substantially the same as the first embodiment, except that in the present embodiment, the food transportation device 2 further includes a two-dimensional code scanner 27 and a storage housing 28, the two-dimensional code scanner 27 is disposed at the inner wall position of the printing space of the 3D food printer 10 and is wirelessly connected to the server 5; the storage shell 28 is placed at the position of the connection area of the transportation branch groove 20 and the transportation main groove 26, and a storage bin is arranged above the storage shell 28.

As a preferred mode of the present invention, the food transporting device 2 further comprises a rejecting mechanism 29, the rejecting mechanism 29 comprises a pushing housing 290, a telescopic motor 291, a connecting rod 292, a spring 293 and a pushing block 294, the pushing housing 290 is disposed at a position of a connection region between the transporting branch groove 20 and the transporting main groove 26 and is perpendicular to the transporting branch groove 20; the telescopic motor 291 is disposed inside the pushing housing 290 and is connected to the connecting rod 292 and the controller 3; the link 292 is disposed at a side position of the pushing housing 290 facing the transporting branch groove 20 and is connected to the telescopic motor 291 and the pushing block 294, respectively; a spring 293 is placed between the connecting rod 292 and the push block 294; the push block 294 is provided at a front end position of the link 292.

As a preferred mode of the present invention, the food transportation device 2 further comprises an intercepting mechanism, the intercepting mechanism is composed of an intercepting frame 30 and an intercepting net 31, the intercepting frame 30 is disposed above the storage shell 28 and connected with the storage shell 28; the intercepting net 31 is disposed at an inner position of the intercepting frame 30 and is connected to the intercepting frame 30.

As a preferable mode of the present invention, the present invention further comprises a recovery device 6, the recovery device 6 comprises a recovery passage 60, an electric motor 61, a conveyor belt 62, a crusher 63, and a feed storage bin 64, the recovery passage 60 is provided at a position below the storage case 28; the electric motor 61 is disposed at an inner position of the recovery passage 60 and connected to the recovery passage 60, the controller 3, and the conveyor belt 62; the conveying belt 62 is arranged in the recovery channel 60 and connected with the electric motor 61, the starting end of the conveying belt corresponds to the bottom of the storage shell 28, and the terminal end of the conveying belt is adjacent to the crusher 63; the crusher 63 is arranged at the inner position of the ground at the tail end of the recovery channel 60 and is connected with the server 5; the feed storage bin 64 is provided at a position lateral to the crusher 63 and connected to the crusher 63.

After the food is popped to the position of the interception net 31, the food slides to the interior of the storage bin of the storage shell 28 from the position of the interception net 31; the feed storage bin 64 stores the pulverized food for the user to convert the pulverized food into feed; a conveying channel is arranged below the storage housing 28, the conveying channel is connected with the storage bin, and the feed falls to the conveying channel through the storage bin and then falls onto the conveying belt 62 through the conveying channel.

s50, the controller 3 sends the second image and the scan identification request to the connected server 5, the server 5 sends the scan identification signal to the connected two-dimensional code scanner 27 according to the scan identification request, and the two-dimensional code scanner 27 scans the two-dimensional code on the surface of the food product according to the scan identification signal and feeds back the two-dimensional code information to the server 5.

The two-dimensional code information scanned by the two-dimensional code scanner 27 is consistent with the information formed by the two-dimensional code scanned by the intelligent device.

S51, the server 5 analyzes whether the two-dimensional code of the food surface position is a valid two-dimensional code according to the two-dimensional code information.

The effective two-dimensional code is a feedback image which can be successfully obtained after the two-dimensional code is scanned, so that the two-dimensional code of the marking of the laser generator 110 and the surface of the food is detected to be a complete and clear two-dimensional code.

And S52, if not, the server 5 sends a second image and a rejection signal to the connected telescopic motor 291, the telescopic motor 291 drives the connected pushing block 294 to pop up the packaged food reaching the pushing shell 290 to the position of the intercepting frame 30 according to the second image and the rejection signal, drives the pushing block 294 to pop up and shrink to reset, and feeds back the rejection completion signal to the server 5.

If the server 5 analyzes that the two-dimensional code at the surface position of the scanned food cannot feed back an image according to the two-dimensional code information, a second image and a rejection signal are sent to the telescopic motor 291 so as to reject the food which does not reach the standard; after the telescopic motor 291 completely ejects the pushing block 294, the pushing block 294 is quickly retracted; after the pushing block 294 is completely ejected, the food in the front position of the pushing housing 290 is ejected to the intercepting net 31 on the side, and then the food is intercepted by the intercepting net 31 and slides down into the storage bin of the storage housing 28.

S53, the server 5 sends a crushing transportation signal to the connected electric motor 61 and sends a crushing signal to the connected crusher 63 according to the rejection completion signal, the electric motor 61 drives the connected conveyer belt 62 to start to transport the food above the conveyer belt 62 to the position of the crusher 63 according to the crushing transportation signal, and the crusher 63 starts to enter a crushing state according to the crushing signal.

Wherein, after the pulverizer 63 is started to enter a pulverizing state, the pulverizer 63 pulverizes the food conveyed by the conveyor belt 62 into feed in real time and guides the feed into the connected feed storage bin 64.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a food automated inspection and processing system for 3D food printer, includes food processingequipment, food conveyer, controller, food image data cloud platform and server, its characterized in that:

the food processing device comprises a 3D food printer, a laser printing mechanism, a food packaging mechanism and a two-dimensional code generation module, wherein the 3D food printer is uniformly arranged and stored in the internal position of a food processing factory; the laser printing mechanism comprises a laser generator, a first camera, a food identification module and a food positioning module, wherein the laser generator is arranged in the inner position of a printing space of the 3D food printer and is respectively connected with the first camera, the food identification module and the food positioning module; the first camera is arranged at the lower surface of the laser generator and is connected with the food identification module; the food identification module is positioned in the laser generator and identifies food by adopting an image identification algorithm; the food positioning module is positioned in the laser generator and connected with the food identification module, and performs space coordination on the food identified by the food identification module; the food packaging mechanism comprises a food printing platform, a food printing area, a food packaging groove, a first rotating shaft, a plane plate, an arc-shaped unit, a mechanical arm and a bundling unit, wherein the food printing platform is arranged in the printing space of the 3D food printer; the food printing area corresponds to a food printing head of the 3D food printer; the food packaging groove is arranged at the outer ring position of the food printing area and is adjacent to the food printing area; the first rotating shaft is arranged at the inner wall position on the side of the food mounting groove and is respectively connected with the food packaging groove and the plane plate; the plane plate is placed in the food mounting groove and is connected with the food mounting groove in a rotating mode; the arc-shaped unit consists of a second rotating shaft, an arc-shaped plate and an arc-shaped groove, and the second rotating shaft is arranged at the front end of the plane plate at the left side and the right side of the food printing area and is respectively connected with the plane plate and the arc-shaped plate; the arc-shaped plate is arranged at the front end of the second rotating shaft and is connected with the second rotating shaft; the arc-shaped groove is arranged at the front end of the arc-shaped plate, and an oval hollow space is formed after the arc-shaped plate of the left plane plate of the food printing area is abutted against the arc-shaped plate of the right plane plate of the food printing area; the mechanical arm is arranged at the side position of the printing space of the 3D food printer; the binding unit consists of an electric telescopic rod and an electric aluminum nailing and tying machine, and the electric telescopic rod is arranged at the inner wall position of the side of the printing space of the 3D food printer and is respectively connected with the printing space and the electric aluminum nailing and tying machine; the electric aluminum nailing and tying machine is arranged at the front end of the electric telescopic rod and corresponds to the food printing area; the two-dimensional code generation module is arranged at the inner position of the laser generator and is connected with the laser generator;

2. The automatic food detection and processing system for the 3D food printer according to claim 1, wherein the feeding motor is connected with an electric fixing clamp, the electric fixing clamp is arranged at a position of a moving track of the inner wall of the feeding channel, fixed with the food packaging bag and respectively connected with the controller and the feeding motor.

3. The automatic food detection and processing system for the 3D food printer according to claim 1, wherein the mechanical arm is provided with a third rotating shaft and an electric heating block, the third rotating shaft is arranged at a side position of the front end of the mechanical arm and is respectively connected with the mechanical arm, the controller and the electric heating block; the electric heating block is arranged at the front end of the third rotating shaft and is respectively connected with the controller and the third rotating shaft.

4. The automatic food detection and processing system for the 3D food printer according to claim 1, wherein the food transportation device further comprises a two-dimensional code scanner and a storage shell, the two-dimensional code scanner is arranged at the position of the inner wall of the printing space of the 3D food printer and is wirelessly connected with the server; the storage shell is placed at the position of a connection area of the transportation branch groove and the transportation main groove, and a storage bin is arranged above the storage shell.

5. The automatic food detection and processing system for the 3D food printer according to claim 4, wherein the food transporting device further comprises a rejecting mechanism, the rejecting mechanism comprises a pushing shell, a telescopic motor, a connecting rod, a spring and a pushing block, and the pushing shell is arranged at a position of a connection area of the transportation branch groove and the main transportation groove and is perpendicular to the transportation branch groove; the telescopic motor is arranged in the pushing shell and is respectively connected with the connecting rod and the controller; the connecting rod is arranged at the side position of the pushing shell facing the transportation branch groove and is respectively connected with the telescopic motor and the pushing block; the spring is placed between the connecting rod and the pushing block; the pushing block is arranged at the front end of the connecting rod.

6. The automatic food detection and processing system for the 3D food printer according to claim 4, wherein the food transportation device further comprises an intercepting mechanism, the intercepting mechanism is composed of an intercepting frame and an intercepting net, the intercepting frame is arranged at a position above the storage shell and is connected with the storage shell; the interception net is arranged in the interception frame and connected with the interception frame.

7. The automatic food detection and processing system for the 3D food printer according to claim 1, further comprising a recycling device, wherein the recycling device comprises a recycling channel, an electric motor, a conveyor belt, a crusher and a feed storage bin, the recycling channel is disposed at a position below the storage shell; the electric motor is arranged in the inner position of the recovery channel and is respectively connected with the recovery channel, the controller and the conveyer belt; the conveying belt is arranged in the inner position of the recovery channel and is connected with the electric motor, the starting end of the conveying belt corresponds to the bottom of the storage shell, and the terminal end of the conveying belt is adjacent to the pulverizer; the crusher is arranged at the inner position of the ground at the tail end of the recovery channel and is connected with the server; the feed storage bin is arranged at the side position of the pulverizer and connected with the pulverizer.

8. A method for automatic detection and processing of food for a 3D food printer, using the system for automatic detection and processing of food for a 3D food printer according to any one of claims 1 to 7, the method comprising the steps of:

9. The automatic food detecting and processing method for the 3D food printer according to claim 8, wherein after the laser generator feeds back the marking completion signal to the controller, the method further comprises the following steps:

10. The automatic food detecting and processing method for the 3D food printer according to claim 8, wherein after the laser generator feeds back the marking completion signal to the controller, the method further comprises the following steps: