CN110038666B - Intelligent crushing machine - Google Patents
Intelligent crushing machine Download PDFInfo
- Publication number
- CN110038666B CN110038666B CN201910392108.2A CN201910392108A CN110038666B CN 110038666 B CN110038666 B CN 110038666B CN 201910392108 A CN201910392108 A CN 201910392108A CN 110038666 B CN110038666 B CN 110038666B
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- China
- Prior art keywords
- processor
- push rod
- pressed
- image information
- electric push
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000000034 method Methods 0.000 claims abstract description 13
- 230000003993 interaction Effects 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000000605 extraction Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 240000002234 Allium sativum Species 0.000 description 3
- 235000004611 garlic Nutrition 0.000 description 3
- 241001070941 Castanea Species 0.000 description 2
- 235000014036 Castanea Nutrition 0.000 description 2
- 241000758791 Juglandaceae Species 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 235000014571 nuts Nutrition 0.000 description 2
- 235000020234 walnut Nutrition 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N5/00—Machines for hulling, husking or cracking nuts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C1/00—Crushing or disintegrating by reciprocating members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
- B02C23/04—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C25/00—Control arrangements specially adapted for crushing or disintegrating
Landscapes
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Polymers & Plastics (AREA)
- Crushing And Pulverization Processes (AREA)
- Crushing And Grinding (AREA)
Abstract
The invention provides an intelligent crushing machine and a working method, which are characterized by comprising the following steps: the device comprises a push rod driving assembly arranged at the upper part of a crusher body, a containing assembly arranged at the lower part of the crusher body, a main control module, an image recognition module and an interaction module which are arranged on the crusher body; the push rod driving assembly comprises a pressure head, an electric push rod, a motor and a motor driving device which are connected; the main control module comprises a processor; the image recognition module comprises two cameras with different mounting positions above the storage component; the interaction module comprises a display screen, a loudspeaker and keys; the motor driving device, the camera, the display screen, the loudspeaker and the keys are respectively connected with the processor. The automatic feeding and taking device has the advantages of simple structure, convenience in use, rich functions, high intelligence and automation degree, and can be automatically and intelligently completed in other procedures and judgment, and feeding and taking operations are generally only needed to be manually completed.
Description
Technical Field
The invention relates to the field of crushing machines, in particular to an intelligent crushing machine and a working method thereof, wherein the intelligent crushing machine can be used for processing fruits and mashed garlic, squeezing nuts, peeling walnuts, opening chestnut and other shell openings.
Background
The existing machine with crushing, opening or squeezing functions generally only comprises a simple mechanical or electric structure, is low in intelligent degree, is inconvenient to use, is poor in function singleness universality, and has a certain danger due to the fact that hands stretch into a working area in the use process.
Disclosure of Invention
The present invention aims at integrating crushing, opening or squeezing functions through one set of equipment, and can intelligently identify the existence of the objects to be squeezed, automatically control and operate, and have corresponding safety protection measures.
The invention adopts the following technical scheme:
an intelligent crusher, comprising: the device comprises a push rod driving assembly arranged at the upper part of a crusher body, a containing assembly arranged at the lower part of the crusher body, a main control module, an image recognition module and an interaction module which are arranged on the crusher body; the push rod driving assembly comprises a pressure head, an electric push rod, a motor and a motor driving device which are connected; the main control module comprises a processor; the image recognition module comprises two cameras with different mounting positions above the storage component; the interaction module comprises a display screen, a loudspeaker and keys; the motor driving device, the camera, the display screen, the loudspeaker and the keys are respectively connected with the processor; the camera is used for acquiring image information of the object to be pressed; the processor is used for acquiring the horizontal dimension information and the height dimension information of the object to be pressed according to the image information of the object to be pressed and controlling the working stroke of the electric push rod in the vertical direction.
Preferably, the containing assembly comprises a box body, a groove with a filter screen and arranged at the upper part of the box body, and a drawer arranged at the lower part of the box body.
Preferably, the outer assembly of the crusher body comprises an upper 7-shaped frame and a lower containing assembly, and the center of the filter screen is aligned with the electric push rod.
Preferably, the ram is cylindrical cup-shaped; the opening side is a clamping part with a groove, and the bottom side is used as a pressing part.
Preferably, a cross blade or a disk is fixed to the bottom of the pressing portion.
Preferably, the camera is connected with the processor through a USB communication interface.
Preferably, a limit switch connected with the processor is arranged on the crusher body.
The working method of the intelligent crusher is characterized by comprising the following steps of:
step S1: after the object to be pressed is placed on the object containing component, the two cameras acquire image information of the object to be pressed and transmit the image information to the processor;
step S2: the processor acquires the horizontal size information of the object to be pressed through an edge extraction algorithm; obtaining a parallax image by adopting a three-dimensional matching algorithm through two different image information of the object to be pressed, which are obtained at the same time by the two cameras, and obtaining a depth image by calculation to obtain the height dimension information of the object to be pressed;
step S3: the processor calculates and obtains the working stroke of the electric push rod according to the horizontal and height dimension information of the object to be pressed, and controls the motor to drive the electric push rod to reciprocate for a preset number of times in the working stroke.
Preferably, in the process of executing the step S1 to the step S3, the two cameras continuously acquire the image information of the object to be pressed and transmit the image information to the processor, and the image information is compared with the initial image information; when detecting that objects to be pressed, the electric push rod and other objects except the pressure head exist, the processor controls the motor to stop running and sends out a prompt through the display screen and the loudspeaker.
The invention has the advantages of simple structure, convenient use, rich functions, high intelligent and automatic degree, and can be automatically and intelligently finished in other working procedures and judgment, including the collection and judgment of the size information of objects to be pressed, the determination of the working stroke of the electric push rod for executing crushing operation, and the like, and the feeding and taking operations are generally finished only by manpower. Meanwhile, the device also has a safety protection function, and can automatically identify foreign matters which can affect normal work and even cause safety problems on the basis of no manual intervention and automatically stop the work of the device.
Drawings
The invention is described in further detail below with reference to the attached drawings and detailed description:
FIG. 1 is a perspective view of the overall structure of an embodiment of the present invention shown in FIG. 1;
FIG. 2 is a schematic perspective view 2 of the overall structure of an embodiment of the present invention;
FIG. 3 is a schematic view of a partial structure (groove with screen) of an embodiment of the present invention;
FIG. 4 is a schematic top view of a ram (engaging portion) according to an embodiment of the present invention;
FIG. 5 is a schematic side view of a ram (engagement portion) according to an embodiment of the invention;
FIG. 6 is a schematic perspective view of a first ram according to an embodiment of the invention;
FIG. 7 is a schematic perspective view of a second ram according to an embodiment of the invention;
FIG. 8 is a schematic side view of a third ram according to an embodiment of the invention;
FIG. 9 is a schematic perspective view of a third ram according to an embodiment of the invention;
FIG. 10 is a schematic diagram of a circuit structure of a main control module according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of a motor driving circuit according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of a communication circuit of a USB-to-serial camera according to an embodiment of the present invention;
FIG. 13 is a schematic diagram of a power circuit configuration according to an embodiment of the present invention;
FIG. 14 is a schematic diagram of a connection relationship between modules according to an embodiment of the present invention;
FIG. 15 is a schematic diagram of the primary workflow of an embodiment of the invention;
in the figure: 1-a frame; 2-a box body; a 3-processor; 4-a camera; 5-pressing the object to be pressed; 11-pressing head; 12-an electric push rod; 13-an electric motor; 21-a drawer; 22-grooves; 23-filtering net; 31-a display screen; 32-keys.
Detailed Description
In order to make the features and advantages of the present patent more comprehensible, embodiments accompanied with figures are described in detail below:
as shown in fig. 1 to 3 and fig. 14, the apparatus of this embodiment includes: the device comprises a push rod driving assembly arranged at the upper part of a crusher body, a containing assembly arranged at the lower part of the crusher body, a main control module, an image recognition module and an interaction module which are arranged on the crusher body; the push rod driving assembly comprises a pressure head 11, an electric push rod 12, a motor 13 and a motor driving device which are connected; the main control module comprises a processor 3; the image recognition module comprises two cameras 4 with different mounting positions above the storage component; the interaction module comprises a display screen 31, a loudspeaker and keys 32; the motor driving device, the camera 4, the display screen 31, the loudspeaker and the keys 32 are respectively connected with the processor 3. The camera 4 is connected with the processor 3 through a USB communication interface.
Wherein, the outer assembly of the crusher body comprises a 7-shaped frame 1 at the upper part and a containing assembly at the lower part, and the center of the filter screen 23 is aligned with the electric push rod 12. The storage assembly comprises a box body 2, a groove 22 with a filter screen 23 (rigidity) arranged at the upper part of the box body 2, and a drawer 21 arranged at the lower part of the box body 2.
As shown in fig. 10-13, the present embodiment further provides a schematic diagram of main circuit connection embodying the above device, wherein the processor 3 adopts an MCU with a model number of STM32F103RxT, and the camera 4 is designed to be connected to the processor 3 through a USB communication interface.
In the working process of the crushing machine, the processor 3 controls the motor driving device (comprising a motor driver and a speed regulator) to drive the motor 13 to operate, and controls the electric push rod 12 to push down, so that the objects 5 (such as fruits, nuts and the like) to be pressed placed in the grooves 22 are crushed by extrusion, residues are left on the upper side of the filter screen 23, the rest part of the residues enter the drawer 21 below, and an operator can directly take out the pressed substances by drawing out the drawer 21.
As shown in fig. 4 to 9, in order to better implement various crushing functions, the main body of the ram 11 provided in this embodiment is uniformly cylindrical cup-shaped; one side of the opening is provided with a clamping part with a groove, and the groove is used for conveniently disassembling the pressure head 11 and can be matched with a screwdriver for insertion and disassembly. And a side with a bottom surface as a pressing portion.
As shown in fig. 6, in the design of the first bottom pressing part provided in this embodiment, the pressing part directly adopts the bottom surface of the cylinder, and can be used for pressing the garlic bulbs into mashed garlic and the like.
As shown in fig. 7, as a second design of the bottom pressing part, a disk is fixed to the bottom to increase the stress area, and it can be used for the peeling operation of walnuts, etc.
As shown in fig. 8 and 9, as a third design of the bottom pressing part, a cross blade is fixed at the bottom, and the blade has an arc shape, which can be used for the operations of opening of chestnut and the like.
In the above design, the press head 11 of different types is replaced by manual disassembly, but as a further convenient design, a rotary table similar to a microscope objective lens can be added at the tail end of the electric push rod 12, and the press heads 11 corresponding to the designs of the above three bottom pressing parts are mounted thereon, so that more convenient switching can be realized.
In addition, in this embodiment, a limit switch connected to the processor 3 is further provided on the crusher body for performing travel limit. When the electric push rod 12 touches the limit switch, the processor 3 can detect the signal of the limit switch and can directly control the motor 13 to stop, so that the pressure head 11 cannot exceed the limit position.
Of course, in the present embodiment, the limit function may also be implemented by the controller restricting the maximum stroke of the electric putter 12.
For the working method of the specific device provided in this embodiment, as shown in fig. 1, fig. 2 and fig. 15, the interaction between the device and the user in this embodiment is mainly implemented by a display screen 31 disposed at the top of the stand 1 and three keys 32 on the side, where the display screen 31 is used for displaying the current working information state of the device, and the functions implemented by the keys 32 include start and stop, mode selection, and up and down operations of the electric putter 12 in the manual control mode.
The main innovation point of the present embodiment is that for the design of the automatic control mode, the identification of the object to be pressed 5 and the corresponding operation execution are intelligently completed, and the implementation specifically includes the following steps:
step S1: after the object to be pressed 5 is placed on the object containing component, the two cameras 4 acquire image information of the object to be pressed 5 and transmit the image information to the processor 3;
step S2: the processor 3 obtains the horizontal size information of the object to be pressed 5 through an edge extraction algorithm (the existing conventional edge extraction algorithm is adopted); the parallax image is obtained by adopting a three-dimensional matching algorithm (the existing conventional three-dimensional matching algorithm is adopted) through two different pieces of image information of the object 5 to be pressed, which are obtained at the same time by the two cameras 4, and the depth image is obtained by calculation, so that the height dimension information of the object 5 to be pressed is obtained;
step S3: the processor 3 calculates and obtains the working stroke of the electric push rod 12 according to the horizontal and height dimension information of the object 5 to be pressed, and controls the motor to drive the electric push rod 12 to reciprocate for a preset number of times in the working stroke.
In order to further bring the function of safety protection, in the process of executing the steps S1-S3, the two cameras 4 continuously acquire the image information of the object to be pressed 5 and transmit the image information to the processor 3, and the image information is compared with the initial image information; when detecting that the objects other than the object to be pressed 5, the electric push rod 12 and the pressure head 11 exist, the processor 3 controls the motor 13 to stop running and sends out a prompt through the display screen 31 and the loudspeaker. Thereby avoiding potential safety hazards caused by the fact that human body parts such as hands mistakenly extend into the working area.
The present patent is not limited to the above-mentioned best mode, any person can obtain other intelligent crushers and working methods in various forms under the teaching of the present patent, and all equivalent changes and modifications made according to the claims of the present application shall be covered by the present patent.
Claims (1)
1. An intelligent crusher, comprising: the device comprises a push rod driving assembly arranged at the upper part of a crusher body, a containing assembly arranged at the lower part of the crusher body, a main control module, an image recognition module and an interaction module which are arranged on the crusher body; the push rod driving assembly comprises a pressure head, an electric push rod, a motor and a motor driving device which are connected; the main control module comprises a processor; the image recognition module comprises two cameras with different mounting positions above the storage component; the interaction module comprises a display screen, a loudspeaker and keys; the motor driving device, the camera, the display screen, the loudspeaker and the keys are respectively connected with the processor; the camera is used for acquiring image information of the object to be pressed; the processor is used for acquiring the horizontal dimension information and the height dimension information of the object to be pressed according to the image information of the object to be pressed and controlling the working stroke of the electric push rod in the vertical direction;
the storage component comprises a box body, a groove with a filter screen and arranged at the upper part of the box body, and a drawer arranged at the lower part of the box body;
the outer assembly of the crusher body comprises a 7-shaped frame at the upper part and a containing assembly at the lower part, and the center of the filter screen is aligned with the electric push rod;
the pressure head is cylindrical cup-shaped; one side of the opening is a clamping part with a groove, and the other side of the opening is provided with a bottom surface as a pressing part;
the bottom of the pressing part is fixed with a cross blade or a disc; the tail end of the electric push rod is provided with a rotary table, the disc and the cross blade are both arranged on the rotary table, and the rotary table is rotated to switch different pressing parts;
the camera is connected with the processor through a USB communication interface;
a limit switch connected with the processor is arranged on the crusher body;
the working method of the intelligent crusher comprises the following steps:
step S1: after the object to be pressed is placed on the object containing component, the two cameras acquire image information of the object to be pressed and transmit the image information to the processor;
step S2: the processor acquires the horizontal size information of the object to be pressed through an edge extraction algorithm; obtaining a parallax image by adopting a three-dimensional matching algorithm through two different image information of the object to be pressed, which are obtained at the same time by the two cameras, and obtaining a depth image by calculation to obtain the height dimension information of the object to be pressed;
step S3: the processor calculates and obtains the working stroke of the electric push rod in the vertical direction according to the horizontal and height dimension information of the object to be pressed, and controls the motor to drive the electric push rod to reciprocate for a preset number of times in the working stroke;
in the process of executing the step S1-the step S3, the two cameras continuously acquire the image information of the object to be pressed and transmit the image information to the processor, and the image information is compared with the initial image information; when detecting that objects to be pressed, the electric push rod and other objects except the pressure head exist, the processor controls the motor to stop running and sends out a prompt through the display screen and the loudspeaker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910392108.2A CN110038666B (en) | 2019-05-13 | 2019-05-13 | Intelligent crushing machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910392108.2A CN110038666B (en) | 2019-05-13 | 2019-05-13 | Intelligent crushing machine |
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| CN110038666A CN110038666A (en) | 2019-07-23 |
| CN110038666B true CN110038666B (en) | 2024-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910392108.2A Active CN110038666B (en) | 2019-05-13 | 2019-05-13 | Intelligent crushing machine |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110679965B (en) * | 2019-11-18 | 2022-08-19 | 合肥市云逸自动化设备有限公司 | Full-automatic nut opening and cracking machine |
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| CN110038666A (en) | 2019-07-23 |
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