CN110680172A - Automatic garlic peeler and control method thereof - Google Patents
Automatic garlic peeler and control method thereof Download PDFInfo
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- CN110680172A CN110680172A CN201911083919.0A CN201911083919A CN110680172A CN 110680172 A CN110680172 A CN 110680172A CN 201911083919 A CN201911083919 A CN 201911083919A CN 110680172 A CN110680172 A CN 110680172A
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- garlic
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J17/00—Household peeling, stringing, or paring implements or machines
- A47J17/14—Machines for peeling
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- Food Science & Technology (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The application provides an automatic garlic peeler which comprises a moving assembly, a garlic peeling assembly arranged at the end of the moving assembly, a visual detection assembly and an artificial intelligence module; the visual detection assembly is used for detecting textures among the garlic cloves, imaging the garlic cloves and judging the roots and/or abnormal parts of the garlic cloves according to imaging information; the artificial intelligence module is used for controlling the movable assembly to drive the garlic peeling assembly to cut off the garlic skins according to the textures according to the detected positions of the textures between the garlic cloves, controlling the movable assembly to drive the garlic peeling assembly to cut off the roots and/or abnormal parts of the garlic cloves according to the judged roots and/or abnormal parts of the garlic cloves, and controlling the garlic peeling assembly to peel off the garlic skins. The automatic garlic peeler provided by the application has the advantages that the artificial intelligence technology is matched with the visual detection technology, so that garlic peeling is more intelligent.
Description
Technical Field
The invention relates to the technical field of kitchen appliances, in particular to an automatic garlic peeler and a control method thereof.
Background
Garlic is one of the main seasoning varieties in kitchens, and is almost not available in restaurants and common people. However, the peeling of garlic has been a problem. The manual garlic peeling is time-consuming, labor-consuming and slow in work efficiency, and moreover, the garlic is often broken by fingernails, and splashed cell sap irritates the skin and eyes, so that the garlic peeling is very inconvenient.
The existing garlic peeler has certain disadvantages in use, firstly, the existing garlic peeler cannot judge black and moldy rotten parts on garlic cloves, cannot distinguish broken garlic from normal garlic, and is not beneficial to maintaining the normal garlic peeling work; secondly, the existing garlic peeling device has low automation degree and insufficient artificial intelligence.
Disclosure of Invention
In view of the above problems in the prior art, the present application provides an automatic garlic peeler, which is used to solve all or part of the above technical problems.
In a first aspect, the present application provides an automatic garlic peeler comprising: the garlic peeling device comprises a moving assembly, a garlic peeling assembly arranged at the end part of the moving assembly, a visual detection assembly and an artificial intelligence module;
the visual detection assembly is used for detecting textures among the garlic cloves, imaging the garlic cloves and judging the roots and/or abnormal parts of the garlic cloves according to imaging information;
the artificial intelligence module is used for controlling the moving assembly to drive the garlic peeling assembly to peel the garlic according to the texture according to the detected position of the texture between the garlic cloves,
and the moving component is controlled to drive the garlic peeling component to cut off the root and/or the abnormal part of the garlic clove according to the judged root and/or the abnormal part of the garlic clove,
and is used for controlling the garlic peeling assembly to peel the garlic skin.
In one embodiment, the garlic peeling assembly comprises:
the grabbing part is used for grabbing the garlic or the garlic skin;
a beating part for beating the garlic to separate garlic cloves;
and a cutting part for cutting the garlic skins according to the texture between the garlic cloves and cutting the roots and/or abnormal parts of the garlic cloves.
In one embodiment, the moving assembly comprises:
the conveying manipulator is used for driving the grabbing part to move the grabbed garlic to a workbench and removing the garlic cloves with the garlic skins peeled off from the workbench;
and the functional manipulator is used for driving the at least two grabbing parts to move towards different directions so as to tear down the garlic skins on the garlic cloves.
In one embodiment, the garlic peeler further comprises a cleaning assembly connected to an end of the functional manipulator for cleaning the automatic garlic peeler.
In one embodiment, the cleaning assembly comprises a sweeping part and a water spraying part, wherein the sweeping part is used for sweeping the peeled garlic, and the water spraying part is used for spraying water to the inside of the automatic garlic peeler.
In one embodiment, the automatic garlic peeler further comprises a water draining part for draining water inside the automatic garlic peeler.
In one embodiment, the automatic garlic peeler further comprises a packing assembly disposed in a moving range of the conveying manipulator, and configured to receive the garlic cloves peeled from the garlic skin and conveyed by the conveying manipulator, and pack the garlic cloves peeled from the garlic skin.
In one embodiment, the garlic peeling device further comprises a housing for accommodating the garlic peeling assembly, the visual detection assembly, the artificial intelligence module and the functional manipulator.
In one embodiment, the table is disposed at the bottom of the housing and the visual inspection assembly is disposed at the top of the housing corresponding to the position of the table.
In a second aspect, the present application provides a method for controlling an automatic garlic peeler, comprising the steps of:
controlling the visual detection assembly to detect the texture among the garlic cloves;
the artificial intelligence module controls the moving assembly to drive the garlic peeling assembly to peel the garlic according to the detected positions of the textures among the garlic cloves;
the artificial intelligence module controls the garlic peeling assembly to peel garlic skin;
the visual detection component judges the root and/or abnormal parts of the garlic clove;
the artificial intelligence module controls the moving assembly to drive the garlic peeling assembly to cut off the root and/or the abnormal part of the garlic clove according to the judged root and/or the abnormal part of the garlic clove.
Compared with the prior art, the method has the following advantages:
the automatic garlic peeler combines an artificial intelligence technology, a visual detection technology and a robot arm technology, and realizes a series of actions of automatically beating garlic, cutting off the root and the yellow and black parts of garlic cloves, peeling garlic skins and the like. The artificial intelligence technology is matched with the visual detection technology, so that each mechanical arm and the garlic peeling assembly execute proper operation, garlic peeling is realized, and artificial intelligence is achieved.
The features mentioned above can be combined in various suitable ways or replaced by equivalent features as long as the object of the invention is achieved.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
fig. 1 shows an automatic garlic peeler according to the present application.
Fig. 2 is a schematic view showing a structure of the automatic garlic peeler shown in fig. 1 with a housing removed.
Fig. 3 is a schematic structural view of one of the robot and the garlic peeling assembly in the automatic garlic peeling machine shown in fig. 2.
Fig. 4 is a schematic structural view of another robot and garlic peeling assembly in the automatic garlic peeling machine shown in fig. 2.
In the drawings, like parts are provided with like reference numerals. The drawings are not to scale.
Detailed Description
The invention will be further explained with reference to the drawings.
Fig. 1 shows an automatic garlic peeler according to the present application, which includes a moving assembly, a garlic peeling assembly disposed at an end of the moving assembly, a visual inspection assembly 3, and an artificial intelligence module 4.
The visual inspection assembly 3 is used for inspecting the texture between the garlic cloves, imaging the garlic cloves and judging the root and/or abnormal parts of the garlic cloves according to the imaging information. The artificial intelligence module 4 is used for controlling the moving assembly to drive the garlic peeling assembly to cut off the garlic skins according to the textures according to the detected positions of the textures between the garlic cloves, controlling the moving assembly to drive the garlic peeling assembly to cut off the roots and/or abnormal parts of the garlic cloves according to the judged roots and/or abnormal parts of the garlic cloves, and controlling the garlic peeling assembly to peel off the garlic skins.
In the embodiment shown in fig. 1, the visual inspection assembly 3 and the artificial intelligence module 4 are integrated into one module. When the visual inspection component 3 images each garlic clove and judges the root and/or abnormal part of the garlic clove according to the imaging information, the abnormal part can be judged according to the gray scale of different positions of the image of the garlic clove, the abnormal part is, for example, a rotten part such as blackened and yellowish garlic, and the general gray scale value is different from the normal part, so that the rotten part such as blackened and yellowish garlic can be judged by the gray scale as a feasible method. Of course, other ways of determining this may be used. In summary, as a technology which develops rapidly in recent years, the determination of the root or abnormal part of the garlic clove by the visual detection component 3 belongs to a conventional technology which can be obtained by those skilled in the art, and is not described in detail herein.
In this embodiment, the garlic peeling assembly includes a grasping portion, a beating portion 22 and a cutting portion 23.
Wherein the gripping parts in turn comprise a first gripping part 211,212 for gripping the garlic and a second gripping part 213,214 for gripping the garlic or garlic skins. Wherein, the first grabbing parts 211 and 212 for grabbing the garlic are respectively arranged at the end parts of the conveying manipulators 111 and 112, the conveying manipulator 111 drives the first grabbing part 211 to move the grabbed garlic 10 to the workbench 5, and the moving manipulator 112 drives the second grabbing part 212 to move the garlic cloves with the garlic skins peeled off from the workbench 5.
The second grasping parts 213 and 214 for grasping the garlic or the garlic skins are provided at the end portions of the functional manipulators, in this embodiment, there are two functional manipulators, which are the first functional manipulator 121 and the second functional manipulator 122, respectively, and the second grasping parts 213 and 214 are provided at the distal ends of the first functional manipulator 121 and the second functional manipulator 122, respectively. The first functional manipulator 121 and the second functional manipulator 122 can simulate the functions of a left hand and a right hand of a human by being respectively matched with the second grabbing parts 213 and 214. In the embodiment shown in fig. 1, two pairs of functional manipulators and gripping sections similar to a human left hand and right hand are provided, respectively, a pair of functional manipulator and gripping section (reference numeral 200) provided on the left side and a pair of functional manipulator and gripping section (reference numeral 300) provided on the right side inside the casing 100. It can be understood that if the automatic garlic peeling device is used for commercial purposes, the cooperating functional manipulators and grasping parts simulating the functions of the left hand and the right hand of a human can be provided in multiple pairs, three pairs, four pairs, etc., to improve the garlic peeling efficiency.
After the garlic skins are grabbed by the second grabbing parts 212 and 213, the garlic skins are torn under the driving of the first functional manipulator 121 and the second functional manipulator 122, so that the garlic skins are peeled.
The degrees of freedom of both the functional manipulator and the carrying manipulator may be set as many as possible, and in one embodiment, the degrees of freedom may be set to 3, where the first degree of freedom is a motion simulating an arm of a human, and the swinging or rotating arm, the second degree of freedom is a motion simulating a rotating wrist of a human, and the third degree of freedom is a motion simulating a finger of a human. The technical content is the prior art in the field and is not described in detail herein.
In this embodiment, the beating portion 22 and the cutting portion 23 are the same component, i.e. the knife 22 shown in fig. 2 and 3, and the knife 22 uses its flat portion to beat the garlic to separate the garlic cloves when the beating action is performed. When the cutting operation is performed, the knife 22 cuts the garlic skin by its edge portion according to the texture between the garlic cloves, and cuts off the root and/or abnormal portions of the garlic cloves. In this process, the garlic cloves can be fixed by the second catching parts 213 and 214 if necessary to facilitate the cutting of the root and/or abnormal part by the incised part 23.
In the embodiment shown in fig. 1, the automatic garlic peeler further includes a cleaning assembly 6, and the cleaning assembly 6 is connected to an end of the functional robot for cleaning the automatic garlic peeler. Specifically, as shown in fig. 4, the cleaning assembly 6 includes a cleaning part 61 and a water spraying part 62, the cleaning part 61 is used for cleaning the peeled garlic skins, and the water spraying part 62 is used for spraying water to the inside of the automatic garlic peeler so as to perform water spraying cleaning on each assembly inside the automatic garlic peeler. More preferably, the automatic garlic peeler is further provided with a drain 63, and the drain 63 drains water inside the automatic garlic peeler.
In the embodiment shown in fig. 1, the automatic garlic peeler further includes a packing assembly 7, and the packing assembly 7 is disposed within a moving range of the carrying manipulators 111,112, and is used for receiving the garlic cloves peeled off from the garlic skins and transported by the carrying manipulators 111,112 and packing the garlic cloves peeled off from the garlic skins. The packaging assembly 7 is preferably a vacuum packaging line that separates the peeled garlic cloves for individual vacuum packaging. Of course, this embodiment is suitable for commercial use. It will be appreciated that the packaging assembly 7 may optionally be provided if the automatic garlic peeler is of the domestic type.
As shown in fig. 1, the automatic garlic peeler further includes a housing 8 for accommodating the garlic peeling assembly 2, the visual inspection assembly 3, the artificial intelligence module 4, and the functional manipulator 12. The worktable 5 is arranged at the bottom of the casing 8, and the visual inspection assembly 3 is arranged at the top of the casing 8 corresponding to the position of the worktable 5. In this exemplary embodiment, the upper part of the housing 8 is designed as a cone and the lower part of the housing 8 as a cylinder.
In the following, a garlic peeling process according to fig. 1 is described in detail:
the first step is as follows: the automatic garlic peeler is started, the artificial intelligence module 4 controls the conveying manipulator 111 to drive the first grabbing part 211 to move the garlic 10 from the garlic stack to the workbench 5, and the specific position of the garlic 10 on the workbench 5 is controlled by the artificial intelligence module.
The second step is that: the artificial intelligence module 4 controls the vision inspection assembly 3 to inspect the texture of the garlic 10, i.e., the position between the garlic cloves, and then the artificial intelligence module 4 controls the incision part 23 to cut the garlic skins along the texture between the garlic cloves.
The third step: the artificial intelligence module 4 controls the functional manipulator 122 to drive the beating part 22 to spread the garlic 10, which is called as an independent garlic clove, at this time, the artificial intelligence module 4 controls the mechanical arm equipped with the beating part 22 to simulate the action of the wrist of a human to rotate the knife, so that the knife surface of the knife is beaten toward the garlic 10.
The fourth step: the artificial intelligence module 4 controls the functional manipulator 122 to drive the second grabbing parts 213 and 214 to grab and tear the garlic skin so as to tear down the garlic skin. At this time, the second grip portions 213,214 simulate the function of a human finger.
The fifth step: the artificial intelligence module 4 controls the visual inspection component 3 to inspect abnormal parts of the garlic clove such as the root, the blackening and the yellowing, and then the control function manipulator 122 drives the cutting part 23 to cut off the abnormal parts of the garlic clove such as the root, the blackening and the yellowing. In this process, if necessary, the artificial intelligence module 4 can control the second grasping parts 213 and 214 to grasp the garlic cloves to fix the garlic cloves, thereby facilitating the action of the cutting part 23.
And a sixth step: the artificial intelligence module 4 controls the conveying robot 112 to drive the first grabber 2121 to remove the peeled garlic cloves from the worktable 5.
To sum up, the automatic garlic peeling device of this application combines together artificial intelligence technique, visual detection technique and robot arm technique, has realized a series of actions such as automatic garlic of clapping, the root of excision garlic clove and yellow and black position, shell garlic skin. The artificial intelligence technology is matched with the visual detection technology, so that each mechanical arm and the garlic peeling assembly execute proper operation, garlic peeling is realized, and artificial intelligence is achieved.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. An automatic garlic peeler, comprising: the garlic peeling device comprises a moving assembly, a garlic peeling assembly arranged at the end part of the moving assembly, a visual detection assembly and an artificial intelligence module;
the visual detection assembly is used for detecting textures among the garlic cloves, imaging the garlic cloves and judging the roots and/or abnormal parts of the garlic cloves according to imaging information;
the artificial intelligence module is used for controlling the moving assembly to drive the garlic peeling assembly to peel the garlic according to the texture according to the detected position of the texture between the garlic cloves,
and the moving component is controlled to drive the garlic peeling component to cut off the root and/or the abnormal part of the garlic clove according to the judged root and/or the abnormal part of the garlic clove,
and is used for controlling the garlic peeling assembly to peel the garlic skin.
2. The automatic garlic peeler according to claim 1, wherein the garlic peeling assembly comprises:
the grabbing part is used for grabbing the garlic or the garlic skin;
a beating part for beating the garlic to separate garlic cloves;
and a cutting part for cutting the garlic skins according to the texture between the garlic cloves and cutting the roots and/or abnormal parts of the garlic cloves.
3. The automatic garlic peeler of claim 2, wherein the moving assembly comprises:
the conveying manipulator is used for driving the grabbing part to move the grabbed garlic to a workbench and removing the garlic cloves with the garlic skins peeled off from the workbench;
and the functional manipulator is used for driving the at least two grabbing parts to move towards different directions so as to tear down the garlic skins on the garlic cloves.
4. The automatic garlic peeler according to claim 3, further comprising a cleaning assembly connected to an end of the functional robot for cleaning the automatic garlic peeler.
5. The automatic garlic peeler according to claim 4, wherein the cleaning assembly comprises a sweeping part for sweeping the peeled garlic skins and a water spraying part for spraying water to the inside of the automatic garlic peeler.
6. The automatic garlic peeler according to claim 5, further comprising a drain for draining water inside the automatic garlic peeler.
7. The automatic garlic peeler according to claim 3, further comprising a packing assembly disposed within a moving range of the carrying robot, for receiving and packing the garlic cloves peeled off from the garlic skins delivered from the carrying robot.
8. The automatic garlic peeler according to claim 3, further comprising a housing for housing the garlic peeling assembly, the visual inspection assembly, the artificial intelligence module and the functional manipulator.
9. The automatic garlic peeler of claim 8, wherein the table is disposed at a bottom of the housing, and the visual inspection assembly is disposed at a top of the housing corresponding to a position of the table.
10. A control method of an automatic garlic peeler is characterized by comprising the following steps:
controlling the visual detection assembly to detect the texture among the garlic cloves;
the artificial intelligence module controls the moving assembly to drive the garlic peeling assembly to peel the garlic according to the detected positions of the textures among the garlic cloves;
the artificial intelligence module controls the garlic peeling assembly to peel garlic skin;
the visual detection component judges the root and/or abnormal parts of the garlic clove;
the artificial intelligence module controls the moving assembly to drive the garlic peeling assembly to cut off the root and/or the abnormal part of the garlic clove according to the judged root and/or the abnormal part of the garlic clove.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911083919.0A CN110680172B (en) | 2019-11-07 | 2019-11-07 | Automatic garlic peeler and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911083919.0A CN110680172B (en) | 2019-11-07 | 2019-11-07 | Automatic garlic peeler and control method thereof |
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Cited By (1)
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| CN113524251A (en) * | 2021-09-17 | 2021-10-22 | 江苏盛之威生物科技有限公司 | Garlic processing is with intelligent screening manipulator |
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