CN112674295A - Sea cucumber foaming equipment and foaming method - Google Patents
Sea cucumber foaming equipment and foaming method Download PDFInfo
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Abstract
The invention provides sea cucumber foaming equipment which comprises a foaming and boiling container, a water quantity control module, a temperature adjusting module, a visual detection module, a softness detection module and a main control module; the main control module is used for carrying out visual judgment and softness detection on the sea cucumber to judge whether the foaming is finished; the visual detection module is used for detecting the sea cucumber foaming condition through the camera; the softness detection module is used for driving the detection stick to press and obtain the softness of the sea cucumbers to judge the foaming condition of the sea cucumbers. The sea cucumber foaming equipment can realize automatic temperature control and water change through the built-in temperature and water level sensors, and realizes automatic foaming of sea cucumbers by matching with a main control module loading foaming method to control each module; meanwhile, staged softness and visual detection are carried out on each stage of sea cucumber foaming so as to control the foaming quality of the sea cucumber.
Description
Technical Field
The invention relates to the technical field of dried sea cucumber processing, in particular to sea cucumber foaming equipment and a sea cucumber foaming method.
Background
Sea cucumbers are used to eat marine products since ancient times, and are particularly popular among the people as marine products with high nutritional values. The light dried sea cucumbers are most common in the market at present, but the soaking is very complicated, the steps are multiple, the conditions are harsh, and one complete sea cucumber soaking usually takes more than one week, so that many people give up purchasing and eating the sea cucumbers. The existing sea cucumber foaming device completely depends on the time length to guess the foaming state, has great error and has poor foaming effect.
Disclosure of Invention
The invention aims to provide a sea cucumber foaming device for detecting the foaming state through vision and softness, aiming at the technical problem that the foaming state is guessed completely depending on the time length in the prior art.
The invention provides sea cucumber foaming equipment which is characterized by comprising a foaming and boiling container, a water quantity control module, a temperature adjusting module, a visual detection module, a softness detection module and a main control module;
the soaking and boiling container is a container with a cover and provided with a water inlet and a water outlet, and is used for containing sea cucumbers;
the water quantity control module comprises a water level detector, a water inlet valve and a water outlet valve; the water level detector is arranged on the inner wall of the brewing container, the water inlet valve is arranged at the water inlet, and the water drainage valve is arranged at the water drainage port;
the temperature adjusting module comprises a temperature sensor, a heating unit and a refrigerating unit; the temperature sensor is arranged in the brewing container, and the heating unit and the refrigerating unit are arranged at the bottom of the brewing container;
the visual detection module comprises a camera, and the camera is obliquely arranged at the top of the brewing container to collect the sea cucumber image;
the softness detection module comprises a detection stick, an electromagnet and a displacement variable resistor; the sea cucumber is pressed by the downward movement of the detection stick, the electromagnet is used for driving the detection stick to move, and the displacement variable resistor is used for acquiring the movement distance of the detection stick;
the main control module comprises a logic control unit, an image judgment unit and a softness judgment unit, wherein the logic control unit is connected with the control water quantity control module and the temperature regulation module and is used for carrying out first-stage low-temperature soaking and boiling, second-stage high-temperature soaking and boiling and third-stage low-temperature soaking and boiling; the image judgment unit is connected with the visual detection module and is used for visually judging the sea cucumber; the softness judging unit is connected with the softness detecting module and used for carrying out softness detection on the sea cucumbers.
Furthermore, the image judging unit comprises a neural network, and the neural network comprises a convolution layer, a full connection layer and a classification layer;
the convolution layer comprises three convolution kernels and three pooling layers, and the three convolution kernels respectively adopt three different activation functions; inputting the vector of the convolution layer into the three convolution kernels simultaneously, and inputting the pooling layer corresponding to each convolution kernel after convolution through the convolution kernels; three vectors output by the three pooling layers are spliced end to end and then input into a next layer of network;
the fully-connected layer comprises four neuron groups, vectors input into the fully-connected layer are simultaneously input into the four neuron groups, and three vectors output by the four neuron groups are input into a next layer of network after being spliced end to end;
the classification layer obtains final output through a softmax function and judges whether the sea cucumber meets the requirements or not;
the three activation functions are ReLu, Sigmoid and tanh respectively;
the activation functions of the four neuron populations are ReLu, Sigmoid, Tanh and Softplus respectively.
Furthermore, the softness determining unit determines whether a softness return value k of the sea cucumber is within a preset threshold interval, and if the softness return value k is within the threshold interval, the softness detection is passed;
the calculation formula of the return value k of the softness degree is as follows:
wherein the return value k reflects the softness of the sea cucumber, L is the moving distance of the probe rod, F is the downward pressing force of the probe rod, and k1Is a proportionality coefficient, k1Adjusting according to the size of the sea cucumber; and when the return value k is within the set threshold value range, the sea cucumber is soaked well at the stage.
Furthermore, the image judging unit determines the size of the sea cucumber through a target detection algorithm, and the softness judging unit generates a proportionality coefficient k according to the size of the sea cucumber1。
Further, the duration of the first-stage low-temperature soaking and boiling and the third-stage low-temperature soaking and boiling is 48 hours, and water is emptied and injected again with a preset amount of water every 12 hours, and the temperature of the soaking and boiling water is 1 ℃;
and the second stage is characterized in that the high-temperature soaking and boiling duration is 30 minutes, and the soaking and boiling water temperature is 89-90 ℃.
Still further, the heating unit is an eddy current coil disposed at the bottom of the brewing container;
and the eddy current coil is used as the heating unit when alternating current is introduced, and is used as the electromagnet when direct current is introduced.
Further, the softness detection module comprises a mobile unit;
the moving unit is a mechanical arm for mounting the detection stick, and the moving unit is used for moving the detection stick to align the sea cucumber for the softness detection.
Also provided is a method for foaming sea cucumbers by the sea cucumber foaming device according to any one of claims 1 to 7, wherein the method for foaming sea cucumbers comprises the following steps:
step 1: putting the sea cucumber into a soaking and boiling container, and injecting a predetermined amount of water;
step 2: carrying out first-stage low-temperature soaking and boiling on the sea cucumber for 48 hours;
and step 3: after the first-stage low-temperature soaking and boiling, carrying out first-stage softness detection on the sea cucumber every 1 hour, and prompting to manually remove the sand mouth of the sea cucumber after the first-stage softness detection;
and 4, step 4: carrying out second-stage high-temperature soaking and boiling on the sea cucumber without the sand mouths for 30 minutes;
and 5: performing second-stage softness detection and second-stage visual judgment on the sea cucumber soaked and boiled at the second-stage high temperature every 2 minutes;
step 6: carrying out low-temperature soaking and boiling in the third stage for 48 hours;
and 7: and after the third-stage low-temperature soaking and boiling, performing third-stage softness detection and third-stage visual judgment on the sea cucumber every 1 hour to judge whether the sea cucumber soaking and boiling is finished.
Further, in the first stage and third stage of low temperature brewing, the brewing container is emptied of water and refilled with the predetermined amount of water every 12 hours.
Furthermore, the first stage low-temperature soaking and boiling and the third stage low-temperature soaking and boiling are characterized in that the temperature of soaking and boiling water is 1 ℃;
and the temperature of the water for soaking and boiling in the second stage of high-temperature soaking and boiling is 89-90 ℃.
The invention has the advantages that:
the sea cucumber foaming equipment can realize automatic temperature control and water change through the built-in temperature and water level sensors, and realizes automatic foaming of sea cucumbers by matching with a main control module loading foaming method to control each module; meanwhile, staged softness and visual detection are carried out on each stage of sea cucumber foaming so as to control the foaming quality of the sea cucumber.
The neural network for realizing visual judgment in the invention adopts each convolution layer and all-connected layer to carry out processing of different activation functions for a plurality of times, and the processing results are spliced and input into the next layer of network. Compared with the neural network in the prior art, the neural network has the advantages of strong generalization capability, small data set used during training, fast convergence and memory and computational power saving; the method is light in weight, high in processing speed, and capable of saving electricity and memory.
According to the invention, the eddy current coil is led into direct current or alternating current to realize the function of electromagnet or electromagnetic heating, so that repeated modules in the sea cucumber foaming equipment are reduced, and the volume and the cost of the sea cucumber foaming equipment are reduced.
Drawings
Fig. 1 is a schematic structural diagram of a sea cucumber foaming device provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a visual judgment neural network in a sea cucumber foaming device according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a sea cucumber foaming method provided by the embodiment of the invention.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings 1-3.
As shown in the attached drawing 1, the invention provides sea cucumber foaming equipment which comprises a foaming and boiling container, a water quantity control module, a temperature adjusting module, a softness detection module, a visual detection module, a main control module, a timing module and a prompt module.
The brewing container is used for installing the other modules and containing the dried sea cucumbers to brew and cook the sea cucumbers, and is a cooking container with a cover and a water inlet and a water outlet.
The water quantity control module comprises a water level detector, a water inlet valve and a water outlet valve; the water level detector is used for detecting the liquid level height of the brewing container, when the liquid level is lower than a preset value, the water level detector controls the water inlet water valve to open to inject water into the brewing container, and when the liquid level is lower than the preset value or water needs to be changed, the water level detector controls the water drainage water valve to open to drain water for the brewing container. The water level detector is arranged at a preset height of the side wall in the brewing container and is used for detecting whether the liquid level of the water level reaches the preset height; the water inlet valve is arranged at the water inlet of the soaking and boiling container and controls the opening and closing of the water inlet; the water draining valve is set in the water draining port of the soaking and boiling container to control the opening and closing of the water draining port.
The temperature adjusting module comprises a temperature sensor, a heating unit and a refrigerating unit; the temperature sensor is used for acquiring the water temperature of the pickled and boiled sea cucumbers, in the second stage of high-temperature pickling and boiling, the heating unit stops heating when the temperature is higher than 90 ℃, and the heating unit is started to heat when the temperature is lower than 89 ℃; and in the stage of low-temperature soaking and boiling in the first stage and the stage of low-temperature soaking and boiling in the third stage, when the temperature is higher than 1 ℃, the refrigerating unit is started to cool, and when the temperature is lower than 1 ℃, the refrigerating unit is stopped to cool. The heating unit and the refrigerating unit are arranged at the bottom of the brewing container and used for heating and refrigerating the brewing container.
The visual detection module comprises a camera; the camera is obliquely arranged at the top of the brewing container and is used for collecting sea cucumber images.
The softness detection module comprises an electromagnet, a detection stick, a displacement variable resistor and a moving unit; the electromagnet is used for driving the detection stick to press the sea cucumber downwards according to the force corresponding to the current passing through the electromagnet; the displacement variable resistor is connected with the probe rod and generates a resistance value according to the displacement of the sea cucumber when the probe rod presses downwards; the moving unit is a mechanical arm and is used for installing the probe rod and moving the probe rod to aim at the tested sea cucumbers according to the position where the camera collects the tested sea cucumbers in the brewing container.
The main control module comprises a logic control unit, an image judgment unit and a softness judgment unit, wherein the logic control unit is connected with the water quantity control module and the temperature regulation module and is used for controlling the modules according to the foaming logic to realize the foaming of the sea cucumbers. The image judgment unit is connected with the visual detection module and is used for visually judging the sea cucumber; specifically, the sea cucumber images collected by the camera are defogged and enhanced, and the sea cucumber images are classified through a neural network for deep learning to judge whether the sea cucumber images are well brewed or not. The softness judging unit is connected with the softness detecting module and used for carrying out softness detection on the sea cucumbers.
In one embodiment, the image judgment unit adopts a neural network with 3 convolutional layers, 3 full-connection layers and a classification layer, each convolutional layer is provided with three convolutional kernels and three pooling layers, and the three convolutional kernels respectively adopt three activation functions of ReLu, Sigmoid and Tanh; the input vectors enter three convolution kernels simultaneously, and are processed through an activation function and a pooling layer corresponding to the convolution kernels, and the vectors output by the three pooling layers are input into the next layer after being spliced end to end; each full-connection layer is provided with a neuron group of four activation functions of ReLU, Sigmoid, Tanh and Softplus, and vectors output by the neuron group of each activation function are input into the next layer after head-to-tail splicing.
Specifically, a sea cucumber picture is obtained through a camera, defogging and enhancement processing are carried out on the sea cucumber picture, and the processed picture is used as an input vector of the neural network; simultaneously inputting input vectors into a network formed by each convolution kernel and each pooling layer in a first convolution layer, performing head-to-tail splicing on output vectors of each pooling layer in the first convolution layer, inputting the output vectors into a network formed by each convolution kernel and each pooling layer in a second convolution layer, performing head-to-tail splicing on output vectors of each pooling layer in the second convolution layer, and inputting the output vectors into a network formed by each convolution kernel and each pooling layer in a third convolution layer; output vectors of all pooling layers in the third convolution layer are spliced end to end and input into the first full-connection layer; respectively generating output vectors after processing each activation function in the first full-connection layer, splicing the output vectors end to end and inputting the output vectors into the second full-connection layer; after processing each activation function in the second full-connection layer, respectively generating output vectors, splicing the output vectors end to end and inputting the output vectors into a third full-connection layer; after processing each activation function in the third full-connection layer, respectively generating output vectors, splicing the output vectors end to end and inputting the output vectors into the classification layer; and obtaining final output by the classification layer through a softmax function to judge whether the sea cucumber meets the requirements. After the neural network model is built, the model is trained by using the marked sea cucumber soaking image data to obtain the trained neural network model.
In one embodiment, 500 sea cucumber pictures are used as the experimental data set, and the data set is divided into training data and testing data according to a 7:3 ratio. In the invention, 3 convolution layers of the neural network comprise convolution kernels using Sigmoid, ReLU and Tanh activation functions, input vectors of the convolution kernels are the same, output vectors of the convolution kernels are spliced and then input into a maximum pooling layer, and the output vectors are input into 3 full-connection layers after convolution; each full-connection layer comprises a neuron group using ReLU, Sigmoid, Tanh and Softplus activation functions, wherein the proportion of neurons corresponding to the activation functions is 1:1:1:1, the input vectors of the neurons are the same, and the output vectors of the neurons are spliced and input into the next layer; the last layer is the classification layer using the Softmax activation function. The test platform adopts an English WEIDA 2080TI video card to train the neural network in the invention for 2 minutes and then test through test data, the accuracy rate of the neural network in the invention basically converges to a higher value, the video memory occupies 1077MB, and the GPU occupancy rate is 28%.
Compared with a VGG16 neural network commonly used in the prior art, the VGG16 neural network is trained for 10 hours under the condition of keeping the same experimental platform and experimental data set, the accuracy of the VGG16 neural network is less than half of that of the neural network in the invention, the video memory occupies 7049MB, and the GPU occupancy rate is as high as 98%. Therefore, compared with the neural network in the prior art, the neural network in the invention has the advantages of high training speed, memory saving and computational power saving, and is suitable for the operation of the embedded microprocessor.
In one embodiment, the return value k using the degree of softness is calculated as:
wherein the return value k reflects the softness of the sea cucumber; l is the moving distance of the detection stick; f is the downward pressing force of the detection stick; k is a radical of1Is a proportionality coefficient, and is adjusted according to the size of the sea cucumber. And when the return value k is within the set threshold value range, the sea cucumber is soaked well at the stage.
Because the original volumes of the sea cucumbers are different, the threshold value of the return value k is higher for the sea cucumbers with larger original volumes; specifically, for the selection of the return value k, firstly, a rectangular frame of the sea cucumber to be detected is marked in an image acquired by a camera through a visual inspection algorithm SSD, a main control module generates coordinates of opposite angles of the rectangular frame, and the area of the rectangular frame is calculated according to the coordinates; then multiplying the rectangular frame area of the sea cucumber by a correction proportion coefficient alpha to realize the correction of the image and the actual size of each collected sea cucumber, judging the size of the sea cucumber according to the corrected sea cucumber size, and presetting the sea cucumber size according to the foaming equipmentSmall and proportional coefficient k1Generating a scaling factor k1。
Different threshold values are respectively set for return values obtained in the first, second and third softness detection after the first-stage low-temperature soaking and boiling, the second-stage high-temperature soaking and boiling and the third-stage low-temperature soaking and boiling, so that the softness detection method is suitable for softness detection in different stages.
The timing module is a timer and is used for recording the duration of the first-stage low-temperature soaking and boiling, the second-stage high-temperature soaking and boiling and the third-stage low-temperature soaking and boiling, and the interval time between each visual judgment and the softness detection; wherein the duration time of the first-stage low-temperature soaking and boiling and the third-stage low-temperature soaking and boiling is 48 hours, and the duration time of the second-stage high-temperature soaking and boiling is 30 minutes.
The prompting module is a buzzer and is used for sending out different prompting sounds to prompt that the sea cucumber soaking and boiling stage is completed or prompt that an error occurs.
Examples
A sea cucumber soaking device, the soaking and boiling container of the soaking and boiling device is a metal pot with a cover, and the side wall of the pot body is provided with a water inlet and a water outlet; the water inlet is provided with a water inlet valve, and the water outlet is provided with a water outlet valve; the inner wall of the pot body is provided with a water level detector and a temperature sensor. The heating unit is arranged at the bottom of the brewing container, is an eddy current coil adopting an eddy current heating principle and is used for heating the brewing container; the refrigeration module adopts the semiconductor refrigeration piece array, and the semiconductor refrigeration piece array sets up in the bubble and boils the container bottom, and the cold side of semiconductor refrigeration piece array is up, and the hot side is down, and eddy current coil is located the top of semiconductor refrigeration piece array. And heat radiation fans are respectively arranged between the eddy current coil and the semiconductor refrigerating sheet array and at the bottom of the semiconductor refrigerating sheet array. The camera adopts the form that the level is 30 degrees angles down to set up in the pot cover bottom, and the camera can be through the interior panorama image of rotatory mode shooting bubble boiling container. The moving unit is a mechanical arm capable of moving on a horizontal plane, and a detection stick and a displacement variable resistor are mounted on the mechanical arm; the eddy current coil at the bottom of the pot is a heating unit when alternating current is introduced, the function of the electromagnet is realized when direct current is introduced, and the eddy current coil is used for controlling the probe rod to press the sea cucumber downwards to realize softness detection when the electromagnet is used. The main control module is a microcomputer, and the timing module and the prompting module can be realized by hardware or software loaded on the microcomputer; the microcomputer is simultaneously connected with the water level detector and the temperature sensor, is used for acquiring real-time water level and water temperature information, and is matched with the heating and refrigerating units for foaming; the image judging unit and the softness detecting unit are programs loaded in a microcomputer memory and used for judging whether the sea cucumbers meet requirements or not.
The sea cucumber foaming device in the embodiment further comprises a network module, and the network module is accessed to the local area network to realize remote control and remote prompt; when a user uses the sea cucumber foaming device for the first time, the user needs to be connected with a network module in the sea cucumber foaming device through the Bluetooth of the mobile phone APP, and then parameter configuration is carried out on the sea cucumber foaming device, wherein the parameter configuration includes that a device password is appointed, whether Wi-Fi is connected or not, whether a server is connected or not, and the like. When the user is in the same local area network or Bluetooth signal range as the sea cucumber foaming device, the mobile phone App can be directly connected with the foaming device, and the sea cucumber foaming device can be controlled and prompted without a server. When a user uses the internet, the mobile phone App is connected to the server firstly, then is connected with the sea cucumber foaming device according to the device ID code appointed by the user, and realizes control of the sea cucumber foaming device and receiving of the prompt of the sea cucumber foaming device through the transfer of the server.
The invention provides a sea cucumber foaming method, which comprises the following steps:
step 1: putting the sea cucumber into a soaking and boiling container, and injecting a predetermined amount of water;
the method comprises the steps that cleaned sea cucumbers are placed into a soaking and boiling container, after a start button is pressed down, a main control module controls a water inlet valve at a water inlet of the soaking and boiling container to be opened, a water level detector monitors the water level, and when the water level reaches a preset value of the water level detector, the main control module controls the water inlet valve at the water inlet to be closed.
Step 2: carrying out first-stage low-temperature soaking and boiling on the sea cucumbers in the soaking and boiling container for 48 hours;
the main control module controls the refrigeration unit to start and monitors signals of the temperature sensor to carry out first-stage low-temperature soaking and boiling. When the temperature sensor measures that the temperature of water in the brewing container reaches 1 ℃, the main control module controls the refrigeration unit to be closed; when the temperature sensor measures that the temperature of water in the brewing container reaches 2 ℃, the main control module controls the refrigeration unit to start, and the circulation lasts for 48 hours. Wherein, every 12 hours, the main control module can control the drainage water valve of the water outlet of the brewing container to open, drain the water in the brewing container, and then re-fill the water to the preset water level.
And step 3: after the first-stage low-temperature soaking and boiling, carrying out first-stage softness detection on the sea cucumber every 1 hour, and prompting manual removal of a sea cucumber sand mouth after the softness detection;
after the first stage of low-temperature soaking and boiling, the main control module starts a first stage softness detection program every 1 hour to obtain a return value describing the softness degree of the sea cucumbers so as to judge whether the soaking state of the first stage meets the first stage softness standard. When the softness of the sea cucumbers in the pot completely meets the softness standard of the first stage, the sea cucumbers are completely soaked, and after the water in the soaking and boiling container is discharged, a buzzer prompts a user to manually remove the sand nozzle. If the sea cucumber still does not well foam after the longest preset time, the buzzer reports an error to inform the user to take out the sea cucumber.
And 4, step 4: carrying out second-stage high-temperature soaking and boiling on the sea cucumber without the sand mouths for 30 minutes;
and (3) putting the sea cucumbers which are removed from the sand nozzles and cleaned into the soaking and boiling container again, pressing down a button for starting the second-stage high-temperature soaking and boiling, controlling the water inlet valve at the water inlet of the soaking and boiling container to be opened by the main control module, monitoring the water level by the water level detector, and controlling the water inlet valve at the water inlet to be closed by the main control module when the water level reaches the preset value of the water level detector. The main control module monitors signals of the temperature sensor to carry out second-stage high-temperature soaking and boiling. When the temperature sensor measures that the temperature of water in the brewing container reaches 90 ℃, the main control module controls the heating unit to be closed; when the temperature sensor measures that the temperature of water in the brewing container is lower than 89 ℃, the main control module controls the heating unit to start, and the circulation lasts for 30 minutes.
And 5: performing second-stage softness detection and second-stage visual judgment on the sea cucumbers soaked and boiled at the second-stage high temperature every 2 minutes;
after heating for 30 minutes, carrying out a second-stage softness detection program every 2 minutes to obtain a return value describing the softness degree of the sea cucumbers; then, performing second-stage visual judgment to obtain a return value of the second-stage visual judgment; and when the return value of the second-stage softness detection and the return value of the second-stage visual judgment respectively pass through the second-stage softness detection and the second-stage visual detection, the sea cucumber is considered to be well foamed, and if any detection fails, the sea cucumber is considered to be not well foamed. If the main control module judges that the sea cucumber is not well soaked, the second-stage high-temperature soaking and boiling process is continued. And if the main control module judges that the sea cucumbers are completely soaked, the next step is carried out. And if the longest preset time is exceeded and the sea cucumber still does not foam well, recording the state and entering the next step.
Step 6: carrying out low-temperature soaking and boiling in the third stage for 48 hours;
the main control module controls a drainage water valve at a water outlet of the brewing container to be opened, water in the brewing container is drained, and then water is injected to a preset water level again; the first stage of low temperature soaking and boiling is started to keep the water temperature at 1 ℃ for 48 hours. Every 12 hours, the main control module controls a drainage valve at a drainage port of the brewing container to be opened, so that water in the brewing container is drained, and then water is refilled to a preset water level.
And 7: and after the third stage of low-temperature soaking and boiling, carrying out softness detection and visual judgment on the sea cucumbers every 1 hour to judge whether the soaking and boiling of the sea cucumbers are finished.
After the third stage of low-temperature soaking and boiling, performing a third stage of softness detection program every 1 hour to obtain a return value of the third stage of softness detection; then, performing third-stage visual judgment to obtain a return value of the third-stage visual judgment; and (4) integrating the return value of the softness detection in the third stage and the return value of the visual judgment in the third stage to judge the foaming state of the sea cucumber. If the main control module judges that the sea cucumber is not well soaked, the third stage of low-temperature soaking and boiling is continued. If the calculation module judges that the sea cucumber is foamed, the buzzer informs the user that the foaming is successful, and the user takes out the sea cucumber. If the sea cucumber still does not foam well after the preset time, the buzzer reports an error to inform the user to take out the sea cucumber. And after the sea cucumber is foamed, the main control module closes the foaming equipment when the foaming equipment radiates to normal temperature.
Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although a large number of terms are used here more, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
1. The sea cucumber foaming equipment is characterized by comprising a foaming and boiling container, a water quantity control module, a temperature adjusting module, a visual detection module, a softness detection module and a main control module;
the soaking and boiling container is a container with a cover and provided with a water inlet and a water outlet, and is used for containing sea cucumbers;
the water quantity control module comprises a water level detector, a water inlet valve and a water outlet valve; the water level detector is arranged on the inner wall of the brewing container, the water inlet valve is arranged at the water inlet, and the water drainage valve is arranged at the water drainage port;
the temperature adjusting module comprises a temperature sensor, a heating unit and a refrigerating unit; the temperature sensor is arranged in the brewing container, and the heating unit and the refrigerating unit are arranged at the bottom of the brewing container;
the visual detection module comprises a camera, and the camera is obliquely arranged at the top of the brewing container to collect the sea cucumber image;
the softness detection module comprises a detection stick, an electromagnet and a displacement variable resistor; the sea cucumber is pressed by the downward movement of the detection stick, the electromagnet is used for driving the detection stick to move, and the displacement variable resistor is used for acquiring the movement distance of the detection stick;
the main control module comprises a logic control unit, an image judgment unit and a softness judgment unit, wherein the logic control unit is connected with the control water quantity control module and the temperature regulation module and is used for carrying out first-stage low-temperature soaking and boiling, second-stage high-temperature soaking and boiling and third-stage low-temperature soaking and boiling; the image judgment unit is connected with the visual detection module and is used for visually judging the sea cucumber; the softness judging unit is connected with the softness detecting module and used for carrying out softness detection on the sea cucumbers.
2. The sea cucumber foaming device according to claim 1, wherein the image judgment unit comprises a neural network, and the neural network comprises a convolution layer, a full connection layer and a classification layer;
the convolution layer comprises three convolution kernels and three pooling layers, and the three convolution kernels respectively adopt three different activation functions; inputting the vector of the convolution layer into the three convolution kernels simultaneously, and inputting the pooling layer corresponding to each convolution kernel after convolution through the convolution kernels; three vectors output by the three pooling layers are spliced end to end and then input into a next layer of network;
the fully-connected layer comprises four neuron groups, vectors input into the fully-connected layer are simultaneously input into the four neuron groups, and three vectors output by the four neuron groups are input into a next layer of network after being spliced end to end;
the classification layer obtains final output through a softmax function and judges whether the sea cucumber meets the requirements or not;
the three activation functions are ReLu, Sigmoid and tanh respectively;
the activation functions of the four neuron populations are ReLu, Sigmoid, Tanh and Softplus respectively.
3. The sea cucumber foaming device according to claim 1, wherein the softness determining unit determines whether a softness return value k of the sea cucumber is within a preset threshold interval, and if the softness return value k is within the threshold interval, the softness detection is passed;
the calculation formula of the return value k of the softness degree is as follows:
wherein the return value k reflects the softness of the sea cucumber, L is the moving distance of the probe rod, F is the downward pressing force of the probe rod, and k1Is a proportionality coefficient, k1Adjusting according to the size of the sea cucumber; and when the return value k is within the set threshold value range, the sea cucumber is soaked well at the stage.
4. The sea cucumber foaming device according to claim 3, wherein the image judgment unit determines the size of the sea cucumber through a target detection algorithm, and the softness judgment unit generates a proportionality coefficient k according to the size of the sea cucumber1。
5. The sea cucumber foaming apparatus according to claim 1, wherein the duration of the first stage low-temperature soaking and boiling and the third stage low-temperature soaking and boiling is 48 hours, and the water is emptied and re-injected with a predetermined amount of water every 12 hours, and the temperature of the soaking and boiling water is 1 degree centigrade;
and the second stage is characterized in that the high-temperature soaking and boiling duration is 30 minutes, and the soaking and boiling water temperature is 89-90 ℃.
6. The sea cucumber frothing device according to claim 1, wherein the heating unit is an eddy current coil disposed at the bottom of the frothing container;
and the eddy current coil is used as the heating unit when alternating current is introduced, and is used as the electromagnet when direct current is introduced.
7. The sea cucumber foaming apparatus according to claim 1, wherein the softness detection module comprises a moving unit;
the moving unit is a mechanical arm for mounting the detection stick, and the moving unit is used for moving the detection stick to align the sea cucumber for the softness detection.
8. A method for foaming sea cucumbers by the sea cucumber foaming device in any one of claims 1 to 7, wherein the method for foaming sea cucumbers comprises the following steps:
step 1: putting the sea cucumber into a soaking and boiling container, and injecting a predetermined amount of water;
step 2: carrying out first-stage low-temperature soaking and boiling on the sea cucumber for 48 hours;
and step 3: after the first-stage low-temperature soaking and boiling, carrying out first-stage softness detection on the sea cucumber every 1 hour, and prompting to manually remove the sand mouth of the sea cucumber after the first-stage softness detection;
and 4, step 4: carrying out second-stage high-temperature soaking and boiling on the sea cucumber without the sand mouths for 30 minutes;
and 5: performing second-stage softness detection and second-stage visual judgment on the sea cucumber soaked and boiled at the second-stage high temperature every 2 minutes;
step 6: carrying out low-temperature soaking and boiling in the third stage for 48 hours;
and 7: and after the third-stage low-temperature soaking and boiling, performing third-stage softness detection and third-stage visual judgment on the sea cucumber every 1 hour to judge whether the sea cucumber soaking and boiling is finished.
9. The method of claim 8, wherein in the first stage of low temperature brewing and the third stage of low temperature brewing, the brewing container is emptied of water and refilled with the predetermined amount of water every 12 hours.
10. The method for brewing sea cucumber according to claim 8, wherein in the first stage low-temperature brewing and the third stage low-temperature brewing, the brewing water temperature is 1 ℃;
and the temperature of the water for soaking and boiling in the second stage of high-temperature soaking and boiling is 89-90 ℃.
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