WO2017143655A1 - 一种削皮设备和方法 - Google Patents

一种削皮设备和方法 Download PDF

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Publication number
WO2017143655A1
WO2017143655A1 PCT/CN2016/080586 CN2016080586W WO2017143655A1 WO 2017143655 A1 WO2017143655 A1 WO 2017143655A1 CN 2016080586 W CN2016080586 W CN 2016080586W WO 2017143655 A1 WO2017143655 A1 WO 2017143655A1
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WO
WIPO (PCT)
Prior art keywords
motor
peeled
item
peeling
peeling device
Prior art date
Application number
PCT/CN2016/080586
Other languages
English (en)
French (fr)
Inventor
具金月
赵天月
Original Assignee
京东方科技集团股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 京东方科技集团股份有限公司 filed Critical 京东方科技集团股份有限公司
Priority to US15/535,901 priority Critical patent/US10624486B2/en
Publication of WO2017143655A1 publication Critical patent/WO2017143655A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • 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
    • A47J17/16—Peeling machines with rotary fruit-holding spindles and fixed or movable peeler blades
    • 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
    • A23N7/00—Peeling vegetables or fruit
    • 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
    • A23N7/00—Peeling vegetables or fruit
    • A23N7/02—Peeling potatoes, apples or similarly shaped vegetables or fruit
    • A23N7/023—Peeling potatoes, apples or similarly shaped vegetables or fruit one by one
    • A23N7/026—Peeling machines therefor with rotary fruit holding spindles and fixed or movable peeler blades

Definitions

  • Embodiments of the present disclosure are directed to a peeling apparatus and method.
  • a peeling apparatus includes a peeling device for peeling a peeling article, and a fixing device for fixing the article to be peeled, wherein
  • the peeling device further includes: a first motor, a second motor, a peeling device control device, a three-dimensional modeling system, and a processing control unit, wherein
  • the three-dimensional modeling system is configured to acquire three-dimensional coordinates of a surface of the item to be peeled
  • the processing control unit is coupled to the three-dimensional modeling system for determining an operating parameter of the peeling device for each region of the surface of the item to be peeled based on the three-dimensional coordinates, and based on the determined Operating parameters determining an operating parameter of the first motor and an operating parameter of the second motor,
  • the process control unit is further coupled to the first motor for controlling the first motor based on an operating parameter of the first motor to cause the first motor to operate based on an operating parameter of the first motor To drive the fixture to move,
  • the process control unit is further coupled to the second motor for controlling the second motor based on an operating parameter of the second motor to cause the second motor to operate based on an operating parameter of the second motor
  • the movement of the peeling device is driven to drive, wherein the rotation of the second motor enables the peeling device control device to control the movement of the peeling device.
  • the peeling device further comprises: obtaining means for acquiring the category of the item to be peeled.
  • the obtaining device includes: an image acquiring unit, configured to acquire an image of the item to be peeled; and an image identifying unit, configured to perform image recognition on the acquired image of the item to be peeled to determine Describe the category of the peeled item.
  • the processing control unit further determines a peeling thickness parameter based on the category of the item to be peeled; the processing control unit is further based on the three-dimensional coordinate and the peeling thickness parameter, Each area of the surface of the item to be peeled determines the operating parameters of the peeling device.
  • the image recognition unit identifies, by image recognition, a contour of a portion of the surface of the article to be peeled that requires special treatment; the processing control unit determines a contour for the portion based on a feature of the contour of the portion Processing parameters; and for the part contour, the processing control unit determines an operating parameter of the peeling device based on processing parameters of the part contour.
  • the three-dimensional modeling system includes one or more of the following: a monocular vision three-dimensional modeling system; a binocular vision three-dimensional modeling system; a multi-view visual three-dimensional modeling system; Modular system; and pulse ranging 3D modeling system.
  • a peeling method comprising the steps of:
  • the second motor is controlled to drive the peeling device to move based on an operating parameter of the second motor, wherein rotation of the second motor enables the peeling device control device to control movement of the peeling device.
  • the method further comprises: obtaining a category of the item to be peeled.
  • acquiring the category of the item to be peeled comprises: acquiring an image of the item to be peeled off by an image acquiring device; and determining the waiting to be performed by performing image recognition on the image of the item to be peeled off The category of peeled items.
  • the method further includes determining a peel thickness parameter based on the category of the item to be peeled; and based on the three-dimensional coordinate and the peel thickness parameter, for the item to be peeled Each area of the surface determines the operating parameters of the peeling device.
  • the method further comprises: identifying, by image recognition, a contour of the portion of the surface of the item to be peeled that requires special treatment; determining a processing parameter for the contour of the portion based on a characteristic of the contour of the portion; For the contour of the part, the operating parameters of the peeling device are determined based on the processing parameters of the contour of the part.
  • the three-dimensional coordinates of the surface are acquired by using one or more of the following: monocular visual three-dimensional modeling; binocular visual three-dimensional modeling; multi-view visual three-dimensional modeling; structured light three-dimensional modeling; And pulse ranging 3D modeling.
  • the operating parameters of the peeling device can be determined for each region of the surface of the item to be peeled, so that a more precise peeling operation can be performed on the irregular items to be peeled; 2) By obtaining the category of the item to be peeled and determining the peeling thickness parameter based on the category of the item to be peeled, the consequences of insufficient peeling and/or excessive peeling can be avoided; and 3) by identifying the part requiring special treatment
  • the contour, the determination of the processing parameters for the contour of the part and the determination of the operating parameters of the peeling device enable the peeling device to handle the parts requiring special handling, further enhancing the scope of application of the peeling device and allowing for more precise processing of the need Specially treated parts.
  • Figure 1a shows a schematic structural view of a peeling device in accordance with one embodiment of the present disclosure
  • FIG. 1b shows a schematic structural view of a peeling device according to another embodiment of the present disclosure
  • FIG. 2a shows a schematic structural view of a peeling apparatus according to another embodiment of the present disclosure
  • FIG. 2b shows a schematic structural view of a peeling device according to another embodiment of the present disclosure
  • FIG. 3 illustrates a block diagram of a peeling apparatus in accordance with one embodiment of the present disclosure
  • FIG. 4 shows a flow chart of a peeling method in accordance with one embodiment of the present disclosure.
  • peeling may refer to the elimination/removal of the skin of the item to be peeled, the removal/removal of the part to be peeled off (such as decay, deterioration, wormhole, breakage, etc.), The item to be peeled is cut into a uniform film of the specified size, or other cutting operations for the item to be peeled.
  • FIG. 1a shows a schematic structural view of a peeling device 100a according to an embodiment of the present disclosure.
  • the peeling device 100a includes a peeling device 102 for peeling the article to be peeled 118.
  • the item to be peeled 118 may comprise any item suitable for being peeled, such as various fruits, vegetables or other items such as apples, pears, peaches, potatoes, cucumbers, eggplants, sweet potatoes, and the like.
  • the peeling device 102 can include various types of existing or future developed paring knives, cutting knives, any other device suitable for peeling operations on items to be peeled, or a combination thereof.
  • the peeling device 102 may be composed of a paring knife and a cutting knife, wherein the paring knife may perform a peeling operation, and the cutting blade may perform a cutting operation on certain portions.
  • the peeling device 100a also includes a fixture 104 for securing the item to be peeled 118.
  • the fixture may be any existing or future developed device suitable for securing the article to be peeled 118, such as a rod with a plurality of pins or any other suitable fixture. It should be noted that although the fixture 104 is shown in FIG. 1a to secure the article to be peeled 118 at one end of the article to be peeled 118, in other embodiments, the fixture 104 may be in the article to be peeled 118 The two ends are used to fix the item to be peeled 118. In this case, the fixture 104 can include a securing mechanism for the jack and the plunger, or other suitable securing or clamping mechanism.
  • the fixture 104 can be integrally formed with the tray 116, or the fixture 104 and tray 116 can be two separate components, but can be combined with one another.
  • the peeling device 100a also includes a first motor 106 that is disposed at one end of the fixture 104.
  • the first motor 106 and the fixture 104 can be connected directly or through any other suitable mechanism (such as gears, belts, etc.) to the fixture 104 and control its movement. Movement of the fixture 104 can include a rotational motion or other suitable form of motion.
  • the first motor 106 rotates, it can drive the fixture 104 to move (e.g., rotate), thereby causing the item to be peeled 118 to move (e.g., rotate).
  • the first electric machine 106 can be any suitable type of electric machine capable of converting electrical energy into mechanical energy, including but not limited to: a direct current motor and/or an alternating current machine.
  • the peeling device 100a also includes a second motor 108 that is disposed at one end of the peeling device control device 110.
  • the second motor 108 can be coupled to and controlled by the peeling device control device 110 by any other suitable mechanism, such as a gear, belt, or the like. When the second motor 108 rotates, it drives the peeling device control device 110 to move.
  • the sport can include up and down movements and / or left and right movement or other suitable form of exercise.
  • the second electric machine 108 can be any suitable type of electric machine capable of converting electrical energy into mechanical energy, including but not limited to: a direct current motor and/or an alternating current machine.
  • the peeling device 100a also includes a peeling device control device 110.
  • the peeling device control device 110 is used to control the movement of the peeling device 102, for example, it can position the peeling device 102 to a specified position (coordinate) and control the orientation of the peeling device 102 or can control the peeling device 102. Other sports.
  • the peeling device control device 110 can be implemented using any suitable mechanism that is available or developed in the future.
  • the peeling device control device 110 can implement a lifting motion using, for example, a slider nut screw combination, using various existing or future developed steering gears to effect steering motion, using a second, for example, belt and/or pulley mechanism.
  • the kinetic energy of the motor is transmitted to the other end of the peeling device control device 110 and the orientation of the peeling device 102 is controlled by a suitable mechanism, such as a robotic arm.
  • the peeling device 100a also includes a three-dimensional modeling system 112 for acquiring three-dimensional coordinates of the surface of the article to be peeled 118.
  • the three-dimensional coordinates can be three-dimensional Cartesian coordinates, cylindrical coordinates, spherical coordinates, or other three-dimensional coordinates that can be used.
  • the three-dimensional modeling system 112 may include one or more of the following: a monocular vision three-dimensional modeling system; a binocular vision three-dimensional modeling system; a multi-view visual three-dimensional modeling system; a structured light three-dimensional modeling system; and a pulse measurement Distance 3D modeling system.
  • a pulse ranging three-dimensional modeling system such as a laser range finder uses pulsed measurement to actively emit laser light while receiving reflected signals from objects such as items to be peeled for ranging, for each scanning point. Measure the slant distance from the measured site to the scanning point. With the horizontal and vertical angles of the scanning, the coordinate difference between each scanning point and the measuring station can be obtained. If the coordinates of the measuring station and an orientation point are known values. , you can find the three-dimensional coordinates of each scan point.
  • the three-dimensional modeling system 112 can simultaneously scan the rotated object to be peeled 118 using two laser beams, and use the data processor to three-dimensionally model the scanned data to determine the surface of the object to be peeled 118. coordinate of.
  • the peeling device 100a also includes a process control unit 120.
  • the process control unit 120 is coupled to the three-dimensional modeling system 112 for determining operational parameters of the peeling device 102 for each region of the surface of the item to be peeled 118 based on the three-dimensional coordinates. For example, the process control unit 120 may obtain three-dimensional coordinates of the surface of the article to be peeled 118 from the three-dimensional modeling system 112. In addition, processing control orders The element 120 may also divide the surface of the article to be peeled 118 into a plurality of regions according to the flatness of the surface of the article to be peeled 118 or the like.
  • the shape of the article to be peeled 118 e.g., apple
  • the fixture 104 drives the item to be peeled 118 to rotate
  • the surface of the item to be peeled 118 at the same level is closest to the peeling device 102.
  • the distance is also the same. Therefore, depending on the size of the item to be peeled off and the surface flatness, the surface of the item to be peeled 118 in the same vertical height range can be divided into one area.
  • the process control unit 120 may divide the irregular surface into a plurality of regular sub-surfaces (ie, regions), and then determine, for each sub-surface, the peeling device 102, respectively. Operating parameters.
  • the surface of the article to be peeled 118 may be divided into a plurality of regions by any suitable method, and the present disclosure is not limited thereto.
  • the process control unit 120 can determine a reference line. When cutting, the peeling device 102 can complete the peeling operation of the area along the reference line.
  • the process control unit 120 determines operational parameters of the peeling device 102, such as position (eg, three-dimensional coordinates), orientation (eg, cutting angle), motion trajectory, etc., where the position of the peeling device 102 can be defined Is the location of any designated location in the peeling device 102. After the peeling device 102 is adjusted to the orientation consistent with the operating parameters, it can peel the area. After determining an area, the process control unit 120 may determine operational parameters of the peeling device 102 for another area that is adjacent or not adjacent.
  • position eg, three-dimensional coordinates
  • orientation eg, cutting angle
  • motion trajectory etc.
  • the process control unit 120 may determine an operational parameter of the first motor 106 and an operational parameter of the second motor 108 based on the determined operational parameter.
  • the operational parameters of the peeling device 102 include: the position is (x, y, z) and the orientation is vertical.
  • the process control unit 120 may determine motor operating parameters required to rotate the first region of the article to be peeled 118 (eg, the reference line as described above) through the coordinates (x, y, z) based on the determined operational parameters.
  • the processing control unit 120 may be based on the coordinates (x, y, z) and the coordinates (x1, y1) , z1) and the characteristics of the first region to determine
  • the number of revolutions of the first motor 106 determines the operating parameters of the first motor (ie, the number of revolutions that the first motor is capable of rotating) based on the performance parameters of the first motor 106.
  • the first motor 106 can be rotated at a constant speed.
  • the process control unit 120 may determine an operational parameter of the second motor 108 required by the peeling device 102 to reach the specified coordinates (x, y, z) based on the determined operational parameter and adjust the peeling device 102 to the specified orientation (
  • the operational parameters of the second motor 108 are required, for example, vertically oriented.
  • the process control unit 120 may calculate the height difference between the coordinates (x, y, z) and the coordinates (x2, y2, z2), and according to the height The difference is used to determine the height at which the peeling device 102 needs to be raised/lowered, and the operating parameters of the second electrode 108 can be determined based on the performance parameters of the peeling device control device 110. Similarly, the process control unit 120 may further determine operational parameters of the second motor 108 for adjusting the left/right motion of the peeling device control device 110, ultimately causing the peeling device 102 to reach the designated coordinates (x, y, z).
  • the process control unit 120 may further determine to control the peeling device control device 110 to adjust the peeling device 102 to a specified orientation (eg, in this embodiment) The vertical orientation of the operating parameters of the second motor 108.
  • a specified orientation eg, in this embodiment
  • the order of motion (rise/fall, left/right motion, and orientation adjustment) of the above-described peeling device control device 110 can be varied, and the present disclosure does not have any limitation thereto.
  • the process control unit 120 may use any suitable method to determine the operational parameters required to adjust the peeling device 102 to the specified coordinates (x, y, z).
  • the process control unit 120 is also coupled to the first motor 106.
  • the process control unit 120 may control the first motor 106 based on operational parameters of the first motor such that the first motor 106 operates based on operational parameters of the first motor to cause the fixture 104 to move.
  • the process control unit 120 can act as a controller for the first motor.
  • the process control unit 120 is also coupled to the second motor 108.
  • the process control unit 120 may control the second motor 108 based on the operating parameters of the second motor such that the second motor 108 operates based on the operating parameters of the second motor to drive the peeling device 102 to move, wherein the rotation of the second motor 108 causes the cutting
  • the skin device control device 110 can control the movement of the peeling device 102.
  • the process control unit 120 can act as a controller for the second motor.
  • the operational parameters of the first motor and the second motor may include, but are not limited to, voltage, current, speed, power, start and stop settings, acceleration and deceleration time, torque, delay, and the like.
  • operational parameters such as motion sequence, timing, and the like may also be considered.
  • different motion sequences rising/descending, left/right motion, and orientation adjustment
  • the operating parameters of the first electric machine and/or the operating parameters of the second electric machine may be associated with the timing.
  • the process control unit 120 can be one component or include multiple discrete components.
  • the process control unit 120 may include a data processing unit, a first motor controller, and a second motor controller.
  • the first motor controller may be located near or integrated with the first motor
  • the second motor controller may be located near or integrated with the second motor.
  • the process control unit 120 may include a data processing unit and a motor controller. In this case, the motor controller can simultaneously control the first motor and the second motor.
  • the peeling device 100a can determine the operating parameters of the peeling device 102 for each region of the surface of the article to be peeled 118, so that a more precise peeling operation can be performed on the irregular article to be peeled 118.
  • the peeling apparatus 100a further includes an acquisition device (not shown) for obtaining a category of the item to be peeled 118.
  • the category of items to be peeled 118 may include, but is not limited to, item type, maturity, softness, storage time, or a combination thereof.
  • the process control unit 120 can determine a parameter of the peel thickness based on the category of the article to be peeled 118.
  • the peeling thickness of different kinds of items may be different.
  • the peeling thickness of an apple is different from the peeling thickness of a pumpkin. Even if the same kind of items, if their storage time is different, their respective peeling thicknesses are different.
  • the acquisition device may be any suitable device capable of inputting the category of item to be peeled 118 by the user, such as a button, a button, a touch screen, a voice input and recognition device, a keypad, a keyboard, and the like.
  • the user can acquire a class of the item to be peeled off 118 by pressing an acquisition device such as a button corresponding to the category of the item to be peeled 118. do not.
  • the category of items to be peeled 118 can then be communicated to the process control unit 120.
  • the acquisition device may also obtain the category of the article to be peeled 118 by image recognition.
  • the acquisition means may include an image acquisition unit (not shown) and an image recognition unit (not shown).
  • the image acquisition unit may be any suitable image acquisition device for acquiring an image of the item to be peeled off, such as various image sensors or the like.
  • the image recognition unit may be any device capable of processing an image and recognizing the image, such as a processor, a CPU, a digital signal processor, etc., for performing image recognition on the acquired image of the item to be peeled to determine to be peeled
  • the category of the item may use any existing or future developed image recognition algorithm that can be applied, and the present disclosure does not have any limitation thereto.
  • the process control unit 120 may also determine a peel thickness parameter based on the category of item to be peeled.
  • the peeling device 100a may store in its memory (not shown) an entry of the category of item to be peeled and the corresponding peel thickness parameter (eg, the item may be stored in various suitable data structures (eg, a database) )in).
  • the process control unit 120 may acquire the peel thickness parameter from the database using the category of the article to be peeled as the search/query item.
  • the process control unit 120 may also determine an operating parameter of the peeling device 102 for each region of the surface of the item to be peeled based on the three-dimensional coordinates and the peel thickness parameter.
  • the peeling apparatus 100a can avoid the consequences of insufficient peeling and/or excessive peeling by obtaining the category of the item to be peeled and determining the peeling thickness parameter based on the category of the item to be peeled.
  • the image recognition unit may identify the contour of the portion of the surface of the item to be peeled 118 that requires special treatment by image recognition.
  • Sites requiring special treatment may include, but are not limited to, decay, deterioration, wormholes, breakage, and the like, or combinations thereof.
  • the areas that require special treatment are different from the images of the normal parts, and these parts can be identified by any suitable image recognition method.
  • the contour of the part that requires special treatment can be defined by the three-dimensional coordinates of the surface of the item to be peeled 118.
  • Processing control unit 120 may then determine processing parameters for the contour of the portion based on the characteristics of the contour of the portion.
  • contour of the site may include, but are not limited to, degree of decay, degree of deterioration, size of the wormhole, degree of damage, and the like.
  • Processing parameters for the contour of the part It may include, but is not limited to, a peeling thickness or depth or the like for each sub-portion of the portion.
  • the process control unit 120 may determine an operating parameter of the peeling device 102 based on the processing parameters of the portion profile for the portion profile.
  • the peeling device 102 such as a cutting blade, can be controlled to perform a cutting operation on the portion.
  • the peeling device 100a can process the portion requiring special treatment by identifying the contour of the portion requiring special treatment, determining the processing parameters for the contour of the portion, and determining the operating parameters of the peeling device, thereby further enhancing the peeling device.
  • the scope of 100a can be used to more precisely handle parts that require special handling.
  • FIG. 1b shows a schematic structural view of a peeling device 100b according to another embodiment of the present disclosure.
  • the same or similar elements as in Figure 1a use the same reference numerals.
  • the function of each component will not be described in detail.
  • the second motor comprises a second motor 108 and a second motor 128.
  • the second motor 108 can control the lifting and orbiting movement of the peeling device 102, while the second motor 128 can control the orientation of the peeling device 102.
  • FIG. 2a shows a schematic structural view of a peeling device 200a according to another embodiment of the present disclosure.
  • the peeling device 202 may correspond to the peeling device 102 of Figures 1a and 1b, wherein in the reference number, the first position from the left indicates Figure number, the remaining two digits indicate the component number.
  • the peeling device 202 and the peeling device control device 210 connected thereto are located at the orientation of the fixture 104 of Figures 1a and 1b, while the fixture 204 is located The orientation of the peeling device 102 of Figures 1a and 1b and the peeling device control device 110 connected thereto.
  • first motor 206 can drive the fixture 204 to rotate in a direction (or opposite direction) indicated by the arrow 230 in the vertical plane
  • first motor 106 can be driven Device 104 rotates in a direction (or opposite direction) indicated by arrow 130 in the horizontal plane.
  • FIG. 2b shows a schematic structural view of a peeling device 200b according to another embodiment of the present disclosure.
  • the same or similar elements as in Figure 2a use the same reference numerals.
  • the function of each component will not be described in detail.
  • the second motor includes a second motor 208 and a second motor 228.
  • the second motor 208 can control the lifting and orbiting movement of the peeling device control device, while the second motor 228 can control the orientation of the peeling device 202.
  • FIG. 3 shows a block diagram of a peeling device 300 in accordance with one embodiment of the present disclosure.
  • the peeling device 302 can be coupled to the peeling device control device 314, which can generally be a mechanical connection and through which the operation of the peeling device 302 can be controlled.
  • the second motor 312 can be coupled to the peeling device control device 314, which can generally be a mechanical connection and can be used to convert the rotational energy of the second motor 312 into the motion of the peeling device control device 314.
  • the second motor 312 is electrically coupled to the process control unit 318.
  • the process control unit 318 is also electrically coupled to the first motor 306.
  • the first motor 306 is coupled to a fixture 304, which may be a mechanical connection and through which the fixture 304 can be moved.
  • the image recognition unit in the acquisition device in the above embodiment, the data processor in the three-dimensional modeling system, and the processing control unit may be separate components, or one or more or all of them may be integrated in one In the component.
  • the peeling devices 100a, 100b, 200a, 200b, and 300 may also include any other suitable components such as a power module, a power switch, a memory, and the like.
  • a power module such as a power module, a power switch, a memory, and the like.
  • the disclosure does not have any limitation on this.
  • FIG. 4 illustrates a flow chart of a peeling method 400 in accordance with one embodiment of the present disclosure.
  • the peeling method 400 can be performed by the above-described peeling apparatus 100a, 100b, 200a, 200b or 300.
  • the peeling method 400 will now be described in conjunction with this figure. For Those portions that are the same as those of the previous embodiment are appropriately omitted.
  • the peeling method 400 includes the following steps:
  • Step S402 acquiring three-dimensional coordinates of a surface of the item to be peeled
  • Step S404 determining, according to the three-dimensional coordinates, an operation parameter of the peeling device for each region of the surface of the item to be peeled;
  • Step S406 determining an operation parameter of the first motor and an operation parameter of the second motor based on the determined operation parameter
  • Step S408 controlling the first motor to drive the fixed device to move based on the operating parameters of the first motor
  • Step S410 controlling the second motor to drive the movement of the peeling device based on the operating parameters of the second motor, wherein the rotation of the second motor enables the peeling device control device to control the movement of the peeling device.
  • the peeling method 400 further includes: obtaining a category of the item to be peeled.
  • acquiring the category of the item to be peeled includes: acquiring an image of the item to be peeled by the image acquiring device; and determining the item to be peeled by performing image recognition on the image of the item to be peeled Category.
  • the peeling method 400 further includes: determining a peeling thickness parameter based on the category of the item to be peeled; and based on the three-dimensional coordinate and the peeling thickness parameter, for the item to be peeled Each area of the surface determines the operating parameters of the peeling device.
  • the peeling method 400 further includes: identifying, by image recognition, a contour of the portion of the surface of the item to be peeled that requires special treatment; determining a processing parameter for the contour of the portion based on the characteristic of the contour of the portion And determining, for the contour of the part, an operating parameter of the peeling device based on the three-dimensional coordinates and processing parameters of the contour of the part.
  • the three-dimensional coordinates of the surface are acquired by using one or more of the following: monocular visual three-dimensional modeling; binocular visual three-dimensional modeling; multi-view visual three-dimensional modeling; structured light three-dimensional modeling; And pulse ranging 3D modeling.

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  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Polymers & Plastics (AREA)
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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)

Abstract

一种削皮设备（100a），包括削皮装置（102）、固定装置（104）、第一电机（106）、第二电机（108）、削皮装置控制装置（110）、获取待削皮物品表面三维坐标的三维建模系统（112）、处理控制单元（120）。处理控制单元与三维建模系统连接，用于确定削皮装置的操作参数、第一电机的操作参数和第二电机的操作参数。处理控制单元还与第一电机连接，并控制第一电机以带动固定装置运动。处理控制单元还与第二电机连接，并控制第二电机以带动削皮装置运动。还涉及一种削皮方法。该削皮设备和方法能够处理不规则的物品和需要特别处理的部位，避免削皮不足和/或削皮过度的情况。

Description

一种削皮设备和方法
本申请要求于2016年2月26日递交的中国专利申请第201610107370.4号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开的实施例涉及一种削皮设备和方法。
背景技术
目前，对诸如果蔬的物品进行削皮通常有两种方法：人工削皮和机械削皮。人工削皮不但费时费力，并且如果不进行大量的削皮训练/练习，则可能导致削皮过厚、不均匀等现象，此外还有可能弄伤用户的手指。机械削皮适用于对形状规整的物品进行削皮，然而对于形状不规整的物品，机械削皮会存在削皮过厚和/或过薄或者削不到的现象。因此，存在对改进的削皮解决方案的需求。
发明内容
根据本公开的第一方面，公开了一种削皮设备。该削皮设备包括削皮装置，用于对待削皮物品进行削皮，固定装置，用于固定所述待削皮物品，其中，
所述削皮设备还包括：第一电机、第二电机、削皮装置控制装置、三维建模系统、处理控制单元，其中
所述三维建模系统，用于获取所述待削皮物品的表面的三维坐标，
所述处理控制单元与所述三维建模系统连接，用于基于所述三维坐标，针对所述待削皮物品的表面的每个区域确定所述削皮装置的操作参数，以及基于所确定的操作参数，确定所述第一电机的操作参数和所述第二电机的操作参数，
所述处理控制单元还与所述第一电机连接，用于基于所述第一电机的操作参数来控制所述第一电机以使得所述第一电机基于所述第一电机的操作参数进行操作以带动所述固定装置运动，
所述处理控制单元还与所述第二电机连接，用于基于所述第二电机的操作参数来控制所述第二电机以使得所述第二电机基于所述第二电机的操作参数进行操作以带动所述削皮装置运动，其中所述第二电机的转动使得所述削皮装置控制装置能够控制所述削皮装置的运动。
根据一个实施例，削皮设备还包括：获取装置，用于获取所述待削皮物品的类别。
根据一个实施例，所述获取装置包括：图像获取单元，用于获取所述待削皮物品的图像；以及图像识别单元，用于对所获取的待削皮物品的图像进行图像识别以确定所述待削皮物品的类别。
根据各种实施例，所述处理控制单元还基于所述待削皮物品的类别，确定削皮厚度参数；所述处理控制单元还基于所述三维坐标和所述削皮厚度参数，针对所述待削皮物品的表面的每个区域确定所述削皮装置的操作参数。
根据一个实施例，所述图像识别单元通过图像识别，识别所述待削皮物品的表面需要特别处理的部位轮廓；所述处理控制单元基于所述部位轮廓的特征，确定针对所述部位轮廓的处理参数；以及针对所述部位轮廓，所述处理控制单元基于所述部位轮廓的处理参数，确定所述削皮装置的操作参数。
根据各种实施例，所述三维建模系统包括以下中的一项或多项：单目视觉三维建模系统；双目视觉三维建模系统；多目视觉三维建模系统；结构光三维建模系统；以及脉冲测距三维建模系统。
根据本公开的第二方面，公开了一种削皮方法，其包括以下步骤：
获取待削皮物品的表面的三维坐标；
基于所述三维坐标，针对所述待削皮物品的表面的每个区域确定削皮装置的操作参数；
基于所确定的操作参数，确定第一电机的操作参数和第二电机的操作参数；
基于所述第一电机的操作参数，控制所述第一电机以带动固定装置运动；以及
基于所述第二电机的操作参数，控制所述第二电机以带动所述削皮装置运动，其中所述第二电机的转动使得削皮装置控制装置能够控制所述削皮装置的运动。
根据一个实施例，所述方法还包括：获取所述待削皮物品的类别。
根据一个实施例，获取所述待削皮物品的类别包括：通过图像获取装置获取所述待削皮物品的图像；以及通过对所获取的待削皮物品的图像进行图像识别，确定所述待削皮物品的类别。
根据各种实施例，所述方法还包括：基于所述待削皮物品的类别，确定削皮厚度参数；以及基于所述三维坐标和所述削皮厚度参数，针对所述待削皮物品的表面的每个区域确定所述削皮装置的操作参数。
根据一个实施例，所述方法还包括：通过图像识别，识别所述待削皮物品的表面需要特别处理的部位轮廓；基于所述部位轮廓的特征，确定针对所述部位轮廓的处理参数；以及针对所述部位轮廓，基于所述部位轮廓的处理参数，确定所述削皮装置的操作参数。
根据各种实施例，通过使用以下中的一项或多项来获取表面的三维坐标：单目视觉三维建模；双目视觉三维建模；多目视觉三维建模；结构光三维建模；以及脉冲测距三维建模。
上述公开的实施例至少具有以下优点：1)可以针对待削皮物品的表面的每个区域确定削皮装置的操作参数，从而可以对不规则的待削皮物品进行更精确的削皮操作；2)通过获取待削皮物品的类别，并且基于待削皮物品的类别来确定削皮厚度参数，可以避免削皮不足和/或削皮过度的后果；以及3)通过识别需要特别处理的部位轮廓、确定针对该部位轮廓的处理参数和确定削皮装置的操作参数，可以使得削皮设备能够处理需要特别处理的部位，进一步增强了削皮设备的适用范围，并可以更精确地处理需要 特别处理的部位。
附图说明
现在参照附图，附图仅是示例性的并且没有按比例绘制，其中：
图1a示出了根据本公开的一个实施例的削皮设备的结构示意图；
图1b示出了根据本公开的另一个实施例的削皮设备的结构示意图；
图2a示出了根据本公开的另一个实施例的削皮设备的结构示意图；
图2b示出了根据本公开的另一个实施例的削皮设备的结构示意图；
图3示出了根据本公开的一个实施例的削皮设备的框图；以及
图4示出了根据本公开的一个实施例的削皮方法的流程图。
在附图中，为便于理解，已经使用相同或相似的标记指代基本上具有相同或类似结构和/或相同或类似功能的元件。
具体实施方式
下面参照附图描述本公开的实施例。在下面的描述中，阐述了许多具体细节以便使所属技术领域的技术人员更全面地了解和实现本公开。但是，对所属技术领域的技术人员明显的是，本公开的实现可不具有这些具体细节中的一些具体细节。此外，应当理解的是，本公开并不局限于所介绍的特定实施例。相反，可以考虑用下面所述的特征和要素的任意组合来实施本公开，而无论它们是否涉及不同的实施例。因此，下面的方面、特征、实施例和优点仅作说明之用，而不应看作是权利要求的要素或限定，除非在权利要求中明确提出。
如本申请中使用的，“削皮”可以指消除/去除待削皮物品的表皮、消除/去除待削皮物品的需要特别处理的部分(例如腐烂、变质、虫洞、破损等)、将待削皮物品切削成指定尺寸的均匀的膜，或对待削皮物品的其它切削操作。
削皮设备
图1a示出了根据本公开的一个实施例的削皮设备100a的结构示意图。如在图1a中示出的，削皮设备100a包括：削皮装置102，其用于对待削皮物品118进行削皮。待削皮物品118可以包括任何适合于被削皮的物品，例如各种水果、蔬菜或其它物品，诸如苹果、梨、桃、土豆、黄瓜、茄子、地瓜等。削皮装置102可以包括：各种类型的现有的或将来开发的削皮刀、切割刀、任何其它适合于对待削皮物品进行削皮操作的装置、或其组合。作为示例，削皮装置102可以由削皮刀和切割刀组成，其中削皮刀可以进行削皮操作，切割刀可以对某些部位进行切割操作。
削皮设备100a还包括固定装置104，其用于固定待削皮物品118。固定装置可以是现有的或将来开发的适合于固定待削皮物品118的任何装置，诸如带有多个插针的杆或其它任何合适的固定装置。需要注意的是，尽管在图1a中固定装置104被示出为在待削皮物品118的一端来固定待削皮物品118，但是在其它实施例中，固定装置104可以在待削皮物品118的两端来固定待削皮物品118。在这种情况下，固定装置104可以包括顶杆和压杆的固定机构，或其它合适的固定或夹持机构。固定装置104可以与托盘116一体成型，或固定装置104和托盘116可以是两个分立的元件，但是可以相互结合。
削皮设备100a还包括第一电机106，其设置在固定装置104的一端。第一电机106和固定装置104可以直接连接或通过任何其它合适的机构(诸如齿轮、皮带等传动机构)与固定装置104连接并控制它的运动。固定装置104的运动可以包括旋转运动或其它合适的运动形式。当第一电机106转动时，它可以带动固定装置104运动(例如转动)，进而带动待削皮物品118运动(例如转动)。第一电机106可以是能够将电能转化为机械能的任何合适类型的电机，包括但不限于：直流电机和/或交流电机。
削皮设备100a还包括第二电机108，其设置在削皮装置控制装置110一端。第二电机108可以通过任何其它合适的机构(诸如齿轮、皮带等传动机构)与削皮装置控制装置110连接并控制它的运动。当第二电机108转动时，它带动削皮装置控制装置110运动。该运动可以包括上下运动和 /或左右运动或其它合适的运动形式。第二电机108可以是能够将电能转化为机械能的任何合适类型的电机，包括但不限于：直流电机和/或交流电机。
削皮设备100a还包括削皮装置控制装置110。削皮装置控制装置110用于控制削皮装置102的运动，例如，它可以将削皮装置102定位到指定的位置(坐标)处并控制削皮装置102的定向或可以控制削皮装置102的其它运动。削皮装置控制装置110可以使用现有的或将来开发的任何合适的机构来实现。例如，削皮装置控制装置110可以使用例如滑块螺母螺杆组合来实现升降运动，使用各种现有的或将来开发的转向器来实现转向运动，使用例如皮带和/或滑轮机构等将第二电机的动能传递到削皮装置控制装置110的另一端并通过合适的机构(例如机械臂)来控制削皮装置102的定向。
削皮设备100a还包括三维建模系统112，其用于获取待削皮物品118的表面的三维坐标。三维坐标可以是三维笛卡尔坐标、圆柱坐标、球面坐标或其它可以使用的三维坐标。三维建模系统112可以包括以下中的一项或多项：单目视觉三维建模系统；双目视觉三维建模系统；多目视觉三维建模系统；结构光三维建模系统；以及脉冲测距三维建模系统。作为示例，诸如激光测距仪的脉冲测距三维建模系统采用脉冲式测量，可以主动发射激光同时接受来自物体(诸如待削皮物品)的反射信号以进行测距，针对每一扫描点可测得测站点至扫描点的斜距，配合扫描的水平角和竖直角，可以求得每一扫描点与测站点之间的坐标差，若测站点和一个定向点的坐标为已知值，则可以求出每一扫描点的三维坐标。在一个实施例中，三维建模系统112可以采用两束激光同时扫描旋转的待削皮物品118，利用数据处理器对扫描后的数据进行三维建模，从而确定待削皮物品118表面各点的坐标。
削皮设备100a还包括处理控制单元120。处理控制单元120与三维建模系统112连接，用于基于三维坐标，针对待削皮物品118的表面的每个区域确定削皮装置102的操作参数。例如，处理控制单元120可以从三维建模系统112获取待削皮物品118的表面的三维坐标。此外，处理控制单 元120还可以根据待削皮物品118的表面的平整度等，将待削皮物品118的表面划分成多个区域。作为示例，假设待削皮物品118(例如苹果)的形状是规则的(例如球形)并且待削皮物品118被居于中心地固定在固定装置104上。在这种情况下，如果固定装置104带动待削皮物品118旋转，则在待削皮物品118的表面旋转的情况下，在相同水平面处待削皮物品118的表面至削皮装置102的最近距离也是相同的。因此，取决于待削皮物品118的大小和表面平整度，在同一垂直高度范围内的待削皮物品118的表面可以被划分成一个区域。另外，如果待削皮物品118的表面不规则，则处理控制单元120可以将不规则的表面划分成多个规则的子表面(即区域)，然后针对每个子表面，分别确定削皮装置102的操作参数。此外，还可以使用任何合适的方法将待削皮物品118的表面划分成多个区域，本公开对此没有任何限制。一般而言，针对每个区域，处理控制单元120可以确定一条参考线。在切割时，削皮装置102可以沿着参考线完成对该区域的削皮操作。
然后，针对每个区域，处理控制单元120确定削皮装置102的操作参数，例如位置(例如，三维坐标)、定向(例如切削角度)、运动轨迹等，其中削皮装置102的位置可以被定义为削皮装置102中的任何指定部位的位置。在削皮装置102被调整到与操作参数一致的方位后，它可以对该区域进行削皮。在确定了一个区域后，处理控制单元120可以针对相邻或不相邻的另一区域确定削皮装置102的操作参数。
在确定了削皮装置102的操作参数后，处理控制单元120可以基于所确定的操作参数，确定第一电机106的操作参数和第二电机108的操作参数。例如，假设针对第一区域，削皮装置102的操作参数包括：位置为(x，y，z)，定向为垂直。处理控制单元120可以基于所确定的操作参数，确定将待削皮物品118的第一区域(例如，如上所述的参考线)旋转通过坐标(x，y，z)所需要的电机操作参数。作为示例，假设待削皮物品118的第一区域的参考线的起始点位于坐标(x1，y1，z1)，则处理控制单元120可以基于坐标(x，y，z)和坐标(x1，y1，z1)以及第一区域的特征来确定 第一电机106的转动圈数，进而例如根据第一电机106的性能参数来确定第一电机的操作参数(即，使得第一电机能够旋转所确定的转动圈数)。在一个实施例中，第一电机106可以匀速旋转。
此外，处理控制单元120可以基于所确定的操作参数，确定削皮装置102到达指定坐标(x，y，z)所需要的第二电机108的操作参数以及将削皮装置102调整到指定定向(例如垂直定向)所需要的第二电机108的操作参数。作为示例，假设削皮装置102初始位于坐标(x2，y2，z2)，则处理控制单元120可以计算坐标(x，y，z)与坐标(x2，y2，z2)的高度差，并根据高度差来确定削皮装置102需要上升/下降的高度，进而可以根据削皮装置控制装置110的性能参数来确定第二电极108的操作参数。类似地，处理控制单元120可以进一步确定用于调节削皮装置控制装置110的左/右运动的第二电机108的操作参数，最终使得削皮装置102到达指定坐标(x，y，z)。当削皮装置102到达坐标(x，y，z)时，处理控制单元120可以进一步确定用于控制削皮装置控制装置110以将削皮装置102调整到指定定向(例如，在这个实施例中的垂直定向)的第二电机108的操作参数。需要注意的是，以上削皮装置控制装置110的运动顺序(上升/下降、左/右运动、以及定向调节)是可以变化的，本公开对此没有任何限制。在其它实施例中，处理控制单元120可以使用任何合适的方法来确定将削皮装置102调整到指定坐标(x，y，z)所需要的操作参数。
处理控制单元120还与第一电机106连接。处理控制单元120可以基于第一电机的操作参数来控制第一电机106以使得第一电机106基于第一电机的操作参数进行操作以带动固定装置104运动。在这种情况下，处理控制单元120可以担当第一电机的控制器。
处理控制单元120还与第二电机108连接。处理控制单元120可以基于第二电机的操作参数来控制第二电机108以使得第二电机108基于第二电机的操作参数进行操作以带动削皮装置102运动，其中第二电机108的转动使得削皮装置控制装置110能够控制削皮装置102的运动。在这种情况下，处理控制单元120可以担当第二电机的控制器。
此外，取决于所使用的电机类型，第一电机和第二电机的操作参数可以包括但不限于：电压、电流、转速、功率、启停设置、加减速时间、扭矩、延时等。另外，在处理控制单元120确定第一电机的操作参数和第二电机的操作参数时，还可以考虑诸如运动顺序、时序等的操作参数。例如，如上所述，削皮装置控制装置110的不同的运动顺序(上升/下降、左/右运动、以及定向调节)可以对应于不同的第二电机的操作参数。作为示例，第一电机的操作参数和/或第二电机的操作参数可以与时序相关联。
另外，需要注意的是，处理控制单元120可以是一个元件或包括多个分立的元件。作为示例，处理控制单元120可以包括：数据处理单元、第一电机控制器、第二电机控制器。在这种情况下，第一电机控制器可以位于第一电机附近或与第一电机集成，第二电机控制器可以位于第二电机附近或与第二电机集成。作为另一个示例，处理控制单元120可以包括：数据处理单元和电机控制器。在这种情况下，电机控制器可以同时控制第一电机和第二电机。
以上实施例，削皮设备100a可以针对待削皮物品118的表面的每个区域确定削皮装置102的操作参数，从而可以对不规则的待削皮物品118进行更精确的削皮操作。
在一个实施例中，削皮设备100a还包括：获取装置(未示出)，其用于获取待削皮物品118的类别。待削皮物品118的类别可以包括但不限于物品种类、成熟程度、软硬程度、保存时间或其组合。处理控制单元120能够基于待削皮物品118的类别来确定削皮厚度的参数。例如，不同种类的物品的削皮厚度可能是不同的。作为示例，苹果的削皮厚度与南瓜的削皮厚度是不同的。即使同一种物品，如果其保存时间不同，那么它们各自的削皮厚度也是不同的，例如刚出土的土豆与保存了一年的土豆，它们的削皮厚度也是不同的。获取装置可以是能够由用户输入待削皮物品118的类别的任何合适的设备，例如按钮、按键、触摸屏、语音输入和识别设备、小键盘、键盘等。作为示例，用户可以通过按压对应于待削皮物品118的类别的诸如按钮的获取装置，从而获取装置可以获取待削皮物品118的类 别。然后，可以将待削皮物品118的类别传送给处理控制单元120。
此外，在其它实施例中，获取装置也可以通过图像识别来获取待削皮物品118的类别。在这种情况下，获取装置可以包括：图像获取单元(未示出)和图像识别单元(未示出)。图像获取单元可以是用于获取待削皮物品的图像的任何合适的图像获取装置，例如各种图像传感器等。图像识别单元可以是任何能够处理图像并对图像进行识别的装置，例如处理器、CPU、数字信号处理器等，其用于对所获取的待削皮物品的图像进行图像识别以确定待削皮物品的类别。图像识别单元可以使用任何可以适用的现有的或将来开发的图像识别算法，本公开对此没有任何限制。
在一个实施例中，处理控制单元120还可以基于待削皮物品的类别，确定削皮厚度参数。例如，削皮设备100a可以在其存储器(未示出)中存储待削皮物品的类别与对应的削皮厚度参数的条目(例如，该条目可以被保存在各种合适的数据结构(例如数据库)中)。处理控制单元120可以使用待削皮物品的类别作为检索/查询项从数据库中获取削皮厚度参数。
在获取了削皮厚度参数后，处理控制单元120还可以基于三维坐标和削皮厚度参数，针对待削皮物品的表面的每个区域确定削皮装置102的操作参数。
上述实施例，通过获取待削皮物品的类别，并且基于待削皮物品的类别来确定削皮厚度参数，削皮设备100a可以避免削皮不足和/或削皮过度的后果。
在一个实施例中，图像识别单元可以通过图像识别，识别待削皮物品118的表面需要特别处理的部位轮廓。需要特别处理的部位可以包括但不限于：腐烂、变质、虫洞、破损等或其组合。一般而言，需要特别处理的部位与正常部位的图像是不同的，通过任何合适的图像识别方法可以识别出这些部分。需要特别处理的部位轮廓可以由待削皮物品118的表面的三维坐标来限定。然后，处理控制单元120可以基于该部位轮廓的特征，确定针对所述部位轮廓的处理参数。部位轮廓的特征可以包括但不限于：腐烂程度、变质程度、虫洞大小、破损程度等。针对该部位轮廓的处理参数 可以包括但不限于：针对该部位的各个子部位的削皮厚度或深度等。随后，处理控制单元120可以针对该部位轮廓，基于该部位轮廓的处理参数，确定削皮装置102的操作参数。作为示例，可以控制诸如切割刀的削皮装置102对该部位进行切割操作。需要注意的是，可以迭代地执行上述识别部位轮廓、确定针对部位轮廓的处理参数和确定削皮装置的操作参数的操作，直到不再需要对该部位进行进一步的操作为止。
上述实施例，通过识别需要特别处理的部位轮廓、确定针对该部位轮廓的处理参数和确定削皮装置的操作参数，可以使得削皮设备100a能够处理需要特别处理的部位，进一步增强了削皮设备100a的适用范围，并可以更精确地处理需要特别处理的部位。
图1b示出了根据本公开的另一个实施例的削皮设备100b的结构示意图。在图1b中，与图1a中相同或相似的元件使用相同的附图标记。出于简洁的目的，对于每个元件的功能不再详细描述。与图1a不同的是，在图1b中，第二电机包括：第二电机108和第二电机128。第二电机108可以控制削皮装置102的升降和左右运动，而第二电机128可以控制削皮装置102的定向。
图2a示出了根据本公开的另一个实施例的削皮设备200a的结构示意图。与图1a和图1b的相同或相似的元件使用相似的标记，例如削皮装置202可以与图1a和图1b中削皮装置102对应，其中在附图标记中，左起第一位表示附图编号，其余两位表示元件编号。与图1a和图1b中不同的是，在图2a中，削皮装置202及与其连接的削皮装置控制装置210位于图1a和图1b中的固定装置104的方位处，而固定装置204位于图1a和图1b中的削皮装置102及与其连接的削皮装置控制装置110的方位处。此外，第一电机206和第二电机208的方位也进行了调整。在图2a的结构中，第一电机206可以带动固定装置204沿垂直平面中由箭头230所指示的方向(或相反方向)旋转，而在图1a和图1b中，第一电机106可以带动固定装置104沿水平平面中由箭头130所指示的方向(或相反方向)旋转。
图2b示出了根据本公开的另一个实施例的削皮设备200b的结构示意图。在图2b中，与图2a中相同或相似的元件使用相同的附图标记。出于简洁的目的，对于每个元件的功能不再详细描述。与图2a不同的是，在图2b中，第二电机包括：第二电机208和第二电机228。第二电机208可以控制削皮装置控制装置的升降和左右运动，而第二电机228可以控制削皮装置202的定向。
需要注意的是，图1a、1b、2a、2b中示出的各种元件仅是示例，在实际中，各种元件可以具有任何合适的大小和形状并且可以被设置在任何合适的方位中，本公开对此没有任何限制。
图3示出了根据本公开的一个实施例的削皮设备300的框图。在图3中，削皮装置302可以与削皮装置控制装置314连接，该连接一般可以为机械连接并且可以通过该连接控制削皮装置302的操作。第二电机312可以与削皮装置控制装置314连接，该连接一般可以为机械连接并且可以通过该连接将第二电机312的旋转能量转换成削皮装置控制装置314的运动。第二电机312与处理控制单元318电连接。处理控制单元318还与第一电机306电连接。第一电机306与固定装置304连接，该连接一般可以为机械连接并且可以通过该连接带动固定装置304运动。
此外，上述实施例中的获取装置中的图像识别单元、三维建模系统中的数据处理器、以及处理控制单元可以是分立的元件，或者它们中的一个或多个或全部可以被集成在一个元件中。
此外，削皮设备100a、100b、200a、200b和300还可以包括其它任何合适的元件，例如电源模块、电源开关、存储器等。本公开对此没有任何限制。
削皮方法
在同一发明构思下，图4示出了根据本公开的一个实施例的削皮方法400的流程图。可以由上述的削皮设备100a、100b、200a、200b或300来执行削皮方法400。下面就结合该图，对削皮方法400进行描述。对于 那些与前面实施例相同的部分，适当省略其说明。
削皮方法400包括以下步骤：
步骤S402，获取待削皮物品的表面的三维坐标；
步骤S404，基于三维坐标，针对待削皮物品的表面的每个区域确定削皮装置的操作参数；
步骤S406，基于所确定的操作参数，确定第一电机的操作参数和第二电机的操作参数，
步骤S408，基于第一电机的操作参数，控制第一电机以带动固定装置运动，
步骤S410，基于第二电机的操作参数，控制第二电机以带动削皮装置运动，其中第二电机的转动使得削皮装置控制装置能够控制削皮装置的运动。
在一个实施例中，削皮方法400还包括：获取待削皮物品的类别。
在一个实施例中，获取待削皮物品的类别包括：通过图像获取装置获取待削皮物品的图像；以及通过对所获取的待削皮物品的图像进行图像识别，确定所述待削皮物品的类别。
在一个实施例中，削皮方法400还包括：基于所述待削皮物品的类别，确定削皮厚度参数；以及基于所述三维坐标和所述削皮厚度参数，针对所述待削皮物品的表面的每个区域确定所述削皮装置的操作参数。
在一个实施例中，削皮方法400还包括：通过图像识别，识别所述待削皮物品的表面需要特别处理的部位轮廓；基于所述部位轮廓的特征，确定针对所述部位轮廓的处理参数；以及针对所述部位轮廓，基于所述三维坐标和所述部位轮廓的处理参数，确定所述削皮装置的操作参数。
在一个实施例中，通过使用以下中的一项或多项来获取表面的三维坐标：单目视觉三维建模；双目视觉三维建模；多目视觉三维建模；结构光三维建模；以及脉冲测距三维建模。
如果需要，可以以不同的顺序和/或彼此并发地执行本申请中所描述的不同功能。此外，如果需要，上述功能中的一个或多个功能可以是非必须 的或可以被组合。
尽管以上参照附图描述了本公开的实施例，但是本领域的技术人员可以理解以上描述仅为示例，而不是对本公开的限制。可以对本公开的实施例进行各种修改和变型，而仍落入本公开的精神和范围之内，本公开的范围仅由所附权利要求书确定。

Claims (12)

  1. 一种削皮设备，包括：
    削皮装置，用于对待削皮物品进行削皮，
    固定装置，用于固定所述待削皮物品，
    所述削皮设备还包括：第一电机、第二电机、削皮装置控制装置、三维建模系统、处理控制单元，其中
    所述三维建模系统，用于获取所述待削皮物品的表面的三维坐标，
    所述处理控制单元与所述三维建模系统连接，用于基于所述三维坐标，针对所述待削皮物品的表面的每个区域确定所述削皮装置的操作参数，以及基于所确定的操作参数，确定所述第一电机的操作参数和所述第二电机的操作参数，
    所述处理控制单元还与所述第一电机连接，用于基于所述第一电机的操作参数来控制所述第一电机以使得所述第一电机基于所述第一电机的操作参数进行操作以带动所述固定装置运动，
    所述处理控制单元还与所述第二电机连接，用于基于所述第二电机的操作参数来控制所述第二电机以使得所述第二电机基于所述第二电机的操作参数进行操作以带动所述削皮装置运动，其中所述第二电机的转动使得所述削皮装置控制装置能够控制所述削皮装置的运动。
  2. 权利要求1所述的设备，还包括：
    获取装置，用于获取所述待削皮物品的类别。
  3. 权利要求2所述的设备，其中，所述获取装置包括：
    图像获取单元，用于获取所述待削皮物品的图像；以及
    图像识别单元，用于对所获取的待削皮物品的图像进行图像识别以确定所述待削皮物品的类别。
  4. 权利要求2或3所述的设备，其中
    所述处理控制单元还基于所述待削皮物品的类别，确定削皮厚度参数；
    所述处理控制单元还基于所述三维坐标和所述削皮厚度参数，针对所 述待削皮物品的表面的每个区域确定所述削皮装置的操作参数。
  5. 权利要求3所述的设备，其中，
    所述图像识别单元通过图像识别，识别所述待削皮物品的表面需要特别处理的部位轮廓；
    所述处理控制单元基于所述部位轮廓的特征，确定针对所述部位轮廓的处理参数；以及
    针对所述部位轮廓，所述处理控制单元基于所述部位轮廓的处理参数，确定所述削皮装置的操作参数。
  6. 权利要求1‐5中的任何一项所述的设备，其中，所述三维建模系统包括以下中的一项或多项：
    单目视觉三维建模系统；
    双目视觉三维建模系统；
    多目视觉三维建模系统；
    结构光三维建模系统；以及
    脉冲测距三维建模系统。
  7. 一种削皮方法，包括以下步骤：
    获取待削皮物品的表面的三维坐标；
    基于所述三维坐标，针对所述待削皮物品的表面的每个区域确定削皮装置的操作参数；
    基于所确定的操作参数，确定第一电机的操作参数和第二电机的操作参数；
    基于所述第一电机的操作参数，控制所述第一电机以带动固定装置运动；以及
    基于所述第二电机的操作参数，控制所述第二电机以带动所述削皮装置运动，其中所述第二电机的转动使得削皮装置控制装置能够控制所述削皮装置的运动。
  8. 权利要求7所述的方法，还包括：
    获取所述待削皮物品的类别。
  9. 权利要求8所述的方法，其中，获取所述待削皮物品的类别包括：
    通过图像获取装置获取所述待削皮物品的图像；以及
    通过对所获取的待削皮物品的图像进行图像识别，确定所述待削皮物品的类别。
  10. 权利要求8或9所述的方法，还包括：
    基于所述待削皮物品的类别，确定削皮厚度参数；以及
    基于所述三维坐标和所述削皮厚度参数，针对所述待削皮物品的表面的每个区域确定所述削皮装置的操作参数。
  11. 权利要求9所述的方法，还包括：
    通过图像识别，识别所述待削皮物品的表面需要特别处理的部位轮廓；
    基于所述部位轮廓的特征，确定针对所述部位轮廓的处理参数；以及
    针对所述部位轮廓，基于所述部位轮廓的处理参数，确定所述削皮装置的操作参数。
  12. 权利要求7‐11中的任何一项所述的方法，其中，通过使用以下中的一项或多项来获取表面的三维坐标：
    单目视觉三维建模；
    双目视觉三维建模；
    多目视觉三维建模；
    结构光三维建模；以及
    脉冲测距三维建模。
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