Pineapple or pineapple hole digging system
By designing the eye-digging system for pineapple or pineapple, using camera equipment and identification modules to identify the position of the pineapple eye and generate eye-digging trajectory, the problems of low efficiency and waste of flesh in the existing technology of pineapple or pineapple pineapple eye digging are solved, and efficient and low-cost eye-digging operations are achieved.
Patent Information
- Application Number
- CN202411401997.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-09
- Publication Date
- 2025-03-07
AI Technical Summary
Existing pineapple or pineapple digging pineapple eyes are inefficient, resulting in waste of flesh.
Design a pineapple or pineapple eye-picking system, including an eye-picking rack, camera equipment, identification module, rotary fixing mechanism, eye-picking device and control system. The recognition image of pineapple or pineapple is taken through the camera equipment. The recognition module recognizes the position of the pineapple eye and generates the eye-picking trajectory. The control system drives the eye-picking rig to accurately poach the eye.
Efficient pineapple or pineapple eye-digging operations are achieved, reducing flesh waste and reducing equipment costs.
Smart Images
Figure CN119579681A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of pineapple or pineapple processing, and particularly relates to a pineapple or pineapple eye-digging system. Background Art
[0002] The peel of pineapple or pineapple is hard, and the surface of the pineapple or pineapple flesh has multiple pineapple eyes. At present, the pineapple or pineapple eye digging operation is mainly processed by manually using an eye digging tool. The tool used for digging the eye is a pineapple eye clamp or a pineapple shovel. When using the pineapple eye clamp to dig the eye, it is necessary to manually clamp the pineapple eyes one by one, which is not only inefficient, but also manual digging of the eye will result in the removal of excess flesh due to operational problems, resulting in waste of flesh. When using a pineapple shovel to remove the eye, the V-shaped blade of the pineapple shovel is used to dig the eye along the texture of the pineapple eye, which will cause more waste of flesh.
[0003] Therefore, in the field of pineapple or pineapple processing, improving the eye-digging effect and reducing pulp waste are current problems that need to be solved in pineapple or pineapple processing. Summary of the invention
[0004] The object of the present invention is to provide a pineapple or pineapple eye digging system, so as to overcome the defect of low efficiency caused by currently manually using pineapple eye clips or pineapple shovels to dig out the eyes.
[0005] To achieve the above-mentioned purpose, the present invention provides a pineapple or pineapple eye-digging system, comprising: an eye-digging frame and a camera device, a recognition module, a rotating and fixing mechanism, an eye-digging device and a control system arranged on the eye-digging frame; the camera device, the rotating and fixing mechanism, the recognition module, and the eye-digging device are respectively connected to the control system;
[0006] The rotating and fixing mechanism is used to fix the pineapple or pineapple and drive the fixed pineapple or pineapple to rotate;
[0007] The camera device is used to capture multiple identification images of the single pineapple or pineapple;
[0008] The recognition module is used to identify and obtain the pineapple eye position of a single pineapple or pineapple according to the plurality of recognition images, and generate an eye-digging trajectory according to the pineapple eye position;
[0009] The eye-digging device is provided with an eye-digging rotary knife, and the control system controls the eye-digging rotary knife of the eye-digging device to dig the eye at the pineapple eye position of the pineapple or pineapple according to the eye-digging trajectory.
[0010] Preferably, in the above technical solution, the recognition module identifies and obtains the pineapple eye position of a single pineapple or pineapple according to the plurality of recognition images, and generates the eye-digging trajectory according to the pineapple eye position specifically includes:
[0011] Step S1, dividing the pineapple into a plurality of recognition images of equal angles along the circumference of the pineapple according to the size of the pineapple, and capturing a recognition image of the pineapple from the front of the camera device each time the pineapple rotates once through the equal angles;
[0012] Step S2, when collecting the colored recognition image of the pineapple or pineapple from the front, record the peripheral points corresponding to the positions of each equal angle, and obtain the radial size of the outer contour of the fruit collected from the side according to the peripheral points;
[0013] Step S3, combining the collected multiple recognition images into an image of the peripheral holes of the pineapple or pineapple;
[0014] Step S4, binarizing the peripheral hole image to obtain a black and white spot image, where the pineapple hole of the pineapple or pineapple is black and the rest is white;
[0015] Step S5, finding the area center of each black spot on the peripheral eye image, and then outputting it as the pineapple eye position data of the eye-digging device through calibration coordinate transformation, so as to locate the black spot of the pineapple eye;
[0016] Step S6, merging the coordinates of black spots whose distance is less than a certain threshold;
[0017] Step S7, obtaining the digging depth of the black spot of each pineapple eye of the pineapple or pineapple according to the radial dimension and the maximum diameter of the pineapple or pineapple;
[0018] Step S8, calculating the distance between any two black spots, and re-sorting the coordinate points of all black spots according to the principle of the shortest movement trajectory to generate an eye-digging trajectory with the shortest movement trajectory.
[0019] Preferably, in the above technical solution, step S4 further includes removing spot interference items whose area is greater than or less than a certain threshold.
[0020] Preferably, in the above technical solution, the eye-digging device further includes an up-and-down moving module, a forward-and-backward moving module and an eye-digging mechanism;
[0021] The up-and-down moving module is arranged on the eye-digging frame, the front-and-back moving module is arranged on the up-and-down moving module, and the eye-digging mechanism is arranged on the front-and-back moving module;
[0022] The eye-digging mechanism includes an eye-digging bracket, an eye-digging rotary cutter, a reciprocating drive mechanism, a high-speed rotating motor and a magnetic coupling rotating drive mechanism arranged on the eye-digging bracket; the eye-digging rotary cutter is fixed on the rotating shaft of the inner rotor of the magnetic coupling rotating drive mechanism, the high-speed rotating motor is connected to the outer rotor of the magnetic coupling rotating drive mechanism to drive the outer rotor to rotate at a high speed, and the reciprocating drive mechanism is used to drive the rotating shaft of the inner rotor to perform reciprocating motion.
[0023] Preferably, in the above technical solution, the reciprocating drive mechanism includes a reciprocating drive motor, a cam, a connecting rod, a slider and a slide rail; the reciprocating drive motor and the slide rail are arranged on the eyelet bracket, the cam is arranged on the rotating shaft of the reciprocating drive motor, the slider is slidably arranged on the slide rail, and the two ends of the connecting rod are respectively hinged to the cam and the slider.
[0024] Preferably, in the above technical solution, the magnetically coupled rotation drive mechanism is provided with a rotor bracket, an outer rotor and an inner rotor matching the outer rotor, the rotor bracket is fixed on the eyelet bracket, the outer rotor is rotatably arranged on the rotor bracket, and the inner rotor is rotatably arranged on the slider.
[0025] Preferably, in the above technical solution, a gap is set between the inner rotor and the outer rotor.
[0026] Preferably, in the above technical solution, the end of the eye-gouging rotary knife is provided with a plurality of long blades extending outwardly relative to the knife wall of the eye-gouging rotary knife, and the ends of the long blades are arc-shaped.
[0027] Preferably, in the above technical solution, the up and down moving module includes a first module bracket, an up and down moving motor, a first screw rod and an up and down sliding guide rail, the first module bracket is fixed on the eye-digging machine frame, the up and down sliding guide rail is arranged on the first module bracket, the first screw rod is rotatably arranged on the first module bracket, and the up and down moving motor is used to drive the first screw rod to rotate.
[0028] Preferably, in the above technical solution, the forward and backward moving module includes a second module bracket, a forward and backward moving motor, a second screw rod and a forward and backward sliding guide rail, the second module bracket is installed on the first screw rod through a screw hole and the second module bracket is slidably arranged on the upper and lower sliding guide rails; the forward and backward sliding guide rails are arranged on the second module bracket, the second screw rod is rotatably arranged on the second module bracket, the eyelet bracket is installed on the second screw rod through a screw hole and the eyelet bracket is slidably arranged on the forward and backward sliding guide rails.
[0029] Preferably, in the above technical solution, the rotating fixing mechanism is arranged on one side of the eye-digging mechanism, and the rotating fixing mechanism includes a fixed seat, a rotating motor and a pin member, the rotating motor is fixed on the fixed seat, the pin member is rotatably arranged on the fixed seat, and the rotating motor is used to drive the pin member to rotate.
[0030] Compared with the existing technology, the present invention has the following beneficial effects:
[0031] 1. The present invention identifies the position of the pineapple eye of a pineapple or pineapple to obtain an eye-digging trajectory, and controls the eye-digging rotary cutter to accurately dig out the pineapple eye according to the eye-digging trajectory, thereby realizing efficient pineapple or pineapple eye-digging operation.
[0032] 2. The pineapple eye recognition method of the present invention is simple and easy to implement compared to other pineapple eye recognition methods using three-dimensional recognition. Since it does not require three-dimensional recognition equipment and can be implemented using camera equipment, the equipment cost can be greatly reduced.
[0033] 3. The present invention adopts a rotating and reciprocating eye-digging knife to dig eyes of pineapples or pineapples. Compared with traditional pineapple eye clamps or pineapple shovels, the rotating eye-digging knife has a smaller eye-digging area, so it can reduce the excess pulp dug when digging eyes, thereby reducing the waste of pulp.
[0034] 4. The present invention uses a magnetic coupling rotary drive mechanism to drive the eye-digging rotary cutter to rotate. The gap between the inner rotor and the outer rotor is set, which can not only rotate quickly, but also enable the reciprocating drive mechanism to move back and forth at high speed. Because the inner rotor and the outer rotor are not in contact, no physical friction is generated when the inner rotor performs high-speed reciprocating motion, and there is no friction loss between the two. BRIEF DESCRIPTION OF THE DRAWINGS
[0035] Figure 1 It is a structural schematic diagram of the eye-digging device of the present invention.
[0036] Figure 2 Schematic diagram of the structure of the practical reciprocating drive mechanism.
[0037] Figure 3 The figure is a schematic diagram of the structure of the practical eye-digging rotary knife.
[0038] Figure 4 The figure is a schematic diagram of shooting of the camera device of the present invention.
[0039] Figure 5a-5g It is a schematic diagram of the process of pineapple eye recognition of the present invention.
[0040] Among them, 1-eye digging device, 11-up and down moving module, 12-forward and backward moving module, 13-eye digging mechanism, 131-eye digging bracket, 132-reciprocating drive motor, 133-cam, 134-slider, 135-slide rail, 136-connecting rod, 137-high-speed rotating motor, 138-magnetic coupling rotating drive mechanism, 1381-outer rotor, 1382-inner rotor, 139-eye digging rotary knife, 1391-long blade,
[0041] 2-rotating fixing mechanism, 21-fixing seat, 22-pin part, 23-rotating motor, DETAILED DESCRIPTION
[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0043] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "thick", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
[0044] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If the terms "first", "second", "third" are described, they are only used for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.
[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is an explanation of the embodiments of the present invention based on its overall structure.
[0046] like Figure 1-Figure 4 As shown, the eye-digging system for pineapples or pineapples in this embodiment includes: an eye-digging frame and a camera device arranged on the eye-digging frame, a recognition module, a rotating fixing mechanism, an eye-digging device and a control system, and the eye-digging device includes an up-and-down moving module 11, a front-and-back moving module 12 and an eye-digging mechanism 13. The up-and-down moving module 11 is arranged on the eye-digging frame, the front-and-back moving module 12 is arranged on the up-and-down moving module 11, and the eye-digging mechanism is arranged on the front-and-back moving module 12.
[0047] Specifically in this embodiment, refer to Figure 1The up-and-down moving module 11 includes a first module bracket, an up-and-down moving motor, a first screw rod and an up-and-down sliding guide rail. The first module bracket is fixed on the eye-digging machine frame, the up-and-down sliding guide rail is arranged on the first module bracket, the first screw rod is rotatably arranged on the first module bracket, and the up-and-down moving motor is used to drive the first screw rod to rotate.
[0048] Furthermore, the forward and backward moving module 12 includes a second module bracket, a forward and backward moving motor, a second screw rod and a forward and backward sliding guide rail. The second module bracket is installed on the first screw rod through a screw hole and the second module bracket is slidably arranged on the upper and lower sliding guide rails. The front and rear sliding guide rails are arranged on the second module bracket, the second screw rod is rotatably arranged on the second module bracket, and the eye-digging bracket is installed on the second screw rod through a screw hole and the eye-digging bracket is slidably arranged on the front and rear sliding guide rails. When the up and down moving motor drives the first screw rod to rotate, the first screw rod drives the second module bracket, so that the second module bracket moves up and down along the upper and lower sliding rails. When the forward and backward moving motor drives the second screw rod to rotate, the second screw rod drives the eye-digging bracket to move forward and backward.
[0049] Continue to refer Figure 1 and Figure 2 The eye-digging mechanism 13 includes: an eye-digging rotary cutter 139, a reciprocating drive mechanism provided on the eye-digging bracket 131, a high-speed rotating motor 137, and a magnetic coupling rotating drive mechanism 138. The eye-digging rotary cutter 139 is fixed on the rotating shaft of the inner rotor 1382 of the magnetic coupling rotating drive mechanism 138, the high-speed rotating motor 137 is connected to the outer rotor 1381 of the magnetic coupling rotating drive mechanism 138 to drive the outer rotor 1381 to rotate at a high speed, and the reciprocating drive mechanism is used to drive the rotating shaft of the inner rotor 1382 to reciprocate.
[0050] Specifically, in this embodiment, the reciprocating drive mechanism includes a reciprocating drive motor 132, a cam 133, a connecting rod 136, a slider 134 and a slide rail 135. The reciprocating drive motor 132 and the slide rail 135 are arranged on the eye pick bracket 131, the cam 133 is arranged on the rotating shaft of the reciprocating drive motor 132, the slider 134 is slidably arranged on the slide rail 135, and the two ends of the connecting rod 136 are respectively hinged to the cam 133 and the slider 134. The reciprocating drive motor 132 drives the cam 133 to rotate, thereby driving the slider 134 to reciprocate along the slide rail 135 through the connecting rod 136.
[0051] Furthermore, the magnetic coupling rotation drive mechanism 138 is provided with a rotor support, an outer rotor 1381 and an inner rotor 1382 matched with the outer rotor 1381, and a gap is set between the inner rotor 1382 and the outer rotor 1381. The rotor support is fixed on the eye-digging bracket 131, the outer rotor 1381 is rotatably arranged on the rotor support, and the inner rotor 1382 is rotatably arranged on the slider 134 (such as through bearings, etc.). The high-speed rotating motor 137 drives the outer rotor 1381 to rotate, and the outer rotor 1381 generates a rotating magnetic field, which will drag the inner rotor to rotate with it, thereby realizing power transmission. Since the inner rotor 1382 does not contact the outer rotor 1381, no physical friction is generated when the inner rotor 1382 performs high-speed reciprocating motion, and there is no friction loss between the two.
[0052] In this embodiment, preferably, reference Figure 3 , discloses an eye-digging rotary knife 139, the specific structure of the eye-digging rotary knife 139 is: a plurality of long blades 1391 extending outwardly relative to the blade wall of the eye-digging rotary knife 139 are provided on the outer periphery of the end of the eye-digging rotary knife 139, and the ends of the long blades 1391 are arc-shaped. There are guide grooves between the blades of the eye-digging rotary knife. When digging eyes, after the rotating eye-digging rotary knife digs eyes, the rotating guide grooves can quickly throw away the dug pulp, so that the eye can be dug quickly without clogging. Moreover, the rotary knife adopts a rotating method to dig eyes, and the area of the dug pulp is smaller, which can avoid the waste of pulp.
[0053] refer to Figure 4 The camera device is located at the front side of the eye-digging device, and its camera direction is relative to the pineapple or pineapple. The camera device is used to take multiple identification images of a single pineapple or pineapple.
[0054] refer to Figure 5a-5g The recognition module is used to identify and obtain the pineapple eye position of a single pineapple or pineapple according to multiple recognition images, and generate an eye-digging trajectory according to the pineapple eye position. The specific steps include:
[0055] Step S1, dividing the pineapple into a plurality of recognition images of equal angles along the circumference of the pineapple according to its size, and capturing a color recognition image of the pineapple from the front of the camera device each time the pineapple rotates once through an equal angle.
[0056] First, establish a coordinate system. The pineapple is centered and rotated quickly at an even angle. The camera captures the image when the pineapple is stationary. The width of the ROI recognition image is the perimeter of the fruit / number of divisions, and the height of the image is the maximum length of the fruit. For details, refer to Figure 5a .
[0057] Secondly, the number of divisions is based on the size of the fruit (i.e. the width and height of the acquisition), and the number is determined based on 10-20 copies to obtain the optimal value of the result after image synthesis.
[0058] Step S2, when collecting the color recognition image of the pineapple or pineapple from the front, record the peripheral points corresponding to the position of each average angle, obtain the radial size of the outer contour of the fruit collected from the side according to the peripheral points, and obtain the eye-digging depth of each subsequent pineapple or pineapple according to the radial size and the maximum diameter of the fruit. Figure 5b .
[0059] Specifically, the eye-digging depth coordinate T = the radial dimension corresponding to the Y coordinate of the pineapple eye position - the fruit size coefficient * the set quantitative digging depth dimension, and the fruit size coefficient = the maximum diameter of the fruit / the average diameter of the collected fruit.
[0060] Step S3, combining the collected multiple recognition images into a peripheral eye image of the pineapple or pineapple, for details, refer to Figure 5c .
[0061] Specifically, in order to seamlessly connect the pixels of multiple recognition images in the order of collection, it is necessary to collect recognition image data for one rotation.
[0062] Step S4, using a green filter algorithm to convert a certain range of green in the peripheral hole image into white.
[0063] Step S5, binarize the peripheral hole image, and only keep the black and white spot image. The pineapple eye of the pineapple or pineapple is black, and the rest is white. For details, refer to Figure 5d .
[0064] The green part of the skin will become an interference item after binarization and needs to be removed first.
[0065] Step S6, remove the spot interference items whose area is larger or smaller than a certain threshold, distinguish the bad fruit area and burr interference, refer to Figure 5e .
[0066] Remove burr interference and reduce the waste of pulp and time caused by equipment malfunction.
[0067] Step S7, find the area center of each black spot on the peripheral hole image, and then output it as the pineapple eye position data of the robot hole through calibration coordinate transformation to locate the black spot of the pineapple eye. Figure 5f .
[0068] Convert the coordinates of the found spot image into the coordinates of the robot eye digging. Note that the X coordinate is converted into the corresponding rotation angle value.
[0069] Step S8, merging the coordinates of the black spots whose distance is less than a certain threshold, which are the overlapping spots when the picture is synthesized. At this time, the eye-digging depth of the black spots of each pineapple eye of the pineapple or pineapple can be obtained according to the radial size and the maximum diameter of the pineapple or pineapple.
[0070] Step S9, calculate the optimal eye-digging trajectory, and sort all eye-digging coordinates into the optimal trajectory. That is, calculate the distance between any two black spots, and re-sort the coordinate points of all black spots according to the principle of the shortest trajectory, and generate the eye-digging trajectory of the eye-digging movement, so that the trajectory of all black spots is the shortest, which is conducive to improving the speed of eye-digging. For details, refer to Figure 5g .
[0071] Step S10, sending the sorted coordinate data of the eye-digging trajectory to the control system, and the equipment starts the eye-digging operation according to the coordinate points of the black spots.
[0072] Send the sorted coordinates of all points, where each pineapple eye coordinate contains X (rotation angle), Y, Z and digging depth T data, and write the data into the control system through the modbus protocol. The PLC of the control system moves and performs eye digging operations based on this point data.
[0073] Continue to refer Figure 1 The rotating fixing mechanism 2 is arranged on one side of the eye-digging mechanism 13, and is used to fix the pineapple or pineapple and drive the fixed pineapple or pineapple to rotate. The rotating fixing mechanism 2 includes a fixing seat 21, a rotating motor 23 and a pin member 22, the rotating motor 23 is fixed on the fixing seat 21, the pin member 22 is rotatably arranged on the fixing seat 21, and the rotating motor 23 is used to drive the pin member 22 to rotate.
[0074] Among them, the camera equipment, the rotating and fixing mechanism, the identification module, and the eye-digging device are respectively connected to the control system. When digging the eye, the end of the peeled pineapple or pineapple is installed on the pin member 22, and the control system controls the up-down moving module 11 and the front-back moving module 12 to drive the eye-digging mechanism 13 to move to a certain position, so that the eye-digging rotary knife 139 corresponds to the pineapple eye of the pineapple or pineapple. At this time, the control system controls the high-speed rotating motor 137 to drive the outer rotor 1381 to drive the inner rotor 1382 to rotate at a high speed according to the eye-digging trajectory coordinate data, thereby driving the eye-digging rotary knife 139 to rotate rapidly, and the reciprocating drive mechanism drives the inner rotor 1382 to reciprocate rapidly, cooperates with the pin member 22 to drive the pineapple or pineapple to rotate, and continuously digs the eye position of the pineapple or pineapple. During the eye-digging process, the up-down moving module 11 and the front-back moving module 12 drive the eye-digging mechanism to make the eye-digging rotary knife correspond to the pineapple eyes of pineapples or pineapples at different heights to perform the eye-digging operation.
[0075] In summary, compared with the traditional pineapple eye clamp or pineapple shovel eye digging, the pineapple or pineapple eye digging system in this embodiment can reduce the excess pulp dug out when digging the eye because the rotating eye digging knife has a smaller eye digging area, thereby reducing the waste of pulp.
[0076] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the claims and their equivalents.
Claims
1. A pineapple or pineapple eye-digging system, characterized in that: include: An eye-digging frame and a camera device, a recognition module, a rotating and fixing mechanism, an eye-digging device and a control system arranged on the eye-digging frame; the camera device, the rotating and fixing mechanism, the recognition module and the eye-digging device are respectively connected to the control system; The rotating and fixing mechanism is used to fix the pineapple or pineapple and drive the fixed pineapple or pineapple to rotate; The camera device is used to capture multiple identification images of the single pineapple or pineapple; The recognition module is used to identify and obtain the pineapple eye position of a single pineapple or pineapple according to the plurality of recognition images, and generate an eye-digging trajectory according to the pineapple eye position; The eye-digging device is provided with an eye-digging rotary knife, and the control system controls the eye-digging rotary knife of the eye-digging device to dig the eye at the pineapple eye position of the pineapple or pineapple according to the eye-digging trajectory.
2. The pineapple or pineapple eye-digging system according to claim 1, characterized in that: The steps of the recognition module identifying and obtaining the pineapple eye position of a single pineapple or pineapple according to the plurality of recognition images, and generating an eye-digging track according to the pineapple eye position specifically include: Step S1, dividing the pineapple into a plurality of recognition images of equal angles along the circumference of the pineapple according to the size of the pineapple, and capturing a recognition image of the pineapple from the front of the camera device each time the pineapple rotates once through the equal angles; Step S2, when collecting the colored recognition image of the pineapple or pineapple from the front, record the peripheral points corresponding to the positions of each equal angle, and obtain the radial size of the outer contour of the fruit collected from the side according to the peripheral points; Step S3, combining the collected multiple recognition images into an image of the peripheral holes of the pineapple or pineapple; Step S4, binarizing the peripheral hole image to obtain a black and white spot image, where the pineapple hole of the pineapple or pineapple is black and the rest is white; Step S5, finding the area center of each black spot on the peripheral eye image, and then outputting it as the pineapple eye position data of the eye-digging device through calibration coordinate transformation, so as to locate the black spot of the pineapple eye; Step S6, merging the coordinates of black spots whose distance is less than a certain threshold; Step S7, obtaining the digging depth of the black spot of each pineapple eye of the pineapple or pineapple according to the radial dimension and the maximum diameter of the pineapple or pineapple; Step S8, calculating the distance between any two black spots, and re-sorting the coordinate points of all black spots according to the principle of the shortest movement trajectory to generate an eye-digging trajectory with the shortest movement trajectory.
3. The pineapple or pineapple eye-digging system according to claim 2, characterized in that: The step S4 also includes removing spot interference items whose area is larger or smaller than a certain threshold.
4. The pineapple or pineapple eye-digging system according to claim 1, characterized in that: The eye-digging device also includes an up-and-down moving module, a forward-and-backward moving module and an eye-digging mechanism; The up-and-down moving module is arranged on the eye-digging frame, the front-and-back moving module is arranged on the up-and-down moving module, and the eye-digging mechanism is arranged on the front-and-back moving module; The eye-digging mechanism includes an eye-digging bracket, an eye-digging rotary cutter, a reciprocating drive mechanism, a high-speed rotating motor and a magnetic coupling rotating drive mechanism arranged on the eye-digging bracket; the eye-digging rotary cutter is fixed on the rotating shaft of the inner rotor of the magnetic coupling rotating drive mechanism, the high-speed rotating motor is connected to the outer rotor of the magnetic coupling rotating drive mechanism to drive the outer rotor to rotate at a high speed, and the reciprocating drive mechanism is used to drive the rotating shaft of the inner rotor to perform reciprocating motion.
5. The pineapple or pineapple eye-digging system according to claim 1, characterized in that: The reciprocating drive mechanism includes a reciprocating drive motor, a cam, a connecting rod, a slider and a slide rail; the reciprocating drive motor and the slide rail are arranged on the eye-digging bracket, the cam is arranged on the rotating shaft of the reciprocating drive motor, the slider is slidably arranged on the slide rail, and the two ends of the connecting rod are respectively hinged to the cam and the slider.
6. The pineapple or pineapple eye-digging system according to claim 5, characterized in that: The magnetic coupling rotation drive mechanism is provided with a rotor support, an outer rotor and an inner rotor matching the outer rotor, the rotor support is fixed on the eyelet support, the outer rotor is rotatably arranged on the rotor support, the inner rotor is rotatably arranged on the slider, and a gap is set between the inner rotor and the outer rotor.
7. The pineapple or pineapple eye-digging system according to claim 3, characterized in that: The end of the eye-digging rotary knife is provided with a plurality of long blades extending outwardly relative to the knife wall of the eye-digging rotary knife, and the ends of the long blades are arc-shaped.
8. The pineapple or pineapple eye-digging system according to claim 3, characterized in that: The up-and-down moving module includes a first module bracket, an up-and-down moving motor, a first screw rod and an up-and-down sliding guide rail. The first module bracket is fixed on the eye-digging machine frame, the up-and-down sliding guide rail is arranged on the first module bracket, the first screw rod is rotatably arranged on the first module bracket, and the up-and-down moving motor is used to drive the first screw rod to rotate.
9. The pineapple or pineapple eye-digging system according to claim 8, characterized in that: The forward and backward moving module includes a second module bracket, a forward and backward moving motor, a second screw rod and a forward and backward sliding guide rail. The second module bracket is installed on the first screw rod through a screw hole and the second module bracket is slidably arranged on the upper and lower sliding guide rails; the forward and backward sliding guide rails are arranged on the second module bracket, the second screw rod is rotatably arranged on the second module bracket, and the eyelet bracket is installed on the second screw rod through a screw hole and the eyelet bracket is slidably arranged on the forward and backward sliding guide rails.
10. The pineapple or pineapple eye-digging system according to claim 1, characterized in that: The rotating fixing mechanism is arranged on one side of the eye-digging mechanism, and the rotating fixing mechanism includes a fixing seat, a rotating motor and a pin member. The rotating motor is fixed on the fixing seat, and the pin member is rotatably arranged on the fixing seat. The rotating motor is used to drive the pin member to rotate.