Automatic edible fungus bag cover taking method for fungus bag cover taking machine

Abstract

The invention relates to the technical field of fungus bag cover taking, in particular to an automatic edible fungus bag cover taking method for a fungus bag cover taking machine, and the method comprises the steps: obtaining the morphological characteristic information and quality of each edible fungus bag, recognizing the relative position of a fungus bag cover and the upper edge of the edible fungus bag, determining the clamping stability characterization parameter of the edible fungus bag, and obtaining the clamping stability characterization parameter of the edible fungus bag. Determining a cover taking deformation type according to the clamping stability characterization parameter; determining the form stability level of the edible fungus bag according to the fungus bag surface point cloud data; determining a cover taking mode of the edible mushroom bag according to the cover taking deformation category and the form stability level, and determining a cover clamping correction mode of the edible mushroom bag according to the relative position and the cover taking deformation category; the success rate of the current cover taking mode and the cover clamping correction mode is determined, whether the automatic cover taking requirement is met or not is judged, whether the cover taking mode is adjusted or not is determined according to the judgment result, the cover taking method is suitable for fungus bags of different forms and densities, and the automation level and the success rate of edible fungus bag cover taking are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mushroom bag lid removal, and particularly to an automatic mushroom bag lid removal method for a mushroom bag lid remover for edible mushrooms. Background Art

[0002] In the prior art, the automatic mushroom bag lid removal technology mainly relies on pneumatic peeling or mechanical pushing devices. Pneumatic peeling uses a suction cup or clamp driven by air pressure to clamp the sealing film, and uses the pulling force to tear open the seal (applicable to mushroom bags with collar or film seals); mechanical pushing uses a thimble or push plate to push open the plastic lid (such as a collar lid) from the inside or outside of the mushroom bag, relying on the standardized design of the mushroom bag structure. In addition, some devices utilize the principle of heat melting peeling, separating the lid after locally heating and softening the sealing film, but have high requirements for temperature control accuracy.

[0003] The prior art has the following problems: The adaptability of the lid removal device severely depends on the uniformity of the mushroom bag specifications. The position of the mushroom bag lid is affected by the shape and filling compactness of the mushroom bag after the mushroom bag is stressed, resulting in low accuracy of automatic lid removal and affecting the lid removal result. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic mushroom bag lid removal method for a mushroom bag lid remover for edible mushrooms, which can detect the morphological information of the mushroom bag, and timely adjust the lid removal method and correction method to ensure the smooth progress of the lid removal action, and solve the problem that the adaptability of the existing lid removal device to the mushroom bag is low, resulting in insufficient lid removal success rate.

[0005] To this end, the present invention provides an automatic mushroom bag lid removal method for a mushroom bag lid remover for edible mushrooms. The automatic mushroom bag lid removal method includes: Step S1, obtaining the morphological characteristic information and mass of each edible mushroom bag, and identifying the relative position between the mushroom bag lid and the upper edge of the edible mushroom bag, wherein the morphological characteristic information includes height, upper edge width, lower edge width, and the point cloud data of the mushroom bag surface; Step S2, determining the clamping stability characterization parameter of the edible mushroom bag according to the height, the upper edge width, the lower edge width, and the mass, and determining the lid removal deformation category according to the clamping stability characterization parameter; Step S3, determining the morphological stability level of the edible mushroom bag according to the point cloud data of the mushroom bag surface; Step S4, determining the lid removal method of the edible mushroom bag according to the lid removal deformation category and the morphological stability level, and determining the clamping correction method of the edible mushroom bag according to the relative position and the lid removal deformation category; Step S5, obtaining the lid removal results of several lid removals, determining the success rate of the current lid removal method and the clamping correction method, and determining whether it meets the requirements of automatic lid removal, and determining whether to adjust the lid removal method according to the judgment result.

[0006] As a preferred technical solution of the automatic lid - removing method for edible mushroom bags of a mushroom bag lid - removing machine, in the step S2, the process of determining the lid - removing deformation category includes: If the clamping stability characterization parameter is greater than or equal to the preset clamping stability parameter, the lid - removing deformation category of the current edible mushroom bag is the dominant deformation category; If the clamping stability characterization parameter is less than the preset clamping stability parameter, the lid - removing deformation category of the current edible mushroom bag is the recessive deformation category.

[0007] As a preferred technical solution of the automatic lid - removing method for edible mushroom bags of a mushroom bag lid - removing machine, in the step S3, determining the morphological stability level of the edible mushroom bag according to the point cloud data on the surface of the mushroom bag and the relative position includes: Determining the vertical offset angle of the edible mushroom bag according to the point cloud data on the surface of the mushroom bag; Determining the side - flatness characterization parameter of the edible mushroom bag according to the point cloud data on the surface of the mushroom bag; Determining the morphological stability level of the edible mushroom bag according to the side - flatness characterization parameter and the vertical offset angle.

[0008] As a preferred technical solution of the automatic lid - removing method for edible mushroom bags of a mushroom bag lid - removing machine, determining the side - flatness characterization parameter of the mushroom bag includes: Determining the simulated side - surface of the mushroom bag and the reference side - surface of the mushroom bag according to the point cloud data of the side of the mushroom bag in the point cloud data on the surface of the mushroom bag; Calculating the distance between the point cloud data included in the simulated side - surface of the mushroom bag and the reference side - surface of the mushroom bag; Calculating the side - flatness characterization parameter of the mushroom bag according to the distances between the point cloud data and the reference side - surface of the mushroom bag.

[0009] As a preferred technical solution of the automatic lid - removing method for edible mushroom bags of a mushroom bag lid - removing machine, in the step S3, the morphological stability level includes 4 levels, and the morphological stability level includes: the first morphological stability level, the second morphological stability level, the third morphological stability level, and the fourth morphological stability level.

[0010] As a preferred technical solution of the automatic lid - removing method for edible mushroom bags of a mushroom bag lid - removing machine, in the step S4, determining the lid - removing method of the edible mushroom bag includes: If the lid - removing deformation category is the dominant deformation category, the lid - removing method for the edible mushroom bag at the first morphological stability level is to directly clamp the lid to remove the lid, and the lid - removing method for the edible mushroom bags at the other three morphological stability levels is to gradually clamp the lid to remove the lid; If the lid - taking deformation category is the recessive deformation category, the method of taking the lid of the edible mushroom bag at the fourth morphological stability level is to gradually clamp the lid to take the lid, and the method of taking the lid of the edible mushroom bags at the other three morphological stability levels is to directly clamp the lid to take the lid.

[0011] As a preferred technical solution of the automatic lid - taking method for edible mushroom bags used in a mushroom - bag lid - taking machine, in the step S4, according to the lid - clamping correction method, it includes horizontal correction and vertical correction; Among them, the horizontal correction is to correct the vertical offset of the mushroom bag, and the vertical correction is to correct the vertical displacement that occurs during the lid - taking process of the mushroom bag.

[0012] As a preferred technical solution of the automatic lid - taking method for edible mushroom bags used in a mushroom - bag lid - taking machine, in the step S4, determining the lid - clamping correction method of the edible mushroom bag according to the relative position and the lid - taking deformation category includes: If the relative position meets the horizontal correction condition, it is determined that the lid - clamping correction method requires horizontal correction; If the lid - taking deformation category is the dominant deformation category, it is determined that the lid - clamping correction method requires vertical correction; Among them, the horizontal correction condition is that the distance between the lid of the mushroom bag and the mid - point of the upper edge of the edible mushroom bag reaches the general width of the lid, or the height difference between the two sides of the lid of the mushroom bag and the upper edge of the mushroom bag reaches 1 / 2 of the clamping thickness of the lid - taking device. The horizontal correction and the vertical correction can be used simultaneously.

[0013] As a preferred technical solution of the automatic lid - taking method for edible mushroom bags used in a mushroom - bag lid - taking machine, in the step S5, judging whether it meets the requirements of automatic lid - taking according to the success rate, and determining whether to adjust the lid - taking method according to the judgment result includes: If the success rate is less than the preset success rate, it is determined that it does not meet the requirements of automatic lid - taking. When the lid - taking method is direct lid - clamping to take the lid, it is adjusted to gradually clamp the lid to take the lid; If the success rate is greater than or equal to the preset success rate, it is determined that it meets the requirements of automatic lid - taking, and the lid - taking method is not adjusted.

[0014] On the other hand, the present invention also provides a lid - taking device for the automatic lid - taking method of edible mushroom bags, including: A transportation component, which is provided with a mushroom - bag placement platform for transporting a number of edible mushroom bags at one time; A clamping component, which is used to fix the lid of the mushroom bag by clamping and remove the lid of the mushroom bag by moving upward; A correction component, which is respectively connected to the transportation component and the clamping component for correcting the mushroom bag according to the determined lid - clamping correction method; A detection component, which is connected to the transportation component, is used to detect the morphological characteristic information and quality of the edible mushroom spawn bag, and identify the relative position between the spawn bag lid and the upper edge of the edible mushroom spawn bag; An analysis and control component, which is respectively connected to the clamping component, the correction component and the detection component, calculates the clamping stability characterization parameter to determine the lid-taking deformation category, determines the morphological stability level of the edible mushroom spawn bag according to the point cloud data on the surface of the spawn bag, and determines the lid-taking method and the clamping and lid-correcting method of the spawn bag, and controls the clamping component and the correction component to complete the corresponding actions.

[0015] The beneficial effects of the present invention are as follows: By detecting the morphological characteristic information and quality of the spawn bag and combining the point cloud data on the surface of the spawn bag, the present invention determines the clamping stability and morphological stability level of the spawn bag, so as to accurately judge the lid-taking deformation category and the clamping and lid-correcting method of the spawn bag. Then, based on the stability level and deformation category of the spawn bag, the device can flexibly select the method of directly clamping the lid or gradually clamping the lid, and through the horizontal correction and vertical correction functions, ensure the stability and accuracy of the lid-taking process. In addition, the device also has a real-time feedback and adjustment mechanism, dynamically optimizes the lid-taking method according to the lid-taking success rate, and further improves the reliability of automatic lid-taking. The present invention significantly improves the automation level and success rate of taking the lid of the edible mushroom spawn bag, reduces the cost of manual intervention, and at the same time improves the flexibility and adaptability of production, is applicable to spawn bags with different morphologies and densities, and provides strong support for the automation upgrade of the edible mushroom production industry.

[0016] Furthermore, in the present invention, by introducing the clamping stability characterization parameter to determine the lid-taking deformation category, the stability of the spawn bag during the lid-taking process can be accurately evaluated. The spawn bag with the dominant deformation category is more likely to deform when stressed, while the spawn bag with the recessive deformation category is relatively stable. The classification method provides a judgment basis for the lid-taking device to select a suitable correction method according to the specific characteristics of the spawn bag, thereby effectively improving the success rate and reliability of lid-taking. In addition, the preset clamping stability characterization parameter takes into account the requirements of different edible mushroom strains for the density of the spawn bag, ensuring the versatility and adaptability of the device. It improves the accuracy of automatic lid-taking, reduces the lid-taking failure caused by the deformation of the spawn bag, significantly improves the production efficiency, reduces the cost of manual intervention, and provides strong support for the automatic production of edible mushroom spawn bags.

[0017] Furthermore, the present invention classifies the morphological stability of edible mushroom spawn bags into four grades by accurately calculating the flatness characterization parameters and vertical offset angles of the sides of the spawn bags, thereby providing a classification and judgment basis for the lid-removing operation. A flat spawn bag side and a small vertical offset angle result in uniform force on the spawn bag during the lid-removing process, preventing lid deformation or slippage caused by uneven force. In addition, according to different morphological stability grades and lid-removing deformation categories, the device flexibly selects either directly clamping the lid or gradually clamping the lid to further optimize the lid-removing process. This grading treatment and targeted lid-removing method not only improve the adaptability and reliability of automatic lid removal but also reduce the lid-removing failure rate caused by irregular spawn bag shapes, significantly enhancing the automation level and production efficiency of edible mushroom spawn bag production.

[0018] Furthermore, the present invention adjusts the vertical offset of the spawn bag in real time by setting vertical support baffles on both sides of the slide rail to ensure that the spawn bag maintains a vertical posture during transportation, facilitating accurate positioning and fixing of the lid by the fixture. Vertical correction is achieved through a pneumatic fixing device and a force sensor, which can monitor and counteract the vertical pulling force on the spawn bag during the lid-removing process in real time, effectively preventing the spawn bag from being pulled out, especially suitable for spawn bags with a lower density. In addition, the correction method is flexibly selected according to the relative position of the spawn bag and the lid-removing deformation category, and horizontal correction and vertical correction can be used separately or simultaneously, further enhancing the adaptability of the device. The correction mechanism of the present invention not only improves the accuracy and reliability of lid removal but also reduces lid-removing failures caused by incorrect spawn bag postures or uneven densities, providing an efficient and stable solution for the automatic production of edible mushroom spawn bags. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flowchart of the automatic lid-removing method for edible mushroom spawn bags used in the embodiment of the present invention; Figure 2 is a flowchart of determining the morphological stability grade of edible mushroom spawn bags in the embodiment of the present invention; Figure 3 is a schematic structural diagram of the automatic lid-removing device for edible mushroom spawn bags in the embodiment of the present invention; Figure 4 is a structural diagram of the automatic lid-removing device for edible mushroom spawn bags in the embodiment of the present invention; In the figure: 1, spawn bag placement platform; 2, edible mushroom spawn bag; 3, snap-on fixture; 4, vertical lifting mechanism; 5, vertical support baffle; 6, vertical correction mechanism. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" 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 directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0023] Please refer to Figure 1 As shown, it is a flowchart of an automatic lid-taking method for edible mushroom bags used in a mushroom bag lid-taking machine. The present invention provides an automatic lid-taking method for edible mushroom bags used in a mushroom bag lid-taking machine, including; Step S1, obtaining the morphological feature information and quality of each edible mushroom bag, and identifying the relative position between the bag lid and the upper edge of the edible mushroom bag. Among them, the morphological feature information includes height, upper edge width, lower edge width, and the point cloud data on the surface of the bag; Step S2, determining the clamping stability characterization parameter of the edible mushroom bag according to the height, the upper edge width, the lower edge width, and the quality, and determining the lid-taking deformation category according to the clamping stability characterization parameter; Step S3, determining the morphological stability level of the edible mushroom bag according to the point cloud data on the surface of the bag; Step S4, determining the lid-taking method of the edible mushroom bag according to the lid-taking deformation category and the morphological stability level, and determining the lid-clamping correction method of the edible mushroom bag according to the relative position and the lid-taking deformation category; Step S5, obtaining the lid-taking results of several lid-taking operations, determining the success rates of the current lid-taking method and the lid-clamping correction method, and judging whether it meets the requirements of automatic lid-taking. According to the judgment result, determine whether to adjust the lid-taking method.

[0024] In practice, the morphological characteristics of the edible mushroom bags are obtained through a number of scanning instruments. The scanning instruments can obtain point cloud data on the surface of the mushroom bags through laser scanning. This is a prior art and will not be elaborated here.

[0025] The present invention determines the clamping stability and morphological stability level of the mushroom bag by detecting the morphological characteristic information and quality of the mushroom bag, combining the point cloud data of the mushroom bag surface, so as to accurately judge the deformation category of the mushroom bag and the clamping correction method. Based on the stability level and deformation category of the mushroom bag, the device can flexibly choose the method of direct clamping and removing the cap or gradual clamping and removing the cap, and ensure the stability and accuracy of the cap removal process through horizontal correction and vertical correction functions. In addition, the device is also equipped with a real-time feedback and adjustment mechanism, which dynamically optimizes the cap removal method according to the cap removal success rate, and further improves the reliability of automated cap removal. The present invention significantly improves the automation level and success rate of edible mushroom bag cap removal, reduces the cost of manual intervention, and at the same time improves the flexibility and adaptability of production. It is suitable for mushroom bags of different shapes and densities, and provides strong support for the automation upgrade of the edible mushroom production industry.

[0026] Specifically, in step S2, the process of determining the cover removal deformation category includes: If the clamping stability characterization parameter is greater than or equal to the preset clamping stability parameter, the current capping deformation category of the edible mushroom bag is an explicit deformation category; If the clamping stability characterization parameter is less than the preset clamping stability parameter, the current lid removal deformation category of the edible fungus bag is a recessive deformation category.

[0027] In implementation, the preset clamping stability characterization parameters are selected within the range of [0.5g / cm³, 0.55g / cm³], and the volume of the edible mushroom bag without the top is determined according to the height, upper edge width, and lower edge width. The clamping stability characterization parameters are determined by comparing the volume of the edible mushroom bag with the mass of the bag.

[0028] In practice, different edible fungi species have different requirements for the density of the mushroom bag. Generally, the density of the mushroom bag is 0.5-0.55g / cm³. This density indicates the balanced air permeability and nutrient supply of the mushroom bag. The higher the density of the mushroom bag, the higher the compactness of the inside of the mushroom bag. At this time, the inside of the mushroom bag is a high-humidity environment, and the compact culture medium has stronger water retention. It is mostly used for mushroom bags such as Flammulina velutipes and shiitake mushrooms, while lower density is mostly used for edible fungi with larger caps such as oyster mushrooms and black fungus.

[0029] It can be understood that the larger the ratio, the easier it is for the current edible mushroom bag to deform when subjected to force. When the lid is removed, the bag will deform significantly due to the force on the lid, making it impossible to accurately complete the lid removal action. For mushroom bags of the obvious deformation category, some correction methods need to be set for the bag when removing the lid to achieve the effect of automatic lid removal.

[0030] In the present invention, by introducing a clamping stability characterization parameter to determine the lid-taking deformation category, the stability of the mushroom bag during the lid-taking process can be accurately evaluated. The mushroom bag of the dominant deformation category is more likely to deform when stressed, while the mushroom bag of the recessive deformation category is relatively stable. The classification method provides a determination basis for the lid-taking device to select a suitable correction method according to the specific characteristics of the mushroom bag, thereby effectively improving the success rate and reliability of lid-taking. In addition, the preset clamping stability characterization parameter takes into account the requirements of different edible mushroom strains for the density of the mushroom bag, ensuring the versatility and adaptability of the device. It improves the accuracy of automatic lid-taking, reduces the lid-taking failure caused by the deformation of the mushroom bag, significantly improves the production efficiency, reduces the cost of manual intervention, and provides strong support for the automatic production of edible mushroom bags.

[0031] Please refer to Figure 2 As shown, it is a flowchart for determining the morphological stability level of an edible mushroom bag in an embodiment of the present invention. In step S3, determining the morphological stability level of the edible mushroom bag according to the point cloud data on the surface of the mushroom bag and the relative position includes: Determining the vertical offset angle of the edible mushroom bag according to the point cloud data on the surface of the mushroom bag; Determining the side flatness characterization parameter of the edible mushroom bag according to the point cloud data on the surface of the mushroom bag; Determining the morphological stability level of the edible mushroom bag according to the side flatness characterization parameter and the vertical offset angle.

[0032] In implementation, the process of determining the vertical offset angle is as follows: in the preprocessed point cloud data, select the point cloud data at the bottom of the mushroom bag, and determine a reference plane by the method of fitting a plane. An algorithm such as the least squares method can be used based on the point cloud data at the bottom of the mushroom bag to determine a plane such that the sum of the squares of the distances from this plane to the points of the point cloud data at the bottom of the mushroom bag is the smallest, and this plane is the reference plane; then perform principal component analysis (PCA) on the point cloud data of the mushroom bag. Principal component analysis can find the variance distribution of the data in each direction, and the direction with the largest variance is usually determined as the axis direction of the mushroom bag; Calculate the normal vectors of the reference plane and the axis of the mushroom bag respectively, and according to the dot product formula of vectors, calculate the included angle between the normal vector of the reference plane and the normal vector of the axis of the mushroom bag, which is the vertical offset angle.

[0033] Specifically, determining the side flatness characterization parameter of the mushroom bag includes: Determining the simulated side surface and the reference side surface of the mushroom bag according to the point cloud data on the side of the mushroom bag in the point cloud data on the surface of the mushroom bag; Calculating the distance between the point cloud data included in the simulated side surface of the mushroom bag and the reference side surface of the mushroom bag; Calculating the side flatness characterization parameter of the mushroom bag according to the distances between the respective point cloud data and the reference side surface of the mushroom bag.

[0034] In implementation, the simulated curved surface of the mushroom bag side is also determined by fitting a plane. The extracted side point cloud data is processed, and the least squares method is used for surface fitting to obtain a fitting surface that approximates the actual shape of the mushroom bag side. The reference plane of the mushroom bag side is also a flat surface obtained by using the least squares method for surface fitting, which has the minimum sum of the squares of the distances from the points of the mushroom bag side point cloud data. In summary, the simulated curved surface of the mushroom bag side is a surface with irregular shape, and the reference plane of the mushroom bag side is a flat surface.

[0035] Calculate the average deviation of the distances between all the point cloud data included in the simulated curved surface of the mushroom bag side and the reference plane of the mushroom bag side, and the average value of the distances between all the point cloud data included in the simulated curved surface of the mushroom bag side and the reference plane of the mushroom bag side. The flatness characterization parameter of the mushroom bag side is equal to the ratio of the average deviation to the average value of the distances.

[0036] Specifically, in step S3, the morphological stability level includes 4 levels, namely: the first morphological stability level, the second morphological stability level, the third morphological stability level, and the fourth morphological stability level.

[0037] The arrangement order from the first morphological stability level to the fourth morphological stability level corresponds to the decreasing morphological stability degree of the edible mushroom bag.

[0038] In implementation, if the flatness characterization parameter of the mushroom bag side is within the interval [0.1, 0.2] and the vertical offset angle is less than or equal to 3°, it is determined that the morphological stability level of the current edible mushroom bag is the first morphological stability level; if the flatness characterization parameter of the mushroom bag side is within the interval [0.1, 0.2] and the vertical offset angle is greater than 3° and less than or equal to 5°, or the flatness characterization parameter of the mushroom bag side is within the interval [0.2, 0.3] and the vertical offset angle is less than or equal to 3°, it is determined that the morphological stability level of the current edible mushroom bag is the second morphological stability level.

[0039] If the flatness characterization parameter of the mushroom bag side is within the interval [0.2, 0.3] and the vertical offset angle is greater than 3° and less than or equal to 5°, it is determined that the morphological stability level of the current edible mushroom bag is the third morphological stability level; if the flatness characterization parameter of the mushroom bag side exceeds the interval [0.2, 0.3], or the vertical offset angle is greater than 5°, it is determined that the morphological stability level of the current edible mushroom bag is the fourth morphological stability level. Generally, when the vertical deviation angle of the mushroom bag is less than or equal to 3°, it is considered that the deviation has basically no effect, the fixture can be accurately positioned, the success rate of lid removal is greater than 95%, and no additional adjustment is required for conventional design. When it is greater than 3° and less than or equal to 5°, there is a slight deviation. The lid removal device can better complete the fixing and lid removal operations, and fixture self - adaptation or vision correction compensation can be added. Within this angle range, the fixture or card of the lid removal device can accurately cooperate with the limit ring of the mushroom bag lid, so as to achieve stable fixing and lid pulling.

[0040] Conversely, if the deviation angle exceeds this range, it may cause the lid removal device to be unable to accurately position, thereby affecting the fixing effect of the lid, and may even lead to lid removal failure. Therefore, in actual production, it is necessary to adjust the placement or conveying system of the mushroom bag to ensure that the vertical deviation angle of the mushroom bag is controlled within a small range to improve the success rate and efficiency of automatic lid removal.

[0041] Regarding the flatness of the side of the mushroom bag, generally, a flat side of the mushroom bag can provide a stable positioning reference for the fixture. The fixture can accurately pick up at the preset position and angle, ensuring that the picking position is accurate and consistent each time. If the side of the mushroom bag is not flat, with concavities, convexities or inclinations, the fixture will deviate during positioning, making it difficult to accurately align with the edge of the lid, resulting in an inaccurate picking position. It may pick up a part of the lid, or the picking position is too off - center, affecting the subsequent lid removal action. In addition, when the side of the mushroom bag is flat, the force exerted on the lid during fixture picking will be evenly distributed. During the lid removal process, the lid is not easily tilted or deformed due to uneven force, which is conducive to maintaining the relative position relationship between the lid and the mushroom bag, making the lid removal action more stable and reliable. If the side of the mushroom bag is not flat, the forces on different parts of the lid during fixture picking are different.

[0042] For example, in the place where there is a protrusion on the side, the fixture may first come into contact and apply a large pressure, while the sunken part is less stressed. This will cause uneven deformation of the lid after being stressed, and may even cause the lid to slip out of the fixture, reducing the success rate of lid removal.

[0043] Specifically, in the step S4, determining the lid removal method for the edible mushroom bag includes: If the lid removal deformation category is the dominant deformation category, then for the edible mushroom bag of the first morphological stability level, the lid removal method is to directly clamp the lid for lid removal, and for the edible mushroom bags of the other three morphological stability levels, the lid removal method is to gradually clamp the lid for lid removal; If the lid removal deformation category is the recessive deformation category, then for the edible mushroom bag of the fourth morphological stability level, the lid removal method is to gradually clamp the lid for lid removal, and for the edible mushroom bags of the other three morphological stability levels, the lid removal method is to directly clamp the lid for lid removal.

[0044] In implementation, for directly clamping and removing the lid, the edible mushroom spawn bags are transported forward through a slide rail. During the movement, the lids of the spawn bags directly slide into the lid-removing chute. All the spawn bags transported in a single time stop moving within the coverage range of the lid-removing chute. The lid-removing chute moves upward to remove the lids, thus completing directly clamping and removing the lids. For gradually clamping and removing the lid, the edible mushroom spawn bags are transported forward through a slide rail. After all the spawn bags move to the coverage range of the lid-removing chute, they stop moving. One side of the chute clamps the lid and then pushes it horizontally. Until all the lids of the spawn bags in the current column are clamped into this side of the chute, the other chute clamps the other side of the lid in the opposite direction. The lid-removing chute moves upward to remove the lids, thus completing gradually clamping and removing the lids.

[0045] The present invention classifies the morphological stability of edible mushroom spawn bags into four grades by precisely calculating the flatness characterization parameters on the side of the spawn bag and the vertical offset angle, thereby providing a classification and judgment basis for the lid-removing operation. The flat side of the spawn bag and the small vertical offset angle result in uniform force on the spawn bag during the lid-removing process, and the lid will not be deformed or slipped due to uneven force. In addition, according to different morphological stability grades and lid-removing deformation categories, the device flexibly selects the method of directly clamping and removing the lid or gradually clamping and removing the lid, further optimizing the lid-removing process. This grading treatment and targeted lid-removing method not only improve the adaptability and reliability of automatic lid-removing, but also reduce the lid-removing failure rate caused by irregular spawn bag morphology, significantly enhancing the automatic level and production efficiency of edible mushroom spawn bag production.

[0046] Specifically, in the step S4, according to the lid-clamping correction method, it includes horizontal correction and vertical correction. Among them, the horizontal correction is to correct the vertical offset of the spawn bag, and the vertical correction is to correct the vertical displacement that occurs to the spawn bag during the lid-removing process.

[0047] In implementation, the horizontal correction is achieved by installing vertical supporting baffles on both sides of the slide rail that can move synchronously with the edible mushroom spawn bags to realize the correction function, making the spawn bags with tilted lids return to a nearly horizontal state, and at the same time ensuring that the spawn bags maintain a vertical posture during the conveying process, facilitating the chute to fix the lids.

[0048] The vertical correction is achieved by installing a pneumatic fixing device below the lid-removing station to realize the vertical correction function. When the chute grabs the lid upward, a reverse force is applied under the pneumatic device to offset the pulling force when the lid is pulled up.

[0049] In specific implementation, the force sensor is used to monitor in real time the force caused by pulling upward on the pneumatic fixing device to ensure that the spawn bag is not pulled out. When the force sensor detects that the force received reaches 1 / 3 of the mass of the edible mushroom spawn bag, the pneumatic fixing device starts to work to prevent the edible mushroom spawn bag from being pulled out.

[0050] Specifically, in the step S4, determining the clamping and lid - correcting method for the edible mushroom package according to the relative position and the lid - taking deformation category includes: If the relative position meets the horizontal correction condition, it is determined that the clamping and lid - correcting method requires horizontal correction; If the lid - taking deformation category is the dominant deformation category, it is determined that the clamping and lid - correcting method requires vertical correction; Wherein, the horizontal correction condition is that the distance between the lid of the package and the mid - point of the upper edge of the edible mushroom package reaches half of the general width of the lid, or the height difference between the two sides of the lid of the package and the upper edge of the package reaches 1 / 2 of the clamping thickness of the lid - taking device. The horizontal correction and the vertical correction can be used simultaneously.

[0051] In the present invention, by setting vertical support baffles on both sides of the slide rail, the vertical offset of the package is adjusted in real - time to ensure that the package maintains a vertical posture during transportation, facilitating the accurate positioning and fixing of the lid by the fixture. The vertical correction is carried out through a pneumatic fixing device and a force sensor, which can monitor and offset the vertical pulling force on the package during the lid - taking process in real - time, effectively preventing the package from being pulled out, especially suitable for packages with a lower density. In addition, the correction method is flexibly selected according to the relative position and the lid - taking deformation category of the package, and the horizontal correction and the vertical correction can be used alone or simultaneously, further enhancing the adaptability of the device. The correction mechanism of the present invention not only improves the accuracy and reliability of lid - taking, but also reduces the lid - taking failure caused by the incorrect posture or uneven density of the package, providing an efficient and stable solution for the automated production of edible mushroom packages.

[0052] Specifically, in the step S5, determining whether it meets the requirements of automatic lid - taking according to the success rate, and determining whether to adjust the lid - taking method according to the judgment result includes: If the success rate is less than the preset success rate, it is determined that it does not meet the requirements of automatic lid - taking. When the lid - taking method is direct clamping and lid - taking, it is adjusted to step - by - step clamping and lid - taking; If the success rate is greater than or equal to the preset success rate, it is determined that it meets the requirements of automatic lid - taking, and the lid - taking method is not adjusted.

[0053] In practice, the preset success rate is 95%. Generally, in large - scale production, if the lid - taking success rate is too low, a large number of packages cannot be lid - taken in time, affecting the subsequent production process, increasing the labor intervention cost and time cost, and reducing the overall production efficiency. A success rate of 95% or more can ensure a relatively smooth production process and meet the production requirements within a reasonable time and cost range.

[0054] Please refer to Figure 3 As shown, which is the structural schematic diagram of the automatic lid - taking device for edible mushroom packages in the embodiment of the present invention. The present invention also provides a lid - taking device for the automatic lid - taking method of edible mushroom packages, including: A transportation component is provided with a mushroom bag placement platform for transporting a number of edible mushroom bags at one time; A clamping component is used to fix the mushroom bag lid by means of clamping and remove the mushroom bag lid by moving upward; A correction component is respectively connected to the transportation component and the clamping component for correcting the mushroom bag according to the determined lid-clamping correction method; A detection component is connected to the transportation component for detecting the morphological characteristic information and quality of the edible mushroom bag, and identifying the relative position between the mushroom bag lid and the upper edge of the edible mushroom bag; An analysis and control component is respectively connected to the clamping component, the correction component and the detection component, calculates the clamping stability characterization parameter to determine the lid-removing deformation category, determines the morphological stability level of the edible mushroom bag according to the point cloud data on the surface of the mushroom bag, and determines the lid-removing method and the lid-clamping correction method of the mushroom bag, and controls the clamping component and the correction component to complete the corresponding actions.

[0055] Combined Figure 4 As shown in the figure, it is a sectional view of the automatic mushroom bag lid-removing device according to the embodiment of the present invention, including: a mushroom bag placement platform 1, an edible mushroom bag 2, a clamping fixture 3, a vertical lifting mechanism 4, a vertical supporting baffle 5, and a vertical correction mechanism 6; The mushroom bag placement platform is composed of a metal frame and detachable partitions for fixing and arranging multiple edible mushroom bags. The two sides of the mushroom bag placement platform are inserted into the slide rail fitting grooves (not shown in the sectional view on both sides of the platform) and are fitted with the transportation slide rail (a conveyor belt or a chain-type conveying system). The continuous or intermittent transportation of the mushroom bags is realized by the drive of the motor to ensure that the mushroom bags maintain a stable posture during the transportation process. The positioning sensors are located at both ends of the movement of the mushroom bag placement platform for detecting the position of the mushroom bags and feeding back the real-time coordinates to the analysis and control component to ensure accurate docking at the lid-removing station.

[0056] The clamping fixture is composed of symmetrically distributed mechanical claws. The inner side of the claws is provided with an anti-slip rubber layer and is driven to open and close by air pressure or a motor. The end of the fixture matches the limit ring at the edge of the mushroom bag lid to ensure uniform force on the lid during clamping; the vertical lifting mechanism connects the fixture to the vertical slide rail and is driven by a servo motor or a cylinder to realize the vertical pulling out of the lid; The vertical supporting baffle is composed of two metal baffles with adjustable angles, which are symmetrically installed on both sides of the transportation slide rail. The surface of the baffle is covered with a flexible material (such as silica gel), and the distance is dynamically adjusted by a pneumatic telescopic rod to apply a lateral pressure to the inclined mushroom bag to make it return to the vertical posture; the vertical correction mechanism is located below the lid-removing station and is composed of a pressing plate with a rubber pad and a pneumatic actuator. When the clamping component pulls out the lid, the pressing plate is driven by air pressure to closely adhere to the bottom of the mushroom bag to provide a reverse supporting force to offset the pulling force of the lid-removing.

[0057] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of apparatuses, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur in a different order than that noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based apparatus that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0058] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, and are not intended to limit the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to list all implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An automatic lid-removing method for edible mushroom spawn bags of a spawn bag lid-removing machine, characterized in that, including; Step S1: Obtain the morphological characteristic information and quality of each edible mushroom packet, and identify the relative position of the packet lid and the upper edge of the edible mushroom packet. Among them, the morphological characteristic information includes height, upper edge width, lower edge width, and the point cloud data of the packet surface; Step S2: Determine the clamping stability characterization parameter of the edible mushroom packet according to the height, the upper edge width, the lower edge width, and the quality, and determine the lid-taking deformation category according to the clamping stability characterization parameter; Step S3: Determine the morphological stability level of the edible mushroom packet according to the point cloud data of the packet surface; Step S4: Determine the lid-taking method of the edible mushroom packet according to the lid-taking deformation category and the morphological stability level, and determine the lid-clamping correction method of the edible mushroom packet according to the relative position and the lid-taking deformation category; Step S5: Obtain the lid-taking results of multiple lid-takings, determine the success rate of the current lid-taking method and the lid-clamping correction method, and judge whether it meets the requirements of automatic lid-taking. Determine whether to adjust the lid-taking method according to the judgment result.

2. The automatic mushroom spawn bag lid removal method for a mushroom spawn bag lid removal machine according to claim 1, wherein In the step S2, the process of determining the lid-taking deformation category includes: If the clamping stability characterization parameter is greater than or equal to the preset clamping stability parameter, the lid-taking deformation category of the current edible mushroom packet is the dominant deformation category; If the clamping stability characterization parameter is less than the preset clamping stability parameter, the lid-taking deformation category of the current edible mushroom packet is the recessive deformation category.

3. The automatic mushroom bag lid removal method for a mushroom bag lid removal machine according to claim 2, characterized in that, In the step S3, determining the morphological stability level of the edible mushroom packet according to the point cloud data of the packet surface and the relative position includes: Determine the vertical offset angle of the edible mushroom packet according to the point cloud data of the packet surface; Determine the lateral flatness characterization parameter of the edible mushroom packet according to the point cloud data of the packet surface; Determine the morphological stability level of the edible mushroom packet according to the lateral flatness characterization parameter and the vertical offset angle.

4. The automatic mushroom spawn bag lid removal method for a mushroom spawn bag lid removal machine according to claim 3, characterized in that, Determining the lateral flatness characterization parameter of the packet includes: Determine the simulated surface of the packet side and the reference plane of the packet side according to the point cloud data of the packet side in the point cloud data of the packet surface; Calculate the distance between the point cloud data included in the simulated surface of the packet side and the reference plane of the packet side; Calculate the lateral flatness characterization parameter of the packet according to the distance between each point cloud data and the reference plane of the packet side.

5. The automatic mushroom spawn bag lid removal method for a mushroom spawn bag lid remover according to claim 4, wherein In step S3, the morphological stability level includes 4 levels, and the morphological stability level includes: the first morphological stability level, the second morphological stability level, the third morphological stability level, and the fourth morphological stability level.

6. The automatic mushroom spawn bag lid removal method for a mushroom spawn bag lid removal machine according to claim 5, characterized in that, In the step S4, determining the lid-taking method of the edible mushroom packet includes: If the lid-taking deformation category is the dominant deformation category, the lid-taking method for the edible mushroom packet at the first morphological stability level is to directly clamp the lid to take the lid, and the lid-taking method for the edible mushroom packets at the other three morphological stability levels is to gradually clamp the lid to take the lid; If the lid-taking deformation category is the recessive deformation category, the lid-taking method for the edible mushroom packet at the fourth morphological stability level is to gradually clamp the lid to take the lid, and the lid-taking method for the edible mushroom packets at the other three morphological stability levels is to directly clamp the lid to take the lid.

7. The automatic mushroom spawn bag lid-taking method for a mushroom spawn bag lid-taking machine according to claim 6, characterized in that, In the step S4, the lid-clamping correction method includes horizontal correction and vertical correction; Among them, the horizontal correction is to correct the vertical offset of the mushroom bag, and the vertical correction is to correct the vertical displacement that occurs during the process of removing the lid of the mushroom bag.

8. The automatic mushroom spawn bag lid removal method for a mushroom spawn bag lid removal machine according to claim 7, characterized in that, In the step S4, determining the lid-clamping correction method for the edible mushroom bag according to the relative position and the lid-removing deformation category includes: If the relative position meets the horizontal correction condition, it is determined that the lid-clamping correction method requires horizontal correction; If the lid-removing deformation category is the dominant deformation category, it is determined that the lid-clamping correction method requires vertical correction; Among them, the horizontal correction condition is that the distance between the lid of the mushroom bag and the midpoint of the upper edge of the edible mushroom bag reaches the general width of the lid, or the height difference between both sides of the lid of the mushroom bag and the upper edge of the mushroom bag reaches 1 / 2 of the clamping thickness of the lid-removing device. The determined correction method is the horizontal correction and / or the vertical correction.

9. The automatic mushroom spawn bag lid removal method for a mushroom spawn bag lid removal machine according to claim 8, characterized in that, In the step S5, judging whether it meets the requirements of automatic lid removal according to the success rate, and determining whether to adjust the lid-removing method according to the judgment result includes: If the success rate is less than the preset success rate, it is determined that it does not meet the requirements of automatic lid removal. When the lid-removing method is directly clamping the lid to remove the lid, it is adjusted to gradually clamp the lid to remove the lid; If the success rate is greater than or equal to the preset success rate, it is determined that it meets the requirements of automatic lid removal, and the lid-removing method is not adjusted.

10. A lid-taking device for the automatic lid-taking method of edible mushroom spawn bags applied to the edible mushroom spawn bag lid-taking machine according to any one of claims 1-9, characterized in that, Including: A transportation component, which is provided with a mushroom bag placement platform for transporting a certain number of edible mushroom bags at one time; A clamping component, which is used to fix the lid of the mushroom bag by clamping and remove the lid of the mushroom bag by moving upward; A correction component, which is respectively connected to the transportation component and the clamping component for correcting the mushroom bag according to the determined lid-clamping correction method; A detection component, which is connected to the transportation component for detecting the morphological characteristic information and quality of the edible mushroom bag, and identifying the relative position between the lid of the mushroom bag and the upper edge of the edible mushroom bag; An analysis and control component, which is respectively connected to the clamping component, the correction component and the detection component, calculates the clamping stability characterization parameter to determine the lid-removing deformation category, determines the morphological stability level of the edible mushroom bag according to the point cloud data on the surface of the mushroom bag, and determines the lid-removing method and the lid-clamping correction method of the mushroom bag, and controls the clamping component and the correction component to complete the corresponding actions.

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