A posture adjusting directional hammering shell breaking machine for floating bubble walnut and a posture adjusting method

Abstract

The application discloses a posture adjusting directional hammering shell breaking machine for floating bubble walnuts and a posture adjusting method, comprising a material collecting box, a track conveying device, a hammering shell breaking device, a flexible belt device, a plurality of core fixing devices, an image recognition device and a vibrating feeding device; and a posture adjusting method is also provided. The application can realize multi-directional posture adjustment and accurate orientation of walnuts, so that the suture line in the walnut is always perpendicular to the horizontal plane. Secondly, the suture line angle in the walnut can be adjusted through a rudder, so that the suture line in the walnut is always consistent with the walnut conveying direction, the machine can always perform shell breaking operation along the transverse diameter direction of the walnut, and thus the shell breaking effect and efficiency of the walnut are improved.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and specifically relates to an attitude-adjusting and orientation-oriented hammer shell-breaking machine for walnuts and an attitude adjustment method. Background Technology

[0002] Yunnan Province has a long history of walnut cultivation, and in recent years, its walnut planting area, yield, and output value have ranked first in the country. Among them, Yangpao walnut is the walnut variety with the largest planting area and yield in Yunnan Province. Therefore, efficient shelling processing of Yangpao walnuts is crucial for the development of the local walnut industry. However, traditional walnut shelling equipment has many problems when processing Yangpao walnuts: Yangpao walnuts are irregularly shaped, flattened ellipsoids, with small gaps between the shell and kernel, and their longitudinal and transverse diameters are similar but larger than their ridge diameter. Therefore, shelling processing of Yangpao walnuts often results in a high kernel yield and low shelling efficiency. Pre-treatment helps improve the shelling effect; for example, directional pre-treatment of walnuts before shelling processing can effectively improve shelling efficiency and kernel integrity. Therefore, developing a directional shelling machine specifically designed for the characteristics of Yangpao walnuts is of great significance for improving the production efficiency and product quality of Yunnan's walnut industry.

[0003] Existing walnut directional shell-breaking machines, such as patent number 202411293407.5, entitled "A Walnut Directional Shell-Breaking Device and its Directional Method," use sensor identification and planetary turntable rotation to fix the tip of the walnut, and then apply force along the direction perpendicular to the short axis of the walnut to break the shell; and patent number 202320914908.2, entitled "A Pneumatic Impact Twisting Composite Walnut Directional Shell-Breaking Device and its Shell-Breaking Method," use grooves to restrict the posture of the walnut, allowing it to pass only in a specific direction for orientation, and then achieve shell breaking through a torsional and squeezing composite motion. However, these machines still have problems such as walnuts easily stacking and colliding during feeding, multi-directional precision orientation, asynchronous walnut orientation and conveying, and low efficiency.

[0004] On the one hand, existing shell-breaking equipment has difficulty in synchronously and accurately orienting the walnuts during the shell-breaking and conveying process; on the other hand, considering the appearance of the walnut, there is a 2-4mm gap between the two "butterfly petals" inside. Therefore, applying force along the gap direction (i.e. along the transverse diameter of the walnut) is the best way to remove the septum and break the walnut shell. At the same time, according to the principle of minimum potential energy, the suture line of the walnut will be approximately perpendicular to the horizontal plane in a stable state. Therefore, the orientation and position of the walnut can be determined by observing the suture line of the walnut.

[0005] Based on the above phenomena, the present invention provides a walnut shelling machine that can realize vibration feeding, precise orientation, multi-directional posture adjustment, imitation of manual hammering to break the shell, and synchronous posture adjustment, shell breaking and conveying. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a posture-adjusting and directional hammer-based shell-breaking machine for walnuts, along with a posture adjustment method, to improve shell-breaking efficiency.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a tilting and directional hammer-cracking machine for walnuts, comprising a collection box, a track conveyor, a hammer-cracking device, a flexible belt device, multiple kernel-fixing devices, an image recognition device, and a vibrating feeder; the collection box is placed below the front of the track conveyor, the vibrating feeder and the image recognition device are installed above the rear of the track conveyor, and the image recognition device is located directly in front of the vibrating feeder; the hammer-cracking device is installed on one side above the front of the track conveyor, and the flexible belt device is installed on the other side above the front of the track conveyor, and the hammer-cracking device and the flexible belt device are arranged facing each other; multiple kernel-fixing devices are evenly spaced on the track conveyor.

[0008] Furthermore, the track conveying device includes a track drive pulley, a track trolley assembly, a core device mounting plate, a track belt, a track base plate, a trolley track, and a track driven pulley. The track drive pulley and the track driven pulley are respectively installed at the front and rear ends of the side of the track base plate. The track belt connects the track drive pulley and the track driven pulley to form a closed belt drive conveying path. The trolley track is fixed to the side of the track base plate around the outer periphery of the track belt. The track trolley assembly includes multiple trolleys, which are equally spaced on the trolley track and move along the track with the track belt. Each trolley is fixed to the corresponding core device through the core device mounting plate, and the core device rotates during the conveying process under the drive of the track trolley assembly.

[0009] The track conveying device also includes a hammer-crushing support frame, a flexible belt support frame, a feeding support frame, and a scraper support frame. The hammer-crushing support frame and the flexible belt support frame are vertically and symmetrically welded to the left and right sides of the upper front part of the track base plate via fillet welds. The top of both the hammer-crushing support frame and the flexible belt support frame are machined with positioning slots, and one end of the hammer-crushing support frame is machined with a pneumatic button base. The hammer-crushing support frame is used to install the hammer-crushing device, and the flexible belt support frame is used to install the flexible belt device. The scraper support frame and the feeding support frame are vertically welded to the upper rear part of the track base plate via continuous fillet welds, and are used to install the vibrating feeding device.

[0010] Furthermore, the shell-breaking device includes a pneumatic button, an air hammer connecting frame, a pneumatic transmission line, two air hammers, and a contour forging blade. U-shaped plates are arranged at both ends of one side of the air hammer connecting frame, with each U-shaped plate corresponding to an air hammer. The upper end cap of the air hammer is embedded in the U-shaped cavity of the U-shaped plate, and the lower end cap is connected to the end of the contour forging blade. Simultaneously, the air hammers are connected to the pneumatic button via the pneumatic transmission line, enabling simultaneous operation of both hammers under the control of the pneumatic button. The air hammer connecting frame is fixedly connected to the upper end of the shell-breaking support frame via a lower locking mechanism, used to secure the entire shell-breaking device.

[0011] Furthermore, the flexible belt device includes a flexible belt driven pulley shaft, a rubber flexible belt, a flexible belt driving pulley shaft, a flexible belt pulley bearing, a flexible belt motor, a flexible belt connecting frame, a flexible belt driving pulley, and a flexible belt driven pulley; the rubber flexible belt connects the flexible belt driving pulley and the flexible belt driven pulley to form a closed flexible belt loop; the flexible belt driving pulley and the flexible belt driven pulley are respectively mounted on one side of the flexible belt connecting frame via the flexible belt driven pulley shaft and the flexible belt driving pulley shaft; the flexible belt driven pulley shaft and the flexible belt driving pulley shaft pass through the other side of the flexible belt connecting frame and are connected to the flexible belt pulley bearing; the end of the flexible belt driving pulley shaft passing through the other side of the flexible belt connecting frame is connected to the output shaft of the flexible belt motor.

[0012] Furthermore, the core-soliciting device includes a centering drive controller, a friction centering plate, a core-soliciting shell, a core-holding container, a servo motor connecting block, a servo motor, a servo motor housing, a servo motor transmission line, and a servo motor drive controller. Each core-soliciting shell has a slanted groove machined on the upper left wall of its inner cavity. A through hole, horizontally penetrating the core-soliciting shell, is opened at the bottom of the groove. The friction centering plate is housed within the core-soliciting shell and rests against the slanted groove. The connecting rod of the friction centering plate passes through the through hole and is connected to the centering drive controller via a ball joint. The right wall of the core-soliciting shell has a slot that allows the walnut portion to protrude, used to cooperate with a contour forging blade for shell-breaking operations. The bottom of the core-soliciting shell has a core-soliciting shell groove that mates with the servo motor connecting block. The core-holding container is located inside the core-soliciting shell, and a rectangular groove is hollowed out at the bottom of the container for fixed connection with the servo motor connecting block.

[0013] The servo motor connecting block is located between the core container and the servo motor. The servo motor connecting block is built into the core shell groove of the solid core shell. The upper cuboid of the servo motor connecting block is fixedly connected to the cuboid groove inside the core container. The lower part of the servo motor connecting block is designed as a cylinder. The lower part of the servo motor connecting block has a hollowed-out servo motor connecting block groove for installing the servo motor fan blade, so that the servo motor connecting block rotates with the rotation of the servo motor fan blade. The servo motor is connected to the servo motor drive controller installed on the track trolley assembly through the servo motor transmission line.

[0014] Furthermore, the friction straightening plate is made of rubber, and the lower part of the friction straightening plate is designed in an arc shape according to the outline of the bubble walnut; the walnut holding surface of the walnut holder is machined with rollers, which are used to cooperate with the friction straightening plate to adjust the angle of the walnut.

[0015] Furthermore, the image recognition device includes an image connection frame, a camera, and an image frame; the vibrating feeding device includes a feeding channel, a feeding hopper, a feeding box, a vibrating plate, a vibrating base, a scraper cylinder, a scraper bearing seat, a scraper bearing, a scraper motor holder, and a scraper motor; the rear end of the feeding channel is connected to the opening at the lower front end of the feeding box, and the size of the opening at the lower front end of the feeding box is the same as the cross-sectional size of the rear end of the feeding channel, with both the width and height slightly larger than the maximum diameter of laboratory walnuts;

[0016] The vibrating plate, the vibrating base, and the electromagnet spring inside the vibrating base constitute an electromagnetic vibration device. The vibrating plate is fixedly connected to the feed box and the feed channel below, and drives the feed box and the feed channel to vibrate under the action of the electromagnet spring. The scraper cylinder is located above the front end of the feed channel and is fixedly connected to the scraper support frame through the scraper bearings and scraper bearing seats at both ends. The scraper motor drives the scraper cylinder to rotate at a constant speed, and orderly feeds the single walnuts in the feed channel into the kernel-fixing device.

[0017] Another method for adjusting the attitude of the orientation hammer shell-breaking machine described above is provided, as follows:

[0018] Step 1) Construct a training set for the walnut suture contour based on deep learning, generate a pre-trained walnut suture template, and process it into a template rectangle. Take the direction from the upper left endpoint to the upper right endpoint of the template rectangle as the y-axis, and the direction from the upper right endpoint to the lower right endpoint as the x-axis; then the coordinates of the upper left endpoint of the template rectangle are (x... a ,y a The coordinates of the upper right endpoint are (x a ,y b The coordinates of the lower left endpoint are (x b ,y a The coordinates of the upper right endpoint are (x b ,y b );

[0019] Step 2) Acquire the midline image of the walnut to be tested in real time during transportation using an image recognition device, identify the midline of the walnut to be tested, and calculate the deviation angle between the midline of the walnut to be tested and the pre-trained walnut midline template.

[0020] Step 3) If the deviation angle θ calculated in step 2) is less than or equal to 5°, then proceed directly to step 5); if the deviation angle θ calculated in step 2) is greater than or equal to 5°, then the image recognition device will send the adjustment command to the servo drive controller via Bluetooth protocol. The servo drive controller will convert the adjustment command into a PWM signal and transmit it to the servo to adjust the posture of the walnut under test, and then proceed to step 4).

[0021] Step 4) Each time the posture of the walnut to be tested is adjusted, the image recognition device immediately re-acquires the top view image of the walnut to be tested, and repeats steps 2) to 3) until the deviation angle θ between the recognized suture line of the walnut to be tested and the pre-trained walnut suture line template is <5°; then proceed to step 5).

[0022] Step 5) The image recognition device identifies the overlap ratio (LOU) between the walnut's suture line and the pre-trained walnut suture line template. If the overlap ratio (LOU) is ≥ 95%, the walnut's posture meets the requirements, and step 7) is executed. If the overlap ratio (LOU) is < 95%, the image recognition device sends the adjustment command to the straightening drive controller via Bluetooth protocol. The straightening drive controller converts the adjustment command into a PWM signal and controls the friction straightening plate to rotate. The posture of the walnut under test is adjusted by the friction between the friction straightening plate and the walnut shell, and then step 6) is executed.

[0023] Step 6) Each time the friction straightening plate is adjusted, the image recognition device 6 immediately re-acquires the top view image of the walnut to be tested, and repeats steps 2) to 5) until the overlap 10U ≥ 95%;

[0024] After step 7) is completed, the image recognition device acquires the midline image of the next walnut to be tested and repeats steps 2) to 6).

[0025] Further, the deviation angle calculation process in step 2) is as follows: The edges of the suture image of the walnut to be tested are extracted using algorithms such as Canny, and transformed into a rectangle to be tested through Hough line transform. The upper right endpoint (x1, y1) and lower right endpoint (x2, y2) of this rectangle are taken; the direction vector of the rectangle to be tested is v1 = (x2 - x1, y2 - y1), and the direction vector of the template rectangle is v2 = (x1 - x1, y2 - y1). b -x a ,y b -y b ), calculate the deviation angle between vector v1 and vector v2.

[0026] The specific process for adjusting the posture of the walnut to be tested in step 3) is as follows:

[0027] If 5° < θ < 90°, the image recognition device will send an adjustment command of clockwise rotation with a step size of α° to the servo drive controller via Bluetooth protocol. The servo drive controller will then convert the adjustment command into a PWM signal and transmit it to the servo.

[0028] If 90° < θ < 180°, the image recognition device will send an adjustment command of counterclockwise rotation with a step size of α° to the servo drive controller via Bluetooth protocol. The servo drive controller will then convert the adjustment command into a PWM signal and transmit it to the servo.

[0029] Furthermore, the specific process of adjusting the posture of the walnut to be tested in step 5) is as follows:

[0030] If the overlap ratio LOU < 95% and the overlap ratio LOU is positive, the image recognition device will send an adjustment command of clockwise rotation with a step size of β° to the straightening drive controller via Bluetooth protocol. The straightening drive controller will then convert the adjustment command into a PWM signal and control the rotation of the friction straightening plate.

[0031] If the overlap ratio LOU < 95% and the overlap ratio LOU is negative, the image recognition device will send an adjustment command of counterclockwise rotation with a step size of β° to the straightening drive controller via Bluetooth protocol. The straightening drive controller will then convert the adjustment command into a PWM signal and control the rotation of the friction straightening plate.

[0032] The specific process for calculating the overlap ratio (LOU) between the suture line of the walnut to be tested and the pre-trained walnut suture line template is as follows:

[0033] The image recognition device acquires an image of the midline of the walnut to be tested. It then transforms this image into a rectangle to be tested using a Hough transform. The upper left endpoint (x3, y3) and lower right endpoint (x4, y4) of this rectangle are selected. Simultaneously, the upper left endpoint (x4, y4) of the template rectangle is also selected. a ,y a ) and the lower right endpoint (x) b ,y b The intersection of the two rectangles is the upper left intersection (max(x3, x...). a ), max(y3,x a The upper right intersection (min(x4, x)) b ), min(y4, y b )); Take the areas of the two rectangles as area1 = (x4 - x3) * (y4 - y3) and area2 = (x b -x a )*(y b -y a ); Take the area of ​​the region area3 = max(0, min(x4, x)); b )-max(x3,x a ))*max(0,min(y4,y b )-max(y3,y b ); Take the intersection area area4 = area2 + area1 - area3; finally calculate the degree of overlap.

[0034] The beneficial effects of this invention are as follows:

[0035] 1) This invention combines the morphological characteristics of bubble-shaped walnuts with the cooperation of an electromagnetic vibration feeding device and a scraper, which can effectively avoid the problem of walnut stacking and clogging, and achieve precise separation of individual walnuts.

[0036] 2) This invention utilizes an image recognition device to achieve multi-directional posture adjustment and precise orientation of walnuts. By recognizing the walnut's center seam through the image recognition device, firstly, relying on the friction straightening plate in conjunction with the ball bearings inside the walnut holder, the center seam can be vertically positioned, ensuring that the walnut's center seam is always perpendicular to the horizontal plane; secondly, by adjusting the angle of the walnut's center seam through a servo motor, it can be ensured that the walnut's center seam is always consistent with the walnut's transport direction, allowing the machine to always perform shell-breaking operations along the walnut's transverse diameter, thereby improving the effectiveness and efficiency of walnut shell-breaking.

[0037] 3) The design of the flexible belt device of the present invention can effectively restrict the degree of freedom of the walnut during the processing. At the same time, the flexible rubber design of the flexible belt can stably restrain the walnut and reduce the damage to the walnut during the fixing process.

[0038] 4) The design of the contour forging blade of this invention is modeled after the hand-made walnut forging tool, which has excellent contouring ability and hammering effect. At the same time, the width of the contour forging blade is sufficient, and the walnut will be hammered multiple times during the conveying process, which can greatly improve the shell-breaking effect of the walnut.

[0039] 5) This invention can achieve multi-directional orientation adjustment of walnuts and simultaneous shell breaking during continuous walnut conveying. The machine has a compact structure and high working efficiency. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the overall structure of the oriented hammer shell-breaking machine for walnut shells according to the present invention;

[0041] Figure 2 for Figure 1 Schematic diagram of the middle track conveying device;

[0042] Figure 3 for Figure 1 Schematic diagram of the shell-breaking device with a central hammer;

[0043] Figure 4 for Figure 1 Schematic diagram of the flexible belt device;

[0044] Figure 5 for Figure 1 Schematic diagram of the solid-state nuclear device;

[0045] Figure 6 for Figure 5 Schematic diagram of the cross-sectional work;

[0046] Figure 7 for Figure 5A schematic diagram of the core-containing device structure;

[0047] Figure 8 for Figure 1 Schematic diagram of the image recognition device;

[0048] Figure 9 for Figure 1 Schematic diagram of the structure of the medium-vibration feeding device;

[0049] Figure 10 for Figure 8 A schematic diagram of the working process;

[0050] Figure 11 for Figure 1 A schematic diagram of the working process.

[0051] In the diagram, 1—collection box, 2—rail conveyor device, 3—hammer crushing device, 4—flexible belt device, 5—core-forming device, 6—image recognition device, 7—vibrating feeder, 201—rail drive pulley, 202—rail trolley assembly, 203—core-forming device mounting plate, 204—hammer crushing support frame, 205—flexible belt support frame, 206—rail belt, 207—rail base plate, 208—trolley rail, 209—scraper support frame, 210—rail driven pulley, 211—feeding support frame, 212—rail support column, 301—pneumatic button, 302—air hammer connecting frame, 303—pneumatic transmission line, 304—air hammer, 305—contouring forging blade, 401—flexible belt driven wheel axle, 402—rubber flexible belt, 403—flexible belt 404—Flexible belt pulley bearing, 405—Flexible belt motor, 406—Flexible belt connecting frame, 407—Flexible belt drive pulley, 408—Flexible belt driven pulley, 501—Straightening drive controller, 502—Friction straightening plate, 503—Core shell, 504—Core container, 505—Servo motor connecting block, 506—Servo motor, 507—Servo motor housing, 508—Servo motor transmission line, 509—Servo motor drive controller, 601—Image connecting frame, 602—Camera, 603—Image frame, 701—Feeding channel, 702—Feeding hopper, 703—Feeding box, 704—Vibrating plate, 705—Vibrating base, 706—Scraper cylinder, 707—Scraper bearing seat, 708—Scraper bearing, 709—Scraper motor retainer, 710—Scraper motor. Detailed Implementation

[0052] The specific structure and working process of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0053] like Figure 1The oriented hammer-crushing shell-crushing machine for walnuts shown includes a collection box 1, a track conveyor 2, a hammer-crushing shell-crushing device 3, a flexible belt device 4, multiple shell-soliciting devices 5, an image recognition device 6, and a vibrating feeder 7. The track conveyor 2 rotates counterclockwise, transporting walnuts from the rear to the front of the track conveyor 2. The collection box 1 is placed below the front of the track conveyor 2; the vibrating feeder 7 and the image recognition device 6 are installed above the rear of the track conveyor 2, with the image recognition device 6 located directly in front of the vibrating feeder 7; the hammer-crushing shell-crushing device 3 is installed on one side of the upper front of the track conveyor 2, and the flexible belt device 4 is installed on the other side of the upper front of the track conveyor 2, with the hammer-crushing shell-crushing device 3 and the flexible belt device 4 arranged facing each other; multiple shell-soliciting devices 5 are evenly spaced on the track conveyor 2.

[0054] like Figure 2 As shown, the track conveying device 2 includes a track drive pulley 201, a track trolley assembly 202, a solid-core device mounting plate 203, a track belt 206, a track base plate 207, a trolley track 208, a track driven pulley 210, and a track support column 212. The track base plate 207, as the core load-bearing component, is integrally milled from high-alloy steel plate to ensure the overall structural stability of the device. The track base plate 207 is supported on the ground by the track support column 212. Therefore, the track conveying device 2 is placed on the ground relying on the stable load-bearing capacity provided by the track support column 212. The design of the track support column 212 takes into account the flatness of the ground and the center of gravity distribution of the device, ensuring the stability and safety of the device during operation.

[0055] The track drive pulley 201 and the track driven pulley 210 are respectively installed at the front and rear ends of the side of the track base plate 207, and rotate counterclockwise under the drive of the track power supply device; the track belt 206 connects the track drive pulley 201 and the track driven pulley 210 to form a closed belt drive conveying path. The trolley track 208 is fixed to the side of the track base plate 207 around the outer periphery of the track belt 206. The track trolley group 202 includes twelve trolleys, which are equally spaced on the trolley track 208 and move along the trolley track 208 with the track belt 206; at the same time, each trolley is fixed to the corresponding solid device 5 through the solid device mounting plate 203, and the solid device 5 can be accurately rotated during the conveying process under the drive of the track trolley group 202.

[0056] The track conveying device 2 also includes a hammer-crushing support frame 204, a flexible belt support frame 205, a feeding support frame 211, and a scraper support frame 209. The hammer-crushing support frame 204 and the flexible belt support frame 205 are vertically and symmetrically welded to the left and right sides of the upper front part of the track base plate 207 via fillet welds. Both the top of the hammer-crushing support frame 204 and the flexible belt support frame 205 are machined with positioning slots, and one end of the hammer-crushing support frame 204 is machined with a pneumatic button base. The hammer-crushing support frame 204 is used to install the hammer-crushing device 3, and the flexible belt support frame 205 is used to install the flexible belt device 4. The scraper support frame 209, like the feeding support frame 211, is vertically welded to the upper rear part of the track base plate 207 via continuous fillet welds, and is used to install the vibrating feeding device 7.

[0057] like Figure 3 As shown, the shell-breaking device 3 includes a pneumatic button 301, an air hammer connecting frame 302, a pneumatic transmission line 303, two air hammers 304, and a contour forging blade 305. U-shaped plates are arranged at both ends of one side of the air hammer connecting frame 302, with each U-shaped plate corresponding to an air hammer 304. The upper end cap of the air hammer 304 is embedded in the U-shaped cavity of the U-shaped plate, and the lower end cap connects to the end of the contour forging blade 305. Simultaneously, the air hammers 304 are connected to the pneumatic button 301 via the pneumatic transmission line 303, enabling simultaneous operation of both hammers under the control of the pneumatic button 301, thus improving processing efficiency. The air hammer connecting frame 302 is fixedly connected to the upper end of the shell-breaking support frame 204 via a lower locking slot, used to secure the entire shell-breaking device 3 and ensure the stability and reliability of the device during operation. The air hammer 304 uses a contour forging blade 305 that is modeled after a hand-made walnut forging tool. It has an excellent hammering effect on breaking the shell. At the same time, the width of the contour forging blade 305 is about four times the maximum diameter of the walnut, so that the walnut will be hammered multiple times during the conveying process, which can greatly improve the shell breaking effect.

[0058] like Figure 4 As shown, the flexible belt device 4 includes a flexible belt driven pulley shaft 401, a rubber flexible belt 402, a flexible belt driving pulley shaft 403, a flexible belt pulley bearing 404, a flexible belt motor 405, a flexible belt connecting frame 406, a flexible belt driving pulley 407, and a flexible belt driven pulley 408.

[0059] A flexible rubber belt 402 connects a flexible belt drive pulley 407 and a flexible belt driven pulley 408, forming a closed flexible belt loop. The flexible belt drive pulley 407 and the flexible belt driven pulley 408 are mounted on one side of the flexible belt connecting frame 406 via flexible belt driven pulley shaft 401 and flexible belt drive pulley shaft 403, respectively. The flexible belt driven pulley shaft 401 and flexible belt drive pulley shaft 403 pass through the other side of the flexible belt connecting frame 406 and are connected to the flexible belt pulley bearing 404. The end of the flexible belt drive pulley shaft 403 passing through the other side of the flexible belt connecting frame 406 is connected to the output shaft of the flexible belt motor 405. The flexible design of the rubber belt 402 allows the walnuts to be stably restricted in their degrees of freedom during processing, while also reducing errors and damage during the restriction process.

[0060] Specifically, the drive wheel 407 of the flexible belt drives the rubber flexible belt 402 to move at a constant speed, thereby achieving stable restriction of the upper degree of freedom of the walnut during the hammering and shell-breaking operation. The flexible belt connecting frame 406, while fixing the various components of the flexible belt device 4, is also fixed to the upper end of the hammering and shell-breaking support frame 204 through the lower end bayonet.

[0061] like Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 10 As shown, the core-fixing device 5 includes a straightening drive controller 501, a friction straightening plate 502, a core-fixing shell 503, a core-holding container 504, a servo motor connecting block 505, a servo motor 506, a servo motor housing 507, a servo motor transmission line 508, and a servo motor drive controller 509. The core-fixing shell 503, as the external structure of the core-fixing device 5, is generally rectangular in shape. While fixing the walnut, it provides necessary protection and support for the internal walnut and other components. Furthermore, the top of the core-fixing shell 503 is uncovered, facilitating the image recognition device 6 to identify the direction of the walnut's center seam.

[0062] Each solid shell 503 has a slanted groove machined on the upper left wall of its inner cavity. A through hole is opened at the bottom of the slanted groove, which runs horizontally through the solid shell 503. The friction straightening plate 502 is built into the inner cavity of the solid shell 503 and rests against the slanted groove. The connecting rod of the friction straightening plate 502 passes through the through hole and is connected to the straightening drive controller 501 through a ball joint. The straightening drive controller 501 is equipped with components such as a Bluetooth wireless receiving module. When the straightening drive controller 501 receives a command from the image recognition device 6 (a command to rotate clockwise or counterclockwise in 1° increments), the straightening drive controller 501 converts the command into a PWM signal and controls the friction straightening plate 502 to rotate through the ball joint. By relying on the friction between the friction straightening plate 502 and the walnut shell, the position of the walnut is adjusted so that the walnut's center seam is perpendicular to the horizontal plane. The friction straightening plate 502 is made of rubber, which ensures sufficient friction with the walnut shell without damaging the outer surface of the walnut. At the same time, the lower part of the friction straightening plate 502 is designed in an arc shape according to the contour of the bubble walnut, so as to fit the outer surface of the bubble walnut to the greatest extent. The inclined groove ensures that the friction straightening plate 502 can rotate flexibly, while effectively limiting the excessive rotation range of the friction straightening plate 502 to prevent the walnut from popping out.

[0063] In addition, the right wall of the shell 503 has a groove that allows the walnut portion to be exposed, for use with the contour forging blade 305 to crack the shell. The bottom of the shell 503 has a groove that mates with the servo connecting block 505, ensuring stable and smooth rotation. The walnut container 504 is located inside the shell 503. Its upper part is wider and designed to be oval according to the outline of a walnut. The surface of the walnut container 504 is machined with rollers for use with the friction straightening plate 502 to adjust the angle of the walnut. The lower part of the walnut container 504 is narrower and has a rectangular groove hollowed out inside for fixing to the servo connecting block 505.

[0064] The servo connector 505 is located between the core container 504 and the servo motor 506, providing a stable connection. The servo connector 505 is built into the core shell recess of the core shell 503, with its upper cuboid portion fixedly connected to the cuboid recess inside the core container 504. The lower part of the servo connector 505 is designed as a cylinder, allowing free rotation. The lower part of the servo connector 505 has a hollowed-out servo connector groove for mounting the servo motor 506's blades, allowing the servo connector 505 to rotate with the servo motor 506's blades. The servo housing 507 protects the servo motor 506; its shape and size are designed according to the installation requirements of the servo motor 506, providing necessary protection. The servo motor 506 is connected to the servo drive controller 509 mounted on the core device mounting plate 203 via the servo transmission line 508. The servo drive controller 509 has a built-in Bluetooth wireless receiver module.

[0065] like Figure 8 , Figure 10As shown, the image recognition device 6 includes an image connection frame 601, a camera 602, and an image frame 603. The image frame 603 is designed as a door frame structure, which is simple and efficient. Its two columns are fixed to the feeding support frame 209 on both sides of the track by bolts. The crossbeam of the image frame 603 has hollowed-out grooves inside for fixing the image connection frame 601 and the camera 602.

[0066] Specifically, the image connection frame 601 houses components such as the screen module and development board. It also connects the camera 602 to the image rack 603, providing a stable support platform for the camera 602 and other components. After analyzing the information captured by the camera 602, the components inside the image connection frame 601 transmit commands to the servo drive controller 509 and the centering drive controller 501.

[0067] like Figure 9 As shown, the vibrating feeding device 7 includes a feeding channel 701, a feeding hopper 702, a feeding box 703, a vibrating plate 704, a vibrating base 705, a scraper cylinder 706, a scraper bearing seat 707, a scraper bearing 708, a scraper motor holder 709, and a scraper motor 710. The rear end of the feeding channel 701 is connected to the opening at the lower front end of the feeding box 703. The opening size at the lower front end of the feeding box 703 is the same as the cross-sectional size of the rear end of the feeding channel 701, with its width and height slightly larger than the maximum diameter of laboratory walnuts, allowing only one walnut to pass through the feeding channel 701 in both the vertical and horizontal directions. The lower part of the feeding hopper 702 is fixedly connected to the feeding box 703, and their separate design facilitates disassembly and transportation.

[0068] Meanwhile, the vibrating plate 704, the vibrating base 705, and the electromagnet spring inside the vibrating base 705 constitute an electromagnetic vibration device. The vibrating plate 704 is fixedly connected to the feed box 703 and the feed channel 701 below, and under the action of the electromagnet spring, it drives the feed box 703 and the feed channel 701 to vibrate slightly. The vibrating plate 704 and the vibrating base 705 are fixedly connected by bolts, and the vibrating base 705 is fixedly connected to the vibrating feeding device 7 and the feeding support frame 211 by bolts.

[0069] The scraper cylinder 706 is located above the front end of the feeding channel 701 and is fixedly connected to the scraper support frame 209 via scraper bearings 708 at both ends and scraper bearing seats 707. The scraper motor 710 is vertically fixed to one side of the same support frame via scraper motor retainer 709. The scraper motor 710 drives the scraper cylinder 706 to rotate at a constant speed, orderly feeding the individual walnuts in the feeding channel 701 into the kernel-fixing device 5.

[0070] The specific process of the attitude adjustment method for the shell-breaking machine with an attitude-adjusting and directional hammer of the present invention is as follows:

[0071] Step 1) Construct a training set for the walnut suture contour based on deep learning, generate a pre-trained walnut suture template, and process it into a template rectangle. Take the direction from the upper left endpoint to the upper right endpoint of the template rectangle as the y-axis, and the direction from the upper right endpoint to the lower right endpoint as the x-axis; then the coordinates of the upper left endpoint of the template rectangle are (x... a ,y a The coordinates of the upper right endpoint are (x a ,y b The coordinates of the lower left endpoint are (x b ,y a The coordinates of the upper right endpoint are (x b ,y b ).

[0072] A large number of top-view images of walnuts were collected in advance using high-resolution industrial cameras, covering different lighting conditions and angles; the position of the suture line in each image was manually marked to generate a pre-trained suture line template (the so-called template is that the walnut suture line is both perpendicular to the horizontal plane and consistent with the transportation direction).

[0073] Step 2) The image recognition device 6 acquires the mid-suture image of the walnut to be tested in real time during transportation, identifies the mid-suture of the walnut to be tested, and calculates the deviation angle between the mid-suture of the walnut to be tested and the pre-trained walnut mid-suture template.

[0074] The specific process for calculating the deviation angle is as follows: Using algorithms such as Canny, the edges of the suture image of the walnut to be tested are extracted and transformed into a rectangle to be tested through Hough line transform. The upper right endpoint (x1, y1) and lower right endpoint (x2, y2) of this rectangle are taken. The direction vector of the rectangle to be tested is v1 = (x2 - x1, y2 - y1), and the direction vector of the template rectangle is v2 = (x1 - x1, y2 - y1). b -x a ,y b -y b ), calculate the deviation angle between vector v1 and vector v2.

[0075] Step 3) If the deviation angle θ calculated in step 2) is less than or equal to 5°, then proceed directly to step 5); if the deviation angle θ calculated in step 2) is greater than or equal to 5°, then the image recognition device 6 will send the adjustment command to the servo drive controller 509 via Bluetooth protocol. The servo drive controller 509 will convert the adjustment command into a PWM signal and transmit it to the servo 506 to adjust the posture of the walnut under test, and then proceed to step 4).

[0076] The specific process of adjusting the posture of the walnut to be tested is as follows:

[0077] If 5° < θ < 90°, the image recognition device 6 will send an adjustment command with a clockwise rotation and a step size of α° (α° is preferably 3°) to the servo drive controller 509 via Bluetooth protocol. The servo drive controller 509 will convert the adjustment command into a PWM signal and transmit it to the servo 506.

[0078] If 90° < θ < 180°, the image recognition device 6 will send an adjustment command with a counterclockwise rotation step size of α° (α° is preferably 3°) to the servo drive controller 509 via Bluetooth protocol. The servo drive controller 509 will convert the adjustment command into a PWM signal and transmit it to the servo 506.

[0079] Step 4) Each time the posture of the walnut to be tested is adjusted, the image recognition device 6 immediately re-acquires the top view image of the walnut to be tested, and repeats steps 2) to 3) until the deviation angle θ between the recognized suture line of the walnut to be tested and the pre-trained walnut suture line template is <5°; then proceed to step 5).

[0080] Step 5) The image recognition device 6 identifies the overlap ratio (LOU) between the walnut suture and the pre-trained walnut suture template. If the overlap ratio (LOU) is ≥95%, the posture of the walnut under test meets the requirements, and step 7) is executed. If the overlap ratio (LOU) is <95%, the image recognition device 6 sends the adjustment command to the straightening drive controller 501 via Bluetooth protocol. The straightening drive controller 501 converts the adjustment command into a PWM signal and controls the friction straightening plate 502 to rotate. The posture of the walnut under test is adjusted by the friction between the friction straightening plate 502 and the walnut shell, and then step 6) is executed.

[0081] The specific process of adjusting the posture of the walnut to be tested is as follows:

[0082] If the overlap ratio loU < 95% and the overlap ratio loU is positive, the image recognition device 6 will send an adjustment command of clockwise rotation with a step size of β° (β° < α°, preferably 1°) to the straightening drive controller 501 via Bluetooth protocol. The straightening drive controller 501 will then convert the adjustment command into a PWM signal and control the friction straightening plate 502 to rotate.

[0083] If the overlap ratio 10U < 95% and the overlap ratio 10U is negative, the image recognition device 6 will send an adjustment command to the straightening drive controller 501 via Bluetooth protocol, which will rotate counterclockwise with a step size of β° (β° < α°, preferably 1°). The straightening drive controller 501 will then convert the adjustment command into a PWM signal and control the friction straightening plate 502 to rotate.

[0084] The specific process for calculating the overlap ratio (LOU) between the suture line of the walnut to be tested and the pre-trained walnut suture line template is as follows:

[0085] The image recognition device (6) acquires the midline image of the walnut to be tested, and transforms the midline image of the walnut to be tested into a measured rectangle through Hough line transformation. The upper left endpoint (x3, y3) and lower right endpoint (x4, y4) of the measured rectangle are taken, and the upper left endpoint (x4, y4) of the template rectangle is taken. a ,y a ) and the lower right endpoint (x) b ,y b The intersection of the two rectangles is the upper left intersection (max(x3, x...). a ), max(y3,y a The upper right intersection (min(x4, x)) b ), min(y4, y b )); Take the areas of the two rectangles as area1 = (x4 - x3) * (y4 - y3) and area2 = (x b -x a )*(y b -y a ); Take the area of ​​the region area3 = max(0, min(x4, x)); b )-max(x3,x a ))*max(0,min(y4,y b )-max(y3,y b ); Take the intersection area area4 = area2 + area1 - area3; finally calculate the degree of overlap.

[0086] Step 6) Each time the friction straightening plate 502 is adjusted, the image recognition device 6 immediately re-acquires the top view image of the walnut to be tested, and repeats steps 2) to 5) until the overlap 10U ≥ 95%.

[0087] After step 7) is completed, the image recognition device 6 acquires the midline image of the next walnut to be tested and repeats steps 2) to 6).

[0088] like Figure 11 The working principle of the present invention is shown below:

[0089] Walnuts first enter the feeding channel 701 through the feeding hopper 702 and feeding box 703. Under the vibration of the vibrating plate 704, each walnut in the feeding channel 701 is arranged with spacing. At the same time, under the action of gravity and vibration, the walnuts are in a state where the center seam is almost perpendicular to the horizontal plane. Then, the scraper cylinder 706 rotates at a certain angle and sends a walnut into the kernel-fixing device 5. At this time, the track conveying device 2 starts to work, and the track trolley group 202 and the kernel-fixing device mounting plate 203 work together to drive the kernel-fixing device 5 to rotate counterclockwise.

[0090] Simultaneously, the camera 602 of the image recognition device 6 begins operation, transmitting the key feature information of the walnut's center seam position to the image recognition device 6 in real time via high-speed imaging. The image recognition device 6 first transmits a command via Bluetooth to the straightening drive controller 501 based on whether the walnut's center seam is perpendicular to the horizontal plane. The straightening drive controller 501 then controls the friction straightening plate 502 to fine-tune the walnut's position. When the walnut's center seam is perpendicular to the horizontal plane, the device transmits a command to the servo drive controller 509 based on whether the walnut's center seam is along the walnut's conveying direction. The servo drive controller 509 drives the servo motor 506 to rotate via the conveyor line 508, continuously adjusting the direction of the walnut's center seam. When the current walnut's center seam direction is detected to be consistent with the walnut's conveying direction, the camera 602 begins to photograph the next set of walnuts in the kernel-fixing device 5.

[0091] When the walnut-fixing device 5 is about to reach the bottom of the flexible belt device 4, the flexible belt device 4 rotates at a constant speed. Under the action of the flexible belt device 4, the walnut is completely fixed inside the walnut-fixing shell 503. At this time, the hammer-cracking device 3 starts to work. The air hammer 304 drives the contour forging blade 305 to hammer the walnut with appropriate force along the groove on one side of the walnut-fixing shell 503, so as to achieve precise shell cracking.

[0092] Finally, when the solidification device 5 enters the arc-shaped path of the track conveyor 2, the open walnuts fall into the collection box 1 under the action of gravity.

[0093] The above embodiments are only used to illustrate the present invention. The structure and connection method of each component can be varied. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant details can be found in the method section. The above-described embodiments of the present invention do not constitute a limitation on the scope of protection of the present invention. Any equivalent modifications and improvements made based on the technical solutions of the present invention should not be excluded from the scope of protection of the present invention.

Claims

1. A directional hammer-cracking machine for cracking the shells of walnuts, characterized in that: The device includes a collection box (1), a track conveyor (2), a hammer crushing device (3), a flexible belt device (4), multiple core-solidifying devices (5), an image recognition device (6), and a vibrating feeder (7). The collection box (1) is placed below the front of the track conveyor (2), the vibrating feeder (7) and the image recognition device (6) are installed above the rear of the track conveyor (2), and the image recognition device (6) is located directly in front of the vibrating feeder (7). The hammer crushing device (3) is installed on one side above the front of the track conveyor (2), and the flexible belt device (4) is installed on the other side above the front of the track conveyor (2), with the hammer crushing device (3) and the flexible belt device (4) arranged face to face. Multiple core-solidifying devices (5) are evenly spaced on the track conveyor (2). The track conveying device (2) includes a track drive pulley (201), a track trolley assembly (202), a solidification device mounting plate (203), a track belt (206), a track base plate (207), a trolley track (208), and a track driven pulley (210). The track drive pulley (201) and the track driven pulley (210) are respectively installed at the front and rear ends of the side of the track base plate (207). The track belt (206) connects the track drive pulley (201) and the track driven pulley (210) to form a closed belt. Transmission and conveying path; the trolley track (208) is fixed to the side of the track base plate (207) around the outer periphery of the track belt (206). The track trolley group (202) includes multiple trolleys, which are arranged at equal intervals on the trolley track (208) and move along the trolley track (208) with the track belt (206); each trolley is fixed to the corresponding solid core device (5) through the solid core device mounting plate (203), and the solid core device (5) is rotated during the conveying process under the drive of the track trolley group (202); The track conveying device (2) also includes a hammer-crushing support frame (204), a flexible belt support frame (205), a feeding support frame (211), and a scraper support frame (209). The hammer-crushing support frame (204) and the flexible belt support frame (205) are vertically and symmetrically welded to the left and right sides above the front of the track base plate (207) by fillet welds. The top of the hammer-crushing support frame (204) and the flexible belt support frame (205) are both machined with positioning bayonets. One end of the hammer-crushing support frame (204) is machined with a pneumatic button base. The hammer-crushing support frame (204) is used to install the hammer-crushing device (3), and the flexible belt support frame (205) is used to install the flexible belt device (4). The scraper support frame (209) and the feeding support frame (211) are vertically welded to the rear of the track base plate (207) by continuous fillet welds and are used to install the vibrating feeding device (7). The core-fixing device (5) includes a centering drive controller (501), a friction centering plate (502), a core-fixing shell (503), a core container (504), a servo motor connecting block (505), a servo motor (506), a servo motor housing (507), a servo motor transmission line (508), and a servo motor drive controller (509). Each core-fixing shell (503) has a slanted groove machined on the upper left wall of its inner cavity. A through hole is horizontally opened at the bottom of the slanted groove, penetrating the core-fixing shell (503). The friction centering plate (502) is embedded within the inner cavity of the core-fixing shell (503) and abuts against... On the inclined groove, the connecting rod of the friction straightening plate (502) passes through the through hole and is connected to the straightening drive controller (501) through the ball joint; the right wall of the solid shell (503) is machined with a groove for the walnut part to be exposed, which is used to cooperate with the forging blade (305) to perform shell breaking operation; the bottom of the solid shell (503) is machined with a solid shell groove that cooperates with the servo connecting block (505); the shell container (504) is located inside the solid shell (503); the lower part of the shell container (504) has a rectangular groove for being hollowed out, which is used to be fixedly connected with the servo connecting block (505); The servo connecting block (505) is located between the core container (504) and the servo (506). The servo connecting block (505) is built into the core shell groove of the solid shell (503). The upper cuboid of the servo connecting block (505) is fixedly connected to the cuboid groove inside the core container (504). The lower part of the servo connecting block (505) is designed as a cylinder. The lower part of the servo connecting block (505) has a servo connecting block groove for installing the fan blade of the servo (506), so that the servo connecting block (505) 505) rotates with the rotation of the fan blade of the servo motor (506); the servo motor (506) is connected to the servo motor drive controller (509) installed on the mounting plate (203) of the solid walnut device via the servo motor transmission line (508); the friction straightening plate (502) is made of rubber, and the lower part of the friction straightening plate (502) is designed as an arc according to the outline of the walnut; the walnut container (504) has rollers on its walnut holding surface, which are used to cooperate with the friction straightening plate (502) to adjust the angle of the walnut.

2. The orientation-adjusting hammer-cracking machine for walnut shells according to claim 1, characterized in that: The hammer-breaking device (3) includes a pneumatic button (301), an air hammer connecting frame (302), a pneumatic transmission line (303), two air hammers (304), and a contour forging blade (305). U-shaped plates are arranged at both ends of one side of the air hammer connecting frame (302), and each U-shaped plate is equipped with an air hammer (304). The upper end cover of the air hammer (304) is embedded in the U-shaped cavity of the U-shaped plate, and the lower end cover is connected to the end of the contour forging blade (305). At the same time, the air hammer (304) is connected to the pneumatic button (301) through the pneumatic transmission line (303), and the two hammers work simultaneously under the control of the pneumatic button (301). The air hammer connecting frame (302) is fixed to the upper end of the hammer-breaking support frame (204) through the lower end bayonet, which is used to fix the entire hammer-breaking device (3).

3. The orientation-adjusting hammer-cracking machine for walnut shells according to claim 1, characterized in that: The flexible belt device (4) includes a flexible belt driven pulley shaft (401), a rubber flexible belt (402), a flexible belt driving pulley shaft (403), a flexible belt pulley bearing (404), a flexible belt motor (405), a flexible belt connecting frame (406), a flexible belt driving pulley (407), and a flexible belt driven pulley (408); the rubber flexible belt (402) connects the flexible belt driving pulley (407) and the flexible belt driven pulley (408) to form a closed flexible belt loop, and the flexible belt driving pulley (407) and... The driven pulley (408) of the flexible belt is mounted on one side of the flexible belt connecting frame (406) via the driven pulley shaft (401) and the driving pulley shaft (403) of the flexible belt. The driven pulley shaft (401) and the driving pulley shaft (403) of the flexible belt pass through the other side of the flexible belt connecting frame (406) and are connected to the flexible belt pulley bearing (404). The end of the driving pulley shaft (403) of the flexible belt passes through the other side of the flexible belt connecting frame (406) and is connected to the output shaft of the flexible belt motor (405).

4. The orientation-adjusting hammer-cracking machine for walnut shells according to claim 1, characterized in that: The image recognition device (6) includes an image connection frame (601), a camera (602), and an image frame (603); the vibrating feeding device (7) includes a feeding channel (701), a feeding hopper (702), a feeding box (703), a vibrating plate (704), a vibrating base (705), a scraper cylinder (706), a scraper bearing seat (707), a scraper bearing (708), a scraper motor holder (709), and a scraper motor (710); the rear end of the feeding channel (701) is connected to the opening at the lower front end of the feeding box (703), and the opening size at the lower front end of the feeding box (703) is the same as the cross-sectional size of the rear end of the feeding channel (701), and the width and height are slightly larger than the maximum diameter of laboratory walnuts; The vibrating plate (704), the vibrating base (705), and the electromagnet spring inside the vibrating base (705) constitute an electromagnetic vibration device. The vibrating plate (704) is fixedly connected to the feed box (703) and the feed channel (701) below. Under the action of the electromagnet spring, the feed box (703) and the feed channel (701) vibrate. The scraper cylinder (706) is located above the front end of the feed channel (701) and is fixedly connected to the scraper support frame (209) through the scraper bearings (708) at both ends and the scraper bearing seat (707). The scraper motor (710) drives the scraper cylinder (706) to rotate at a constant speed, and orderly feeds the single walnuts in the feed channel (701) into the kernel-fixing device (5).

5. A method for adjusting the attitude of a shell-breaking machine with an orientation-adjusting hammer as described in any one of claims 1 to 4, characterized in that: The specific posture adjustment method is as follows: Step 1) Construct a training set for the walnut suture contour based on deep learning, generate a pre-trained walnut suture template, and process it into a template rectangle. Take the direction from the upper left endpoint to the upper right endpoint of the template rectangle as the y-axis, and take the direction from the upper right endpoint to the lower right endpoint as the x-axis; then the coordinates of the upper left endpoint of the template rectangle are ( , The coordinates of the upper right endpoint are ( , The coordinates of the lower left endpoint are ( , The coordinates of the upper right endpoint are ( , ); Step 2) The image recognition device (6) acquires the image of the suture line of the walnut to be tested in real time during transportation, identifies the suture line of the walnut to be tested and calculates the deviation angle between the suture line of the walnut to be tested and the pre-trained walnut suture line template. Step 3) If the deviation angle calculated in Step 2) If the deviation angle is ≤5°, then proceed directly to step 5); if the deviation angle calculated in step 2) is ≤5°, then proceed directly to step 5). If the angle is greater than 5°, the image recognition device (6) will send the adjustment command to the servo drive controller (509). The servo drive controller (509) will convert the adjustment command into a PWM signal and transmit it to the servo (506) to adjust the posture of the walnut under test, and then execute step 4). Step 4) Each time the posture of the walnut to be tested is adjusted, the image recognition device (6) re-acquires the top view image of the walnut to be tested, and repeats steps 2) to 3) until the deviation angle between the recognized walnut midline and the pre-trained walnut midline template is found. <5°; then proceed to step 5); Step 5) Use image recognition device (6) to identify the overlap between the walnut suture and the pre-trained walnut suture template. If the degree of overlap If the overlap is 95%, then the posture of the walnut being tested meets the requirements, proceed to step 7); if the overlap... If the value reaches 95%, the image recognition device (6) will send the adjustment command to the straightening drive controller (501). The straightening drive controller (501) will convert the adjustment command into a PWM signal and control the friction straightening plate (502) to rotate. The posture of the walnut to be tested will be adjusted by the friction between the friction straightening plate (502) and the walnut shell. Then, step 6 will be executed. Step 6) Each time the friction straightening plate (502) is adjusted, the image recognition device (6) re-acquires the top view image of the walnut to be tested, and repeats steps 2) to 5) until the overlap is achieved. 95%; After step 7) the adjustment is completed, the image recognition device (6) acquires the midline image of the next walnut to be tested and repeats steps 2) to 6).

6. The attitude adjustment method according to claim 5, characterized in that: The deviation angle calculation process in step 2) is as follows: The edge of the suture image of the walnut to be tested is extracted using the Canny algorithm and transformed into a rectangle to be tested through Hough line transformation. The upper right endpoint of the rectangle to be tested is taken ( , ) and the lower right endpoint ( , The direction vector of the rectangle to be measured is... The direction vector of the template rectangle is Calculate vector with vector deviation angle ; The specific process for adjusting the posture of the walnut to be tested in step 3) is as follows: If 5° < If the angle is less than 90°, the image recognition device (6) will rotate clockwise with a step size of 1 / 2. The adjustment command of ° is sent to the servo drive controller (509), and the servo drive controller (509) converts the adjustment command into a PWM signal and transmits it to the servo (506). If 90° < If the angle is less than 180°, the image recognition device (6) will rotate counterclockwise with a step size of 180°. The adjustment command of ° is sent to the servo drive controller (509), and the servo drive controller (509) converts the adjustment command into a PWM signal and transmits it to the servo (506).

7. The attitude adjustment method according to claim 5, characterized in that: The specific process for adjusting the posture of the walnut to be tested in step 5) is as follows: If the overlap <95% and overlap If the number is positive, the image recognition device (6) will rotate clockwise with a step size of . The adjustment command of ° is sent to the straightening drive controller (501), which converts the adjustment command into a PWM signal and controls the friction straightening plate (502) to rotate. If the overlap <95% and overlap If the value is negative, the image recognition device (6) will rotate counterclockwise with a step size of . The adjustment command of ° is sent to the straightening drive controller (501), which converts the adjustment command into a PWM signal and controls the friction straightening plate (502) to rotate. The overlap between the suture of the walnut to be tested and the suture template of the pre-trained walnut The calculation process is as follows: The image recognition device (6) acquires the mid-suture image of the walnut to be tested, and transforms the mid-suture image of the walnut to be tested into a measured rectangle through Hough line transformation, and takes the upper left endpoint of the measured rectangle ( , ) and the lower right endpoint ( , ), and simultaneously take the top left endpoint of the template rectangle ( , ) and the lower right endpoint ( , The intersection of the two rectangles is the upper left intersection (max( , ), max( , ), upper right intersection (min( , ), min( , Take the areas of the two rectangles as follows: as well as Take the area of ​​the region Take the intersection area Finally, calculate the degree of overlap. .

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