High-efficiency persimmon peeling method and device

Abstract

The present application relates to the technical field of agricultural product processing equipment, and particularly relates to a high-efficiency persimmon peeling method and equipment. The first image acquisition unit and the hardness detection unit are used to obtain the area, chroma value and hardness value of the persimmon contour pattern located on the first conveying belt. The data is processed by the central control processor to adjust the enzyme solution concentration in the enzyme pool, the heating temperature of the heating unit and the emission frequency of the ultrasonic transmitter. The persimmon is conveyed to the enzyme pool through the first conveying belt for enzymolysis. The second image acquisition unit above the enzyme pool is used to obtain the chroma change rate of the liquid surface of the enzyme pool. The central control processor is used for processing and adjusting the enzyme parameters. The persimmon after enzymolysis is conveyed to the peeling mechanism for peeling. The persimmon after peeling is conveyed to the cleaning mechanism for cleaning. The present application adjusts the operation parameters of the equipment based on the difference of persimmon through the above process, improves the peeling efficiency of persimmon and reduces the waste of persimmon.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural product processing equipment, and particularly relates to a high-efficiency persimmon peeling method and equipment. BACKGROUND

[0002] Chinese patent publication No. CN108991096B discloses a persimmon peeling method and application of peeled persimmons, and the persimmon peeling method comprises the following steps: preparing a buffer solution and an enzyme solution, adjusting the pH of the enzyme solution to 4.0-4.5, selecting and cleaning persimmon raw materials, removing a wax layer, immersing the persimmons with the removed wax layer in the enzyme solution, soaking at a constant temperature of 40-50 DEG C for 1.5-2 hours, removing the persimmon peel that has been enzymatically hydrolyzed, cleaning the persimmons, and making persimmon cake, persimmon dry, and persimmon wine products after peeling. In the method, the wax layer is removed by using a brush rolling machine to remove the outermost gum layer of the persimmons, and then the persimmons are enzymatically hydrolyzed,

[0003] However, the prior art still has the following problems,

[0004] In the prior art, the influence of the difference of persimmons on the enzymatic hydrolysis process is not considered, and the operation parameters of the peeling equipment are not adjusted. SUMMARY

[0005] To solve the problem that the influence of the difference of persimmons on the enzymatic hydrolysis process is not considered, and the operation parameters of the peeling equipment are not adjusted in the prior art, the present application provides a high-efficiency persimmon peeling method, which comprises the following steps.

[0006] Step S1, placing persimmons in a cleaning mechanism, cleaning the persimmons by a plurality of first spray nozzles above the cleaning mechanism, and then conveying the persimmons to an enzymatic hydrolysis pool;

[0007] Step S2, acquiring an image of a single batch of persimmons by a first image acquisition unit, adjusting enzymatic hydrolysis parameters based on an area average value and a color average value of a persimmon contour pattern in the image, the enzymatic hydrolysis parameters comprising a transmission frequency of an ultrasonic transmitter, a heating temperature of a heating unit, and a concentration of an enzymatic hydrolysis solution;

[0008] Step S3, determining whether to correct the enzymatic hydrolysis parameters according to a color change rate, and determining a correction mode when the enzymatic hydrolysis parameters are corrected, the color change rate being calculated from color values of an enzymatic hydrolysis pool surface acquired by a second image acquisition unit;

[0009] Step S4, after the enzymolysis is completed, the push plate pushes the persimmons in the enzymolysis pool out, the image of the persimmons after enzymolysis is acquired through the second image acquisition unit, the average value of the skin shedding area of the persimmons after enzymolysis and the average value of the diameter of the persimmons after enzymolysis are determined according to the image, the distance between the first beam and the second beam of the peeling mechanism and the rotating speed of the brush stick are adjusted based on the average value of the skin shedding area and the average value of the diameter of the persimmons, and the persimmons are placed into the peeling mechanism;

[0010] Step S5, the peeled persimmons output from the peeling mechanism are transported to the cleaning mechanism for cleaning.

[0011] Further, in the step S2, the image of the single batch of persimmons is acquired through the first image acquisition unit, the contour pattern of each persimmon in the image is extracted, the average value S of the area of each contour pattern and the average value E of the color are acquired, and the average value G of the hardness of the single batch of persimmons is acquired through the hardness detection unit. The first characteristic parameter value R1 is calculated by the central control processor according to formula (1),

[0012]

[0013] In formula (1), S0 represents the standard contrast value of the area of the contour pattern, E0 represents the standard contrast value of the color of the contour pattern, and G0 represents the standard contrast value of the hardness.

[0014] Further, in the step S2, the central control processor compares the first characteristic parameter value R1 with the first contrast parameter value R01 and the second contrast parameter value R02, so as to determine the adjustment mode when the enzymolysis parameters are adjusted according to the comparison result, the enzymolysis parameters including the heating temperature of the heating unit, the emission frequency of the ultrasonic emitter and the concentration of the enzymolysis solution, wherein,

[0015] The first adjustment mode is to adjust the heating temperature to the first temperature value T1, adjust the emission frequency to the first emission frequency value P1, and adjust the concentration of the enzymolysis solution to the first concentration value C1.

[0016] The second adjustment mode is to adjust the heating temperature to the second temperature value T2, adjust the emission frequency to the second emission frequency value P2, and adjust the concentration of the enzymolysis solution to the third concentration value C2.

[0017] The third adjustment mode is to adjust the heating temperature to the third temperature value T3, adjust the emission frequency to the third emission frequency value P3, and adjust the concentration of the enzymolysis solution to the third concentration value C3.

[0018] Wherein, the first adjustment mode needs to satisfy R1≥R02, the second adjustment mode needs to satisfy R01≤R1<R02, the third adjustment mode needs to satisfy R1<R01, T1>T2>T3, P1>P2>P3, C1>C2>C3.

[0019] Further, in the step S3, the chroma value of the surface of the enzyme hydrolysis pool is acquired by the second image acquisition unit, and the color change rate V within the preset time t0 after the enzyme hydrolysis starts is calculated by the central control processor according to formula (2),

[0020]

[0021] In formula (2), E1 represents the chroma value of the surface of the enzyme hydrolysis pool before the enzyme hydrolysis starts, and E2 represents the chroma value of the surface of the enzyme hydrolysis pool after the preset time t0.

[0022] Further, in the step S3, the central control processor compares the color change rate V with the preset first rate comparison parameter V1 and the preset second rate comparison parameter V2, and determines whether to modify the current enzyme hydrolysis parameter according to the comparison result, wherein,

[0023] In the first rate comparison result, the central control processor determines that the enzyme hydrolysis parameter does not need to be modified;

[0024] In the second rate comparison result, the central control processor determines that the enzyme hydrolysis parameter needs to be modified;

[0025] The first rate comparison result is V1<V≤V2, and the second rate comparison result is V≤V1 or V>V2.

[0026] Further, in the step S3, the central control processor determines the modification mode when the enzyme hydrolysis parameter is modified, wherein,

[0027] The central control processor is provided with a rate comparison parameter V0,

[0028] The first modification mode is to modify the current heating temperature to a first temperature modification value T1’ according to a first temperature modification parameter t1, modify the current emission frequency to a first emission frequency modification value according to a first frequency modification parameter p1, and modify the current enzyme hydrolysis liquid concentration to a first concentration modification value according to a first enzyme hydrolysis liquid concentration modification parameter c1.

[0029] The second modification mode is to modify the current heating temperature to a second temperature modification value T2’ according to a second temperature modification parameter t2, modify the current emission frequency to a second emission frequency modification value according to a second frequency modification parameter p2, and modify the current enzyme hydrolysis liquid concentration to a second concentration modification value according to a second enzyme hydrolysis liquid concentration modification parameter c2.

[0030] The third correction method is to correct the current heating temperature to a third temperature correction value T3' according to a first temperature correction parameter t1, correct the current transmission frequency to a third transmission frequency correction value according to a first frequency correction parameter p1, and correct the current enzyme solution concentration to a third concentration correction value according to a first enzyme solution concentration correction parameter c1;

[0031] The fourth correction method is to correct the current heating temperature to a fourth temperature correction value T4' according to a second temperature correction parameter t2, correct the current transmission frequency to a fourth transmission frequency correction value according to a second frequency correction parameter p2, and correct the current enzyme solution concentration to a fourth concentration correction value according to a second enzyme solution concentration correction parameter c2;

[0032] Wherein, the first correction method needs to satisfy V≤V1 and |V-V1|<|V0|, the second correction method needs to satisfy V≤V1 and |V-V1|≥|V0|, the third correction method needs to satisfy V>V2 and |V-V2|<|V0|, the fourth correction method needs to satisfy V>V2 and |V-V2|≥|V0|, t1

[0033] Further, in the step S4, after reaching the preset enzyme hydrolysis time t01, the push plate pushes the persimmons in the enzyme hydrolysis pool out, and the second image acquisition unit acquires the image of the enzyme-hydrolyzed persimmons, determines the average value B of the skin shedding area of the enzyme-hydrolyzed persimmons and the average value D of the diameter of the enzyme-hydrolyzed persimmons according to the image, and calculates the second characteristic parameter value R2 according to formula (3) through the central control processor,

[0034]

[0035] And, after placing all the persimmons on the push plate into the peeling mechanism, the push plate is controlled to be retracted.

[0036] Further, in the step S4, the central control processor compares the second characteristic parameter value R2 with the first enzyme-hydrolyzed persimmon comparison parameter Ri1 and the second enzyme-hydrolyzed persimmon comparison parameter Ri2, and determines the adjustment method of the distance adjustment between the first beam and the second beam of the peeling mechanism and the adjustment method of the rotation rate adjustment of the plurality of brush rods arranged on the first beam according to the comparison result, wherein,

[0037] The first rotation rate adjustment method is to adjust the rotation rate of the brush rod to H1;

[0038] The second rotation rate adjustment method is to adjust the rotation rate of the brush rod to H2;

[0039] The third rotation rate adjustment method is to adjust the rotation rate of the brush rod to H3;

[0040] The first rotation rate adjustment mode needs to satisfy R2≥Ri2, the second adjustment mode needs to satisfy Ri 1≤R2<Ri2, and the third adjustment mode needs to satisfy R2<Ri 1, H1>H2>H3.

[0041] An equipment applying a high-efficiency persimmon peeling method, comprising:

[0042] A cleaning mechanism comprising a first conveyor belt for transporting persimmons and a plurality of first spray nozzles arranged above the first conveyor belt for spraying and cleaning the persimmons on the first conveyor belt, and an end of the first conveyor belt is arranged at a feeding port of an enzymolysis tank so as to transport the persimmons on the first conveyor belt into the enzymolysis tank;

[0043] An enzymolysis mechanism comprising an enzymolysis tank, an ultrasonic transmitter arranged in the enzymolysis tank for emitting ultrasonic waves to the enzymolysis liquid in the enzymolysis tank, a heating unit for heating the enzymolysis liquid in the enzymolysis tank, and a concentration adjustment unit for adjusting the concentration of the enzymolysis liquid in the enzymolysis tank;

[0044] A peeling mechanism comprising a housing arranged on a second conveyor belt, a first cross beam and a second cross beam symmetrically arranged in the housing, and a plurality of brush rods mounted on the first cross beam and the second cross beam at preset intervals, so as to peel the persimmons after enzymolysis by rolling the brush rods;

[0045] A detection mechanism comprising a first image acquisition unit arranged on the first conveyor belt for acquiring images of the persimmons, a hardness detection unit for acquiring hardness values, and a second image acquisition unit arranged above the enzymolysis tank for acquiring images of the liquid surface in the enzymolysis tank and the persimmons after enzymolysis;

[0046] A central control processor connected with the enzymolysis mechanism and the peeling mechanism respectively, for controlling the heating temperature of the heating unit, the emission frequency of the ultrasonic transmitter, the operating parameters of the concentration adjustment unit, the distance between the first cross beam and the second cross beam, and the rotation speed of the brush rods;

[0047] A cleaning mechanism comprising a second conveyor belt for transporting the persimmons after peeling and a plurality of second spray nozzles arranged above the second conveyor belt for spraying and cleaning the persimmons on the second conveyor belt, and a starting section of the second conveyor belt is arranged at an outlet of the peeling mechanism for transporting the persimmons output by the peeling mechanism.

[0048] Further, the conveying belt surfaces of the first conveyor belt and the second conveyor belt are provided with a plurality of hollow holes distributed at preset intervals, so as to prevent water accumulation on the conveying belt surfaces during cleaning.

[0049] Compared with the prior art, the first image acquisition unit and the hardness detection unit are arranged on the first conveying belt, the area, the chroma value and the hardness value of the persimmon outline pattern located on the first conveying belt are acquired, the data is processed by the central control processor, the enzyme solution concentration in the enzyme pool, the heating temperature of the heating unit and the emission frequency of the ultrasonic emitter are adjusted, the persimmon is conveyed to the enzyme pool through the first conveying belt for enzyme hydrolysis, the chroma change rate of the liquid surface of the enzyme pool is acquired through the second image acquisition unit above the enzyme pool, the enzyme hydrolysis parameters are processed and adjusted by the central control processor, and the persimmon after enzyme hydrolysis is conveyed to the peeling mechanism for peeling, and then is conveyed to the cleaning mechanism for cleaning.

[0050] Especially, the first image acquisition unit and the hardness detection unit are arranged on the first conveying belt, the enzyme hydrolysis parameters are adjusted based on the first characteristic parameter value, the area of the persimmon outline pattern, the chroma of the persimmon and the hardness of the persimmon are considered when the first characteristic parameter value is calculated, and all the above parameters have an influence on the enzyme hydrolysis process during the peeling process of the persimmon, for example, in actual conditions, the larger the volume and the hardness of the persimmon, the more difficult the enzyme hydrolysis process is to hydrolyze the epidermis, therefore, the enzyme hydrolysis parameters are adjusted based on the first characteristic parameter value, so that the enzyme hydrolysis parameters can be controlled more accurately, and the enzyme hydrolysis efficiency is improved while the waste of persimmon is reduced.

[0051] Especially, the enzyme hydrolysis parameters are determined based on the first characteristic parameter value, since the first characteristic parameter value reflects the difference of the persimmon, and reflects the influence of the difference on the enzyme hydrolysis process, the better enzyme hydrolysis parameters can be obtained through automatic operation of the central control processor, the enzyme hydrolysis parameters include the heating temperature of the heating unit, the emission frequency of the ultrasonic emitter and the concentration of the enzyme solution, all the above parameters have a great influence on the enzyme hydrolysis process, therefore, the enzyme hydrolysis process is accurately controlled through the above process, and the enzyme hydrolysis efficiency is improved while the waste of persimmon is reduced.

[0052] Especially, the current enzyme hydrolysis parameters are corrected based on the chroma change rate V, in actual conditions, during the initial time period, part of the persimmon peel falls off with the progress of the enzyme hydrolysis reaction, and then the color of the mixed solution in the enzyme pool changes, therefore, the chroma change rate reflects the reaction efficiency of the enzyme hydrolysis reaction, therefore, the enzyme hydrolysis parameters are corrected through the above process, and the enzyme hydrolysis process is accurately controlled, the enzyme hydrolysis efficiency is improved while the waste of persimmon is reduced.

[0053] Especially, the first cross beam and the second cross beam of the peeling mechanism and the rotation rate of the brush rod are adjusted based on the second characteristic parameter value, so that a better interval range and rotation rate of the brush rod can be selected for peeling persimmons, reducing the loss of pulp and ensuring the peeling effect. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 Efficient persimmon peeling method steps schematic diagram of the embodiment of the invention;

[0055] Figure 2 Efficient persimmon peeling device structure diagram of the embodiment of the invention;

[0056] Figure 3 Hardness detection unit structure diagram of the embodiment of the invention;

[0057] In the figure, 1: second spray nozzle, 2: first cross beam, 3: brush rod, 4: slide rail, 5: mechanical arm, 6: first spray nozzle, 7: hardness detection unit, 8: first image acquisition unit, 9: first conveyor belt, 10: ultrasonic transmitter, 11: push plate, 12: second image acquisition unit, 13: second cross beam, 14: second conveyor belt, 71: infrared sensor, 72: pressure sensor, 73: shell, 74: telescopic rod. DETAILED DESCRIPTION

[0058] In order to make the purpose and advantages of the present application more clear and apparent, the present application will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0059] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not used to limit the protection scope of the present application.

[0060] It should be noted that in the description of the present application, the terms "up", "down", "left", "right", "in", "out" and the like indicate the direction or positional relationship terms based on the direction or positional relationship shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application.

[0061] Moreover, it needs to be explained that, in the description of the present application, unless otherwise explicitly specified and limited, the terms "mount", "connect", "connection" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0062] Please refer to Figure 1 As shown in the figure, it is a high-efficiency persimmon peeling method step diagram of the embodiment of the present application, the high-efficiency persimmon peeling method of the embodiment of the present application comprises:

[0063] Step S1, place the persimmons in the cleaning mechanism, clean the persimmons through a plurality of first spray nozzles 6 above the cleaning mechanism, and then convey them to the enzymolysis tank;

[0064] Step S2, acquire the image of a single batch of persimmons through the first image acquisition unit 8, adjust the enzymolysis parameters based on the area average value and the colorimetric average value of the persimmon contour pattern in the image, the enzymolysis parameters including the emission frequency of the ultrasonic wave emitter 10, the heating temperature of the heating unit, and the concentration of the enzymolysis liquid;

[0065] Step S3, determine whether to modify the enzymolysis parameters according to the colorimetric change rate, and determine the modification method when the enzymolysis parameters are modified, the colorimetric change rate being calculated from the colorimetric value of the enzymolysis tank liquid surface acquired by the second image acquisition unit 12;

[0066] Step S4, after the enzymolysis is completed, control the push plate 11 to push the persimmons in the enzymolysis tank out, acquire the image of the persimmons after enzymolysis through the second image acquisition unit 12, determine the average value of the peeling area of the persimmons after enzymolysis and the average value of the diameter of the persimmons after enzymolysis according to the image, and adjust the distance between the first cross beam 2 and the second cross beam 13 of the peeling mechanism and the rotating speed of the brush stick 3 based on the average value of the peeling area and the average value of the diameter of the persimmons, and place the persimmons in the peeling mechanism;

[0067] Step S5, convey the peeled persimmons output from the peeling mechanism to the cleaning mechanism for cleaning.

[0068] Specifically, in step S2, acquire the image of a single batch of persimmons through the first image acquisition unit 8 to extract the contour pattern of each persimmon in the image, acquire the area average value S and the colorimetric average value E of each contour pattern, and acquire the hardness average value G of the single batch of persimmons through the hardness detection unit 7, and calculate the first characteristic parameter value R1 through the central control processor according to formula (1),

[0069]

[0070] In formula (1), S0 represents an area standard contrast value of the contour pattern, E0 represents a chroma standard contrast value of the contour pattern, and G0 represents a hardness standard contrast value.

[0071] Specifically, the first image acquisition unit and the hardness detection unit are arranged on the first conveying belt, the enzyme hydrolysis parameters are adjusted based on the first characteristic parameter value, and the area of the persimmon contour pattern, the chroma of the persimmon, and the hardness of the persimmon are considered when the first characteristic parameter value is calculated. The above parameters all have an influence on the enzyme hydrolysis process during the peeling process of the persimmon. For example, in actual situations, the larger the volume and the greater the hardness of the persimmon, the more difficult it is to hydrolyze the epidermis. Therefore, adjusting the enzyme hydrolysis parameters based on the first characteristic parameter value can more accurately control the enzyme hydrolysis parameters, thereby avoiding excessive enzyme hydrolysis, improving the enzyme hydrolysis efficiency, and reducing the waste of persimmons.

[0072] Specifically, in step S2, the central control processor compares the first characteristic parameter value R1 with the preset first comparison parameter value R01 and the second comparison parameter value R02 to determine the adjustment mode when adjusting the enzyme hydrolysis parameters according to the comparison result. The enzyme hydrolysis parameters include the heating temperature of the heating unit, the emission frequency of the ultrasonic emitter 10, and the concentration of the enzyme hydrolysis liquid. Wherein,

[0073] The first adjustment mode is to adjust the heating temperature to a first temperature value T1, adjust the emission frequency to a first emission frequency value P1, and adjust the concentration of the enzyme hydrolysis liquid to a first concentration value C1.

[0074] The second adjustment mode is to adjust the heating temperature to a second temperature value T2, adjust the emission frequency to a second emission frequency value P2, and adjust the concentration of the enzyme hydrolysis liquid to a third concentration value C2.

[0075] The third adjustment mode is to adjust the heating temperature to a third temperature value T3, adjust the emission frequency to a third emission frequency value P3, and adjust the concentration of the enzyme hydrolysis liquid to a third concentration value C3.

[0076] Wherein, the first adjustment mode needs to satisfy R1≥R02, the second adjustment mode needs to satisfy R01≤R1<R02, and the third adjustment mode needs to satisfy R1<R01, T1>T2>T3, P1>P2>P3, and C1>C2>C3.

[0077] The application is based on determining the enzymolysis parameters according to the first characteristic parameter value, since the first characteristic parameter value reflects the difference of persimmons and the influence of the difference on the enzymolysis process, and through the automatic operation of the central control processor, the better enzymolysis parameters can be obtained, including the heating temperature of the heating unit, the emission frequency of the ultrasonic emitter and the concentration of the enzymolysis liquid, all of which have great influence on the enzymolysis process, therefore, through the above process, the enzymolysis process can be accurately controlled, and the excessive enzymolysis can be avoided, and the skin separation effect can be ensured, and the enzymolysis efficiency can be improved while reducing the waste of persimmons.

[0078] Specifically, the persimmons are placed in the feeding port of the first conveying belt 9, the first image acquisition unit 8 installed in the feeding port of the first conveying belt 9 obtains the contour pattern of the persimmons by taking pictures, and the persimmons are conveyed to the hardness detection unit 7 under the driving of the first conveying belt 9.

[0079] Specifically, in the step S3, the chroma value of the liquid surface of the enzymolysis tank is obtained by the second image acquisition unit 12, and the chroma change rate V within the preset time t0 after starting the enzymolysis is calculated by the central control processor according to formula (2),

[0080]

[0081] In formula (2), E1 represents the chroma value of the liquid surface of the enzymolysis tank before starting the enzymolysis, and E2 represents the chroma value of the liquid surface of the enzymolysis tank after the preset time t0.

[0082] Specifically, in the step S3, the central control processor compares the chroma change rate V with the preset first rate comparison parameter V1 and the preset second rate comparison parameter V2, and determines whether to modify the current enzymolysis parameters according to the comparison result, wherein,

[0083] In the first rate comparison result, the central control processor determines that the enzymolysis parameters do not need to be modified;

[0084] In the second rate comparison result, the central control processor determines that the enzymolysis parameters need to be modified;

[0085] The first rate comparison result is V1

[0086] The present application corrects the current enzymolysis parameters based on the color change rate V. In actual situations, as the enzymolysis reaction proceeds, part of persimmon peel falls off, which causes the color of the mixed solution in the enzymolysis pool to change. Therefore, the color change rate characterizes the reaction efficiency of the enzymolysis reaction. Therefore, the present application corrects the enzymolysis parameters through the above process, thereby realizing accurate control of the enzymolysis process, avoiding excessive enzymolysis, and ensuring the effect of skin separation, improving the enzymolysis efficiency, and reducing the waste of persimmons.

[0087] Specifically, in the step S3, the central control processor determines a correction mode for correcting the enzymolysis parameters,

[0088] The central control processor is provided with a rate comparison parameter V0,

[0089] The first correction mode is to correct the current heating temperature to a first temperature correction value T1' according to a first temperature correction parameter t1, set T1'=Ti+t1, correct the current transmission frequency to a first transmission frequency correction value P1' according to a first frequency correction parameter p1, set P1'=Pi+p1, and correct the current enzymolysis liquid concentration to a first concentration correction value C1' according to a first enzymolysis liquid concentration correction parameter c1, set C1'=Pi+p1;

[0090] The second correction mode is to correct the current heating temperature to a second temperature correction value T2' according to a second temperature correction parameter t2, set T2'=Ti+t2, correct the current transmission frequency to a second transmission frequency correction value P2' according to a second frequency correction parameter p2, set P2'=Pi+p1, and correct the current enzymolysis liquid concentration to a second concentration correction value C2' according to a second enzymolysis liquid concentration correction parameter c2, set C2'=Pi+p1;

[0091] The third correction mode is to correct the current heating temperature to a third temperature correction value T3' according to a first temperature correction parameter t1, set T3'=Ti-t1, correct the current transmission frequency to a third transmission frequency correction value P3' according to a first frequency correction parameter p1, set P3'=Pi-p1, and correct the current enzymolysis liquid concentration to a third concentration correction value C3' according to a first enzymolysis liquid concentration correction parameter c1, set C3'=Pi-p1;

[0092] The fourth correction mode is to correct the current heating temperature to a fourth temperature correction value T4' according to a second temperature correction parameter t2, set T4'=Ti-t2, correct the current transmission frequency to a fourth transmission frequency correction value P4' according to a second frequency correction parameter p2, set P4'=Pi-p2, and correct the current enzymolysis liquid concentration to a fourth concentration correction value C4' according to a second enzymolysis liquid concentration correction parameter c2, set C4'=Pi-p2;

[0093] Wherein, the first correction method needs to meet V≤V1 and |V-V1|<|V0|, the second correction method needs to meet V≤V1 and |V-V1|≥|V0|, the third correction method needs to meet V>V2 and |V-V2|<|V0|, the fourth correction method needs to meet V>V2 and |V-V2|≥|V0|, t1

[0094] Specifically, in the step S4, after reaching the preset enzymolysis time t01, the push plate 11 pushes the persimmons in the enzymolysis pool out, and the second image acquisition unit 12 acquires the image of the persimmons after enzymolysis, determines the average value B of the peeling area of the persimmons after enzymolysis and the average value D of the diameter of the persimmons after enzymolysis according to the image, and calculates the second characteristic parameter value R2 of the persimmons after enzymolysis according to formula (3) through the central control processor,

[0095]

[0096] And, after placing all the persimmons on the push plate 11 into the peeling mechanism, the push plate 11 is controlled to be retracted.

[0097] Specifically, in the step S4, the central control processor compares the second characteristic parameter value R2 with the first persimmon comparison parameter Ri1 after enzymolysis and the second persimmon comparison parameter Ri2 after enzymolysis, and determines the adjustment mode of the distance adjustment of the first beam 2 and the second beam 13 of the peeling mechanism and the adjustment mode of the rotation rate adjustment of the plurality of brush rods 3 arranged on the first beam 2 according to the comparison result, wherein,

[0098] The first rotation rate adjustment mode is to adjust the rotation rate of the brush rod 3 to H1;

[0099] The second rotation rate adjustment mode is to adjust the rotation rate of the brush rod 3 to H2;

[0100] The third rotation rate adjustment mode is to adjust the rotation rate of the brush rod 3 to H3;

[0101] Wherein, the first rotation rate adjustment mode needs to meet R2≥Ri2, the second adjustment mode needs to meet Ri1≤R2

[0102] Specifically, after the preset time ends, the central control processor controls the push plate 11 to be lifted upwards, and the persimmons in the enzymatic solution are dragged above the enzymatic solution in the enzymatic tank. The push plate 11 has a hollow mesh structure, which is used to screen out the persimmons in the enzymatic tank and retain the enzymatic solution in the enzymatic tank, thereby saving costs. A slide rail 4 is arranged above the enzymatic tank, and a mechanical arm 5 is installed below the slide rail 4, which is used to place the persimmons in the push plate 11 to the peeling mechanism for peeling.

[0103] Specifically, after the persimmons are peeled, the persimmons are located on the second conveying belt 14 of the cleaning mechanism, and the persimmons are cleaned by the second spray head 1 above the cleaning mechanism, so that the persimmons are completely cleaned on the surface.

[0104] The first cross beam and the second cross beam of the peeling mechanism and the rotation rate of the brush rod are adjusted based on the second characteristic parameter value, so that the peeling of the persimmons can be performed in a better interval range and rotation rate of the brush rod, the loss of fruit flesh is reduced, and the peeling effect is ensured.

[0105] Specifically, referring to Figure 2 The application also provides a device for applying the high-efficiency persimmon peeling method, which comprises:

[0106] The cleaning mechanism comprises a first conveying belt 9 for transporting persimmons and a plurality of first spray heads 6 arranged above the first conveying belt 9 for spraying and cleaning the persimmons on the first conveying belt 9. The end of the first conveying belt 9 is arranged at the feed inlet of the enzymatic tank, so that the persimmons conveyed by the first conveying belt 9 are transported into the enzymatic tank.

[0107] The enzymatic mechanism comprises an enzymatic tank, an ultrasonic transmitter 10 arranged in the enzymatic tank for emitting ultrasonic waves to the enzymatic solution in the enzymatic tank, a heating unit for heating the enzymatic solution in the enzymatic tank, and a concentration adjustment unit for adjusting the concentration of the enzymatic solution in the enzymatic tank.

[0108] The peeling mechanism comprises a housing 73 arranged on the second conveying belt 14, a first cross beam 2 and a second cross beam 13 symmetrically arranged in the housing 73, and a plurality of brush rods 3 installed at a preset interval on the first cross beam 2 and the second cross beam 13. The enzymolysed persimmons are peeled by rolling the brush rods 3.

[0109] The detection mechanism comprises a first image acquisition unit 8 arranged on the first conveying belt 9 for acquiring images of the persimmons, a hardness detection unit 7 for acquiring hardness values, and a second image acquisition unit 12 arranged above the enzymatic tank for acquiring images of the liquid surface in the enzymatic tank and the enzymolysed persimmons.

[0110] A central control processor connected with the enzyme hydrolysis mechanism and the peeling mechanism respectively, used to control the heating temperature of the heating unit, the emission frequency of the ultrasonic emitter 10, the operating parameters of the concentration adjustment unit, the distance between the first cross beam 2 and the second cross beam 13, and the rotating speed of the brush stick 3.

[0111] A cleaning mechanism, which comprises a second conveying belt 14 used to transport the peeled persimmons and a plurality of second spray nozzles 1 arranged above the second conveying belt 14 to spray and clean the peeled persimmons on the second conveying belt 14, and the starting section of the second conveying belt 14 is arranged at the outlet of the peeling mechanism to transport the persimmons output by the peeling mechanism.

[0112] Specifically, the adjustment mode of the distance between the first cross beam 2 and the second cross beam 13 is not limited in the present application, in the present application, the first cross beam 2 and the second cross beam 13 can be connected with the shell 73 in the form of a telescopic frame, so as to adjust the distance between the first cross beam 2 and the second cross beam 13 by adjusting the telescopic amount of the telescopic frame, of course, other modes can also be adopted, and those skilled in the art can make equivalent replacement to the above modes.

[0113] Specifically, in the cleaning mechanism and the cleaning mechanism, the conveying belt surfaces of the first conveying belt 9 and the second conveying belt 14 are both provided with a plurality of hollow holes distributed at preset intervals, so as to prevent water accumulation on the conveying belt surfaces during cleaning.

[0114] Specifically, the specific structure of the heating unit is not limited in the present application, which only needs to meet the function of heating the mixed solution in the enzyme hydrolysis tank, which is a mature prior art and will not be described here.

[0115] Specifically, the specific structure of the concentration adjustment unit is not limited in the present application, which can comprise an enzyme hydrolysis solution output pipe and a clean water output pipe, and a flow valve is arranged on each output pipe, so as to control the concentration of the enzyme hydrolysis solution in the enzyme hydrolysis tank by controlling the output ratio of the enzyme hydrolysis solution and the clean water.

[0116] Specifically, the specific structure of the central control processor is not limited in the present application, which can be an external computer, and only needs to have the functions of data processing and data exchange.

[0117] Specifically, the specific structure of each image acquisition unit is not limited, which can be a CCD camera, a camera or a sensor. The camera device of the embodiment can be installed through a mounting bracket. The specific installation method can be bonding, threaded connection or other connection methods. Of course, preferably, each image acquisition unit of the embodiment can be a camera module with image processing function, or a combination of a camera and a processor. For the recognition of the contour pattern and the chroma, the image processing model can be trained through model training, and the trained image processing model can be imported into the processor. This is a prior art, and will not be described here.

[0118] Specifically, please refer to Figure 3 As shown in the figure, the hardness detection unit 7 includes a shell 73 and telescopic rods 74 symmetrically arranged inside the shell 73. Each telescopic rod 74 is provided with a pressure sensor 72 to obtain feedback pressure. An infrared sensor 71 is also arranged inside the shell 73 to detect whether the persimmon has reached the position of the infrared sensor 71.

[0119] When the hardness detection unit 7 is working, the infrared sensor 71 detects the passing of the persimmon. The telescopic rod 74 inside the shell 73 is elongated by a preset stroke, and the pressure sensor 72 obtains the pressure feedback value and determines it as the average hardness value of the persimmon.

[0120] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings. However, those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application. The technical solutions after the changes or replacements will fall within the protection scope of the present application.

Claims

1. A persimmon peeling method with high efficiency, characterized by, The method comprises the following steps: Step S1, placing persimmons in a cleaning mechanism, cleaning the persimmons by a plurality of first spray nozzles above the cleaning mechanism, and then conveying the persimmons to an enzymolysis tank; Step S2, acquiring images of a single batch of persimmons by a first image acquisition unit, adjusting enzymolysis parameters based on an area average value and a color average value of a persimmon contour pattern in the images, the enzymolysis parameters including a transmission frequency of an ultrasonic transmitter, a heating temperature of a heating unit, and a concentration of an enzymolysis solution; Step S3, determining whether to correct the enzymolysis parameters according to a color change rate, and determining a correction mode when the enzymolysis parameters are corrected, the color change rate being calculated from color values of an enzymolysis tank liquid surface acquired by a second image acquisition unit; Step S4, after enzymolysis is completed, controlling a push plate to push the persimmons in the enzymolysis tank out, acquiring images of the persimmons after enzymolysis by the second image acquisition unit, determining an average value of a peeling area of the persimmons after enzymolysis and an average value of a diameter of the persimmons after enzymolysis according to the images, adjusting a distance between a first cross beam and a second cross beam of a peeling mechanism and a rotating speed of a brush rod based on the average value of the peeling area and the average value of the diameter, and placing the persimmons in the peeling mechanism; Step S5, conveying the peeled persimmons output from the peeling mechanism to a cleaning mechanism for cleaning; In the step S2, the images of the single batch of persimmons are acquired by the first image acquisition unit to extract contour patterns of each persimmon in the images, acquire an area average value S and a color average value E of each contour pattern, and acquire a hardness average value G of the single batch of persimmons by a hardness detection unit, and a first characteristic parameter value R1 is calculated by a central control processor according to formula (1), In formula (1), S0 represents a contour pattern area standard comparison value, E0 represents a contour pattern color standard comparison value, and G0 represents a hardness standard comparison value; In the step S2, the central control processor compares the first characteristic parameter value R1 with a preset first comparison parameter value R01 and a second comparison parameter value R02 to determine an adjustment mode of the enzymolysis parameters according to a comparison result, the enzymolysis parameters including the heating temperature of the heating unit, the transmission frequency of the ultrasonic transmitter, and the concentration of the enzymolysis solution, wherein The first adjustment mode is to adjust the heating temperature to a first temperature value T1, adjust the transmission frequency to a first transmission frequency value P1, and adjust the concentration of the enzymolysis solution to a first concentration value C1; The second adjustment mode is to adjust the heating temperature to a second temperature value T2, adjust the transmission frequency to a second transmission frequency value P2, and adjust the concentration of the enzymolysis solution to a third concentration value C2; The third adjustment mode is to adjust the heating temperature to a third temperature value T3, adjust the transmission frequency to a third transmission frequency value P3, and adjust the concentration of the enzymolysis solution to a third concentration value C3; Wherein, the first adjustment mode needs to satisfy R1≥R02, the second adjustment mode needs to satisfy R01≤R1 2. The persimmon peeling method of claim 1, wherein In the step S3, the chroma value of the surface of the enzyme hydrolysis pool is acquired by the second image acquisition unit, and the color change rate V within the preset time t0 after the enzyme hydrolysis is calculated by the central control processor according to formula (2), In formula (2), E1 represents the chroma value of the surface of the enzyme hydrolysis pool before the enzyme hydrolysis starts, and E2 represents the chroma value of the surface of the enzyme hydrolysis pool after the preset time t0.

3. The persimmon peeling method of claim 2, wherein In the step S3, the central control processor compares the color change rate V with the preset first rate comparison parameter V1 and the preset second rate comparison parameter V2, and determines whether to modify the current enzyme hydrolysis parameter according to the comparison result. In the first rate comparison result, the central control processor determines that the enzyme hydrolysis parameter does not need to be modified. In the second rate comparison result, the central control processor determines that the enzyme hydrolysis parameter needs to be modified. The first rate comparison result is V1 < V ≤ V2, and the second rate comparison result is V ≤ V1 or V > V2.

4. The persimmon peeling method of claim 3, wherein In the step S3, the central control processor determines the modification mode when the enzyme hydrolysis parameter is modified, wherein The central control processor is provided with a rate comparison parameter V0, The first modification mode is to modify the current heating temperature to a first temperature modification value T1' according to a first temperature modification parameter t1, to modify the current emission frequency to a first emission frequency modification value according to a first frequency modification parameter p1, and to modify the current enzyme hydrolysis liquid concentration to a first concentration modification value according to a first enzyme hydrolysis liquid concentration modification parameter c1; The second modification mode is to modify the current heating temperature to a second temperature modification value T2' according to a second temperature modification parameter t2, to modify the current emission frequency to a second emission frequency modification value according to a second frequency modification parameter p2, and to modify the current enzyme hydrolysis liquid concentration to a second concentration modification value according to a second enzyme hydrolysis liquid concentration modification parameter c2; The third modification mode is to modify the current heating temperature to a third temperature modification value T3' according to a first temperature modification parameter t1, to modify the current emission frequency to a third emission frequency modification value according to a first frequency modification parameter p1, and to modify the current enzyme hydrolysis liquid concentration to a third concentration modification value according to a first enzyme hydrolysis liquid concentration modification parameter c1; The fourth modification mode is to modify the current heating temperature to a fourth temperature modification value T4' according to a second temperature modification parameter t2, to modify the current emission frequency to a fourth emission frequency modification value according to a second frequency modification parameter p2, and to modify the current enzyme hydrolysis liquid concentration to a fourth concentration modification value according to a second enzyme hydrolysis liquid concentration modification parameter c2; Wherein, the first modification mode needs to satisfy V ≤ V1 and |V-V1| < |V0|, the second modification mode needs to satisfy V ≤ V1 and |V-V1| ≥ |V0|, the third modification mode needs to satisfy V > V2 and |V-V2| < |V0|, the fourth modification mode needs to satisfy V > V2 and |V-V2| ≥ |V0|, t1 < t2, p1 < p2, c1 < c2.

5. The persimmon peeling method of claim 1, wherein In the step S4, after reaching the preset enzymolysis time t01, the push plate pushes the persimmons in the enzymolysis pool out, and the second image acquisition unit acquires the image of the persimmons after enzymolysis, and determines the average value B of the peeling area of the persimmons after enzymolysis and the average value D of the diameter of the persimmons after enzymolysis according to the image, and the second characteristic parameter value R2 is calculated according to formula (3) through the central control processor, And after all the persimmons on the push plate are placed in the peeling mechanism, the push plate is controlled to be retracted.

6. The persimmon peeling method of claim 5, wherein, In the step S4, the central control processor compares the second characteristic parameter value R2 with the first persimmon contrast parameter Ri1 after enzymolysis and the second persimmon contrast parameter Ri2 after enzymolysis, and determines the adjustment mode of the distance adjustment between the first beam and the second beam of the peeling mechanism and the adjustment mode of the rotation speed adjustment of the plurality of brush rods arranged on the first beam according to the comparison result, wherein, The first rotation speed adjustment mode is to adjust the rotation speed of the brush rod to H1; The second rotation speed adjustment mode is to adjust the rotation speed of the brush rod to H2; The third rotation speed adjustment mode is to adjust the rotation speed of the brush rod to H3; Wherein, the first rotation speed adjustment mode needs to satisfy R2≥Ri2, the second rotation speed adjustment mode needs to satisfy Ri1≤R2 7. A high efficiency persimmon peeling apparatus using the method according to any one of claims 1 to 6, characterized in that, It comprises: A cleaning mechanism comprising a first conveyor belt for transporting persimmons and a plurality of first spray nozzles arranged above the first conveyor belt for spraying and cleaning the persimmons on the first conveyor belt, and the end of the first conveyor belt is arranged at the feed inlet of the enzymolysis pool to convey the persimmons conveyed by the first conveyor belt into the enzymolysis pool; An enzymolysis mechanism comprising an enzymolysis pool, an ultrasonic transmitter arranged in the enzymolysis pool for emitting ultrasonic waves to the enzymolysis liquid in the enzymolysis pool, a heating unit for heating the enzymolysis liquid in the enzymolysis pool, and a concentration adjustment unit for adjusting the concentration of the enzymolysis liquid in the enzymolysis pool; A peeling mechanism comprising a housing arranged on a second conveyor belt, a first beam and a second beam symmetrically arranged in the housing, and a plurality of brush rods mounted on the first beam and the second beam at a preset interval to peel the persimmons after enzymolysis by rolling the brush rods; A detection mechanism comprising a first image acquisition unit arranged on the first conveyor belt for acquiring images of persimmons, a hardness detection unit for acquiring hardness values, and a second image acquisition unit arranged above the enzymolysis pool for acquiring images of the liquid surface in the enzymolysis pool and images of the persimmons after enzymolysis; A central control processor connected with the enzymolysis mechanism and the peeling mechanism respectively for controlling the heating temperature of the heating unit, the emission frequency of the ultrasonic transmitter, the operating parameters of the concentration adjustment unit, the distance between the first beam and the second beam, and the rotation speed of the brush rod. The cleaning mechanism comprises a second conveying belt for transporting the peeled persimmons and a plurality of second spray nozzles arranged above the second conveying belt to spray and clean the peeled persimmons on the second conveying belt. The starting section of the second conveying belt is arranged at the outlet of the peeling mechanism to transport the persimmons output by the peeling mechanism.

8. The persimmon peeling apparatus of claim 7, wherein The conveying belt surfaces of the first and second conveying belts are provided with a plurality of hollow holes distributed at preset intervals to prevent water accumulation on the conveying belt surfaces during cleaning.

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