A device for automatic directional cutting and pitting of fresh apricots based on deep learning network

Abstract

The present invention discloses a device for automatically orienting, cutting, and pitting fresh apricots based on a deep learning network, belonging to the field of pitting equipment. The device comprises a frame, a driving mechanism, an automatic loading mechanism, a conveying mechanism, an automatic orienting mechanism, a punching and pitting cutting mechanism, a machine cover, and an automatic orienting control system. The automatic orienting mechanism comprises a CCD industrial camera, an LED light source, a control unit, a stepping motor, a spur gear, and a calibration wheel. The CCD industrial camera captures fresh apricots in a conveying unit tray. A lightweight fresh apricot and stalk recognition model in the automatic orienting control system on the control unit identifies the fresh apricot-stalk axis vector coordinates. The automatic orienting control system calculates the corresponding number of rotation steps and outputs an electrical signal to the stepping motor via a spur gear. The stepping motor is connected to the calibration wheel via a spur gear. During the intermittent stagnation of the conveyor belt, the calibration wheel drives the fresh apricots to rotate a corresponding angle in the conveying unit tray to achieve individual fresh apricot posture adjustment and uniformly arrange the stalks upward. Finally, with the precise coordination of the punching and pitting mechanism and other mechanisms, the automatic orienting, cutting, and pitting operation is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of pitting equipment, and in particular to a device for automatically directional cutting and pitting fresh apricots based on a deep learning network. Background Art

[0002] Fresh apricots are produced in large quantities in Xinjiang, but their ripening period is short. As a result, large quantities of fresh apricots are difficult to store after being brought to market. Therefore, in addition to being eaten fresh, fresh apricots are often pitted in the production area and processed into dried fruits, preserved fruits, and canned goods for distribution. Currently, fresh apricot pitting and slicing machines are commonly used to pit fresh apricots. For example, patent number "202011083174.0," entitled "A Fully Automatic Fruit Pitting and Slicing Method and Apparatus," proposes a continuous pitting and slicing machine that includes a frame, a conveyor mechanism, a feeding mechanism, a pitting and slicing mechanism, a power mechanism, and a discharging device. The conveyor mechanism is mounted on a frame, and a PLC controls a stepper motor (the PLC controls the motor step angle by using pulse signals) to drive a conveyor belt consisting of pitting and cutting trays. The material is carried by the pitting and cutting trays and conveyed to the feeding mechanism for positioning. The punch and cutter head in the pitting and cutting mechanism reciprocate under the drive of the cylinder, cooperating with the conveyor belt to achieve continuous pitting and cutting of fresh apricots. However, in actual application, it was found that the coordination between the cylinder of the pitting and cutting mechanism and the conveyor belt was very difficult. Often, the cutter would be lowered, but the tray was still not in place, making it difficult to accurately cut the apricots. Large quantities of apricots needed to be reworked and recut, which was time-consuming and labor-intensive.

[0003] For this purpose, the invention patent with the patent number "202220408797.9" and the patent name "A continuous fruit core removal and cutting device" proposes a continuous core removal and cutting machine including a frame, a conveying mechanism, a core punching and cutting mechanism and a driving mechanism; the conveying mechanism includes a conveyor belt and a driving wheel, and the conveyor belt includes several conveying units arranged side by side; the core punching and cutting mechanism includes a guide vertical rod, a tool base sliding on the guide vertical rod, and a core punching tool is provided on the tool base; the driving mechanism includes an intermittent cam divider, a crank connecting rod structure and a driving device, the input end of the input shaft of the intermittent cam divider is connected to the driving device, and the output end is connected to the tool base through the crank connecting rod structure, and the output shaft of the intermittent cam divider is connected to the driving wheel; the intermittent cam divider can convert the original power into an intermittent power and a continuous power, the continuous power enables the crank connecting rod structure to drive the core punching tool to reciprocate up and down, and the intermittent power drives the conveyor belt to move intermittently, so as to achieve precise coordination between conveying and core removal. However, in actual application of the above patent, it was found that in order to reduce the loss rate of apricot flesh, manual assistance was required to straighten the apricots so that the calyx or stalk was placed upward, which increased labor and processing costs. Summary of the Invention

[0004] The present invention aims to address the aforementioned technical issues by providing a device for automatic directional segmentation and pitting of fresh apricots based on a deep learning network, and establishing a lightweight fresh apricot and stalk recognition network. A large number of fresh apricot and stalk image samples taken at various heights and angles are collected, and a dataset is generated based on the requirements of the YOLO v8 network to train the deep learning network. The pixel coordinates of the fresh apricots and stalks in the images are obtained using an object recognition model. A correlation vector algorithm is then developed to output the rotation angle of the actuator's stepper motor, achieving uniform, upward alignment of the fresh apricot calyxes.

[0005] To achieve the above-mentioned purpose, the present invention provides the following solution: The present invention provides an automatic orientation, cutting and pitting device for fresh apricots based on a deep learning network, comprising eight parts: a frame, a driving mechanism, an automatic feeding mechanism, a conveying mechanism, an automatic orientation mechanism, a core punching and cutting mechanism, a machine cover and an automatic orientation control system, which is used for the identification, orientation, posture adjustment, cutting and pitting of fresh apricots. The device is characterized in that: the conveying mechanism is fixedly connected to the frame through a vertical seat bearing, the automatic orientation mechanism is fixedly connected to the frame through a positioning wheel bracket, the core punching and cutting mechanism is fixedly connected to the frame through a guide rod clamp, and the driving mechanism and the automatic feeding mechanism are both fixedly connected to the frame.

[0006] The driving mechanism includes an asynchronous motor, a worm gear reducer, an intermittent cam divider, a crank-connecting rod structure, spur gears and helical gears. The input end of the input shaft of the intermittent cam divider is connected to the worm gear reducer, and the output end is connected to the tool base through the crank-connecting rod structure. The output shaft of the intermittent cam divider is connected to the drive sprocket through spur gears and helical gears; the intermittent cam divider can convert the original power into an intermittent power and a continuous power. The continuous power enables the crank-connecting rod structure to drive the core punching tool to reciprocate up and down, and the intermittent power drives the conveyor belt to move intermittently to achieve precise coordination between transportation and core removal.

[0007] The automatic loading mechanism includes an inlet, a limiting brush, an apricot flesh discharge port, a collecting device and an apricot kernel discharge conveyor belt; the above devices are all fixedly connected to the frame, and the limiting brush is located above the inclined conveyor belt in the inlet area to disturb the excess fresh apricots in the tray and return them to the inlet; the apricot flesh discharge port is at an angle of 35° to the vertical conveyor belt and is adjacent to it to collect the apricot flesh after the fresh apricot kernels are punched and cut; the apricot kernel discharge conveyor belt is located below the punching and cutting mechanism to collect fresh apricot kernels.

[0008] The conveying mechanism includes an inclined conveyor belt, a horizontal conveyor belt, a vertical conveyor belt, a driving sprocket, a driven sprocket, a chain, a vertical seat bearing, and the conveyor belt includes several conveyor unit pallets arranged side by side; the driving sprocket is fixed to the frame through a vertical seat bearing, the driven sprocket is connected to the driving sprocket through a chain, and a row of 4 conveyor unit pallets are fixed to the chain; the inclined conveyor belt is located in the feed port area at an angle of 28° to the horizontal plane, and the horizontal conveyor belt is located above the calibration wheel and below the core punching tool.

[0009] The automatic orientation mechanism includes three CCD industrial cameras, an LED light source, a control unit, an orientation hood and four groups of actuators; the actuators include: a stepper motor, a spur gear, a positioning wheel bracket and a positioning wheel; the stepper motor, spur gear and positioning wheel are all fixed to the positioning wheel bracket, the positioning wheel bracket is connected to the stepper motor through the spur gear, and the actuator is fixed to the frame through the positioning wheel bracket; the four groups of actuators are located below the 2nd, 3rd, 5th and 6th rows of pallets on the horizontal conveyor belt (the adjacent row of pallets on the inclined conveyor belt is set as the 1st row, and there are 4 pallets in each row), among which the rotation direction of the positioning wheels of actuators a and actuator d is parallel to the travel direction of the horizontal conveyor belt, and the rotation direction of the positioning wheels of actuators b and actuator c is perpendicular to the travel direction of the horizontal conveyor belt; three CCD industrial cameras are located above the 1st, 4th and 7th rows of pallets on the horizontal conveyor belt, and the three CCD industrial cameras and LED light source are fixed to the top of the hood.

[0010] The core punching and cutting mechanism includes a core punching protective cover, two sets of guide vertical rods, two sets of guide rod clamps, and a tool base sliding on the guide vertical rods. Four sets of core punching tools are provided on the tool base; two sets of guide vertical rods are fixed to the frame through two sets of guide rod clamps, and the tool base is connected to the intermittent cam divider through a crank-connecting rod structure. The four sets of core punching tools are located above the 12th row of pallets on the horizontal conveyor belt.

[0011] The control unit is primarily composed of edge devices and a single-chip microcontroller (MCU). The automatic orientation control system, deployed within the control unit, primarily includes a reading module, a recognition module, a computing module, and an output module. The reading module sends a photo command to the CCD industrial camera based on the intermittent motion stagnation time of the horizontal conveyor belt, and transmits the photo to the recognition module after low-light image enhancement processing. The recognition module, primarily comprised of a lightweight fresh apricot and stalk recognition model, accurately identifies the fresh apricots and stalks in the image, precisely fitting the target frame in the image to each identified target, extracting the target frame's label and coordinate information and transmitting it to the computing module. The computing module uses the target frame's coordinate information to calculate the center of mass coordinates of the fresh apricots and stalks and the vector coordinates of their fresh apricot-stalk axis. It then calculates the corresponding number of rotation steps through Fourier transform and transmits this to the output module. The output module sends a serial port signal to the MCU in the control unit. When the photoelectric infrared sensor detects a gap where the next tray stops moving, the MCU sends a pulse signal to the stepper motor, causing it to rotate and adjust the fresh apricots' posture.

[0012] The first CCD industrial camera, a, captures four fresh apricots on the first tray of the horizontal conveyor. Using the lightweight fresh apricot and stem recognition model of the automatic orientation control system on the control unit, it identifies the four fresh apricot-stem axis vector coordinates, calculates the corresponding rotation steps, and outputs electrical signals to the stepper motors in actuators a and b. These stepper motors are connected to alignment wheels via spur gears. During the intermittent pauses in the horizontal conveyor, the alignment wheels rotate the fresh apricots within the conveyor trays by a corresponding angle, adjusting the individual postures of the fresh apricots and aligning the stems upward. The second CCD industrial camera, b, captures four fresh apricots on the fourth tray of the horizontal conveyor. Using the lightweight fresh apricot and stem recognition model of the automatic orientation control system on the control unit, it identifies the four fresh apricot-stem axis vector coordinates, determines whether the stems are aligned upward, and records the result. If not, it continues to calculate the corresponding rotation steps and outputs electrical signals to the stepper motors in actuators c and d. During the intermittent pauses in the horizontal conveyor, the alignment wheels rotate the fresh apricots within the conveyor trays by a corresponding angle. The third CCD industrial camera c captures the four fresh apricots on the seventh row of the tray on the horizontal conveyor belt. The lightweight fresh apricot and stalk recognition model on the control unit identifies the four fresh apricot-stalk axis vector coordinates, determines whether the stalks are uniformly arranged upward, and records them to end the automatic orientation operation.

[0013] During operation, a limited amount of material is poured into the inlet of the automatic feeding mechanism of the device, either manually or via a conveyor belt. The inclined conveyor belt in the inlet area forms a 28° angle with the horizontal plane, concentrating the material at the inlet. Fresh apricots are then transported upwards by the inclined conveyor belt to the unit tray. Excess fresh apricots in the tray are blocked back to the inlet by a limiting brush, forcing the fresh apricots in the tray to pass through the automatic orienting mechanism in a single, orderly manner. The automatic orienting mechanism automatically orients the fresh apricots on the horizontal conveyor belt, with the stems facing upwards, before entering the core-cutting and cutting mechanism. Driven by a crank-connecting rod structure, the cutter base reciprocates the core-cutting tool up and down. As the core-cutting tool moves downward, the blade cuts the fresh flesh, and the apricot kernel, pushed by the core-cutting tool, begins to separate from the flesh and completely ejects the kernel from the cross-shaped gap at the bottom of the tray, dropping it onto the discharge conveyor belt, achieving complete separation of the kernel and flesh. At this point, the core-cutting tool resets upwards, leaving two cloves of fresh flesh on the tray. After the fresh apricots are cut and pitted, the tray enters the end of the horizontal conveyor belt and begins vertical transportation. The tray continues to move along the vertical conveyor belt, and the apricot flesh falls off the tray and into the collection device, completing the collection of the apricot flesh. Repeating the above steps can continuously achieve automatic directional cutting and pitting of fresh apricots.

[0014] The device for automatic directional cutting and pitting of fresh apricots based on a deep learning network described in the present invention adopts the above technical solution and has the following technical effects compared with the existing technology:

[0015] (1) The present invention designs an automatic orientation, cutting and core removal device for fresh apricots based on a deep learning network. The first CCD camera a collects the image of fresh apricots in the tray in real time as a basis to determine the pixel coordinates of the target fruit stem. The control unit controls the stepper motors of the execution device a and the execution device b, rotates the fresh apricots through the calibration wheel to move the stem to the target coordinates, and collects the image of the fresh apricots after automatic orientation through the second CCD camera b and detects the position of the fresh apricot stem. The above operations are repeated by the stepper motors of the execution device c and the execution device d to realize the orientation action, which can effectively improve the accuracy and efficiency of automatic orientation.

[0016] (2) The present invention designs an automatic orientation, cutting and pitting device for fresh apricots based on a deep learning network. To solve the problem of coordination between the automatic orientation execution device and the horizontal conveyor belt tray, the design is as follows: the positioning wheel is shaped like a rounded rectangular thin sheet. When the horizontal conveyor belt moves intermittently, the long axis of the rounded rectangular positioning wheel remains horizontal to avoid interference with the tray; when the intermittent movement of the horizontal conveyor belt stops, the positioning wheel passes through the cross gap at the bottom of the tray and contacts the fruit to rotate it, thereby adjusting the posture of the fresh apricots. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic diagram of the overall rear-view stereoscopic structure of the device for automatic directional cutting and pitting of fresh apricots based on a deep learning network;

[0019] Figure 2 This is a schematic diagram of the internal front-view stereoscopic structure of the device for automatic directional cutting and pitting of fresh apricots based on a deep learning network;

[0020] Figure 3 This is a schematic diagram of the internal structure of the automatic directional cutting and pitting device for fresh apricots based on the deep learning network;

[0021] Figure 4 This is a front view diagram of the internal structure of the device for automatic directional cutting and pitting of fresh apricots based on a deep learning network;

[0022] Figure 5 This is a schematic diagram of the internal structure of the automatic directional cutting and pitting device for fresh apricots based on a deep learning network;

[0023] Figure 6 It is a schematic diagram of the partial front view structure inside the automatic orientation mechanism;

[0024] Figure 7 It is a schematic diagram of a partially enlarged structure inside the automatic orientation mechanism;

[0025] Figure 8 It is a schematic diagram of the three-dimensional structure of the execution device;

[0026] Figure 9 It is a schematic diagram of the three-dimensional structure of the pallet;

[0027] Figure 10 It is a schematic diagram of the internal three-dimensional structure of the punching and cutting mechanism;

[0028] Figure 11 This is a schematic diagram of the internal structure of the punching and cutting mechanism from a top view;

[0029] Figure 12 This is the automatic orientation flow chart of fresh apricots in the design of the present invention

[0030] Description of part numbers in the figure:

[0031] 1. Frame; 2. Driving mechanism; 3. Automatic loading mechanism; 4. Conveying mechanism; 5. Automatic orientation mechanism; 6. Punching and cutting mechanism; 7. Machine cover; 8. Automatic orientation control system.

[0032] 201. Asynchronous motor; 202. Worm gear reducer; 203. Intermittent cam divider; 204. Crank-connecting rod structure; 205. Spur gear; 206. Helical gear; 207. Crank; 208. Connecting rod; 209. Coupling; 210. Caster.

[0033] 301. Feeding port; 302. Material limiting brush; 303. Apricot pulp discharging port; 304. Collection device; 305. Apricot kernel discharging conveyor belt.

[0034] 401. Inclined conveyor belt; 402. Driving sprocket; 403. Driven sprocket; 404. Chain; 405. Vertical seat bearing; 406. Conveyor unit pallet; 407. Horizontal conveyor belt; 408. Vertical conveyor belt.

[0035] 501. Three CCD industrial cameras; 502. LED light source; 503. Control unit; 504. Stepper motor; 505. Spur gear; 506. Calibration wheel bracket; 507. Calibration wheel; 508. Four sets of actuators; 509. Orientation hood.

[0036] 601. Two sets of guide vertical rods; 602. Tool base; 603. Four sets of core punching tools; 604. Two sets of guide rod fixtures; 605. Core punching protective cover; 606. Fixed top plate. Implementation Method

[0037] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the description of the invention, it should be noted that the terms "left", "right", "up", "down", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0038] This embodiment provides a device for automatic directional cutting and pitting of fresh apricots based on a deep learning network, which can be used for automatic directional cutting and pitting of fresh apricots. Figures 1 to 10 As shown, it includes a frame 1, a driving mechanism 2, an automatic feeding mechanism 3, a conveying mechanism 4, an automatic orientation mechanism 5, a core punching and cutting mechanism 6, a machine cover 7 and an automatic orientation control system 8.

[0039] The driving mechanism 2 includes an intermittent cam divider 203, a crank-connecting rod structure 204, an asynchronous motor 201 fixed to the frame 1, and a worm gear reducer 202; the crank-connecting rod structure 204 includes a cam-shaped crank 207 and a connecting rod 208, the connecting rod 208 and the crank 207 are hinged to each other, the crank 207 is connected to the output end of the input shaft of the intermittent cam divider 204, and the connecting rod 208 is hinged to the tool base 602; the input end of the input shaft of the intermittent cam divider 204 is connected to the worm gear reducer 202, the output shaft of the intermittent cam divider 204 is connected to the driving sprocket 402 through the spur gear set 205 and the bevel gear set 206; the driving angle of the output shaft of the intermittent cam divider 204 is 90°, that is, the dynamic-static ratio of the output shaft of the intermittent cam divider 204 is 1:3, so that the travel and stay time of the conveying unit tray 406 is 1:3, when the conveying unit tray 406 completes a workstation movement (including the travel process and the stay process), the crank-connecting rod structure completes a reciprocating motion.

[0040] In this embodiment, Figure 10 As shown, the output shaft of the intermittent cam divider 203 is connected to the drive sprocket 402 via a transmission mechanism; the transmission mechanism includes a spur gear set 205 and a helical gear set 206, wherein the spur gear set 205 is located to the side of the drive sprocket 402 and is rotatably connected to the frame 1 via a bearing. The helical gear set 206 is arranged near one end of the intermittent cam divider 204, one helical gear 206 is fixed to the output shaft, and the other helical gear 206 and the spur gear 205 are fixed to the same rotating shaft. The two helical gears 206 have the same number of teeth and mesh with each other, and the two spur gears 205 have the same number of teeth and mesh with each other. Therefore, when the output shaft of the intermittent cam divider 204 rotates, it can drive the spur gear set 205 to rotate together. The drive sprocket 402 and the spur gear 205 are fixed to the same rotating shaft, so that when the drive sprocket 402 rotates, the transmission mechanism can cause the conveyor belt to intermittently move.

[0041] In this embodiment, Figure 2 As shown, the drive mechanism 2 includes an asynchronous motor 201 and a worm gear reducer 202. The output shaft of the asynchronous motor 201 is connected to the worm gear reducer 202, which in turn is connected to the input end of the input shaft of the intermittent cam divider 204. The asynchronous motor 201 provides the operating motive force for the entire fresh apricot automatic directional cutting and pitting device. After the worm gear reducer 202 reduces the speed and increases the torque, the intermittent cam divider 203 distributes the motive force and divides it into two parts: one part is transmitted to the crank connecting rod structure 204, driving the tool base 602 and the core punching tool 603 to perform continuous up and down reciprocating motion to perform the cutting and pitting operation; the other part is transmitted to the chain 404 via the drive sprocket 402, causing the chain 404 to perform intermittent motion, thereby driving the intermittent motion of the conveying unit tray 406, thus achieving the kinematic coordination relationship between the conveying mechanism and the core punching and cutting mechanism.

[0042] Preferably, an asynchronous motor 201 with a rated power of 1.5kW and a rated speed of 1440r / min is selected; a worm gear reducer is selected as the worm reducer 202, and the output speed of the asynchronous motor 201 after deceleration by the worm gear reducer 202 is set to 38r / min, that is, the transmission ratio is 38. The eccentricity of the crankshaft connected to the tool is 70mm. According to the intermittent motion time of the conveyor belt, the posture position of the crank 207 is pre-set to make it consistent in movement. When the eccentric axis of the crank 207 is parallel to the ground, the intermittent cam divider 204 drives the drive sprocket 402 to start a 90° rotation, that is, when the conveying unit tray 406 moves forward, the next stamping action begins.

[0043] In this embodiment, Figure 1 As shown, the frame 1 is wrapped around a housing 7. The top of the housing 7 has an opening corresponding to the conveyor belt. The leading end of the conveyor belt is angled downward to form an inlet 301 with the side wall of the housing 7. A limiting brush 302 is located at the tail end of the inlet 301 to sweep excess fresh apricots back into the inlet 301. Preferably, a chain 404 at the inlet 301 is positioned at a 28° angle to the horizontal. During operation, each tray 406 automatically loads a fresh apricot. The sides and ends of the housing 7 are respectively provided with a pit discharge port and a discharging port. An apricot pit discharge conveyor 305 extends from the pit discharge port to guide the pits out of the housing 7. A collection device 304 extends from the apricot pulp discharge port 303 to guide the pulp out of the housing 7. Collection bins can be placed at both the pit discharge port and the discharging port for collection. Preferably, the tail end of the chain 404 also has a certain angle to the horizontal, but is tilted inward to facilitate the removal of the fruit from the trays 406.

[0044] In the feeding port 301; first, the fresh apricots are placed in the feeding port 301; then, the asynchronous motor 201 is started, and the chain 404 is connected to the conveying unit tray 406 to start intermittent motion. Since the conveying unit tray 406 at the feeding port 301 has a certain inclination angle, a part of the fresh apricots can be fed into the tray 406 to realize the upward transmission of the fresh apricots, and the other part can fall back to the bottom of the feeding port 301 under the action of gravity to realize the separation and loading of the fresh apricots; at the same time, the material limiting brush on the feeding port 301 can clear the fresh apricots around the tray 406 to ensure that there are no excess fresh apricots in the subsequent working area.

[0045] The conveying mechanism 4 includes an inclined conveyor belt 401 in the feeding area, a horizontal conveyor belt 407 in the automatic orientation and punching and cutting area, and a vertical conveyor belt 408 in the discharging area, a driving sprocket 402 for driving the conveyor belt, a driven sprocket 403, a chain 404, and a vertical seat bearing 405. The conveyor belt includes several conveying unit trays 406, which are arranged side by side along the conveying path of the conveyor belt.

[0046] In this embodiment, Figure 2 As shown, the conveying mechanism 4 also includes a driving sprocket 402, a driven sprocket 403 and a chain 404. The chain 404 is wound around the driving sprocket 402 and the driven sprocket 403. The conveying unit tray 406 is fixed to the chain 404 along the length direction of the chain 404. The driving sprocket 402 is connected to the output shaft through the spur gear set 205 and the helical gear set 206. Figure 5 The system comprises two drive sprockets 402, six driven sprockets 403, and two chains 404. The two drive sprockets 402 are connected by a circular shaft, and the two driven sprockets 403 are connected by a circular shaft. The two chains 404 are wound side by side around the drive sprockets 402 and the driven sprockets 403. Preferably, there are 40 rows of conveyor unit trays 406, each with four trays. The conveyor unit trays 406 are made of a 10mm thick food-grade resin material. Of course, the above are only preferred parameters, and the relevant parameters can be adjusted as needed.

[0047] Preferably, the chain 404 is a roller chain, which is suitable for the low-speed stage of the transmission system. The pitch in the roller chain is 19.05 mm, the width of each conveying unit tray 406 is 100 mm, and the number of teeth of the drive sprocket 402 is 24. When the output shaft of the intermittent cam divider 204 rotates 90°, the drive sprocket 402 will rotate 6 teeth, the chain 404 moves 6 links, and a row of conveying unit trays 406 will move just below the core punching tool 603. When the output shaft of the intermittent cam divider 204 rotates another 90°, the drive sprocket 402 will rotate 6 teeth, the chain 404 moves 6 links, and the conveying unit tray 406 will just move out from under the core punching tool 603. In this process, the tool base 602 completes an up and down reciprocating motion.

[0048] The core punching and cutting mechanism 6 includes a guide vertical rod 601 and a tool base 602. The guide vertical rod 601 is located on the conveying path of the horizontal conveyor belt 407 and is fixed on the frame 1, preferably close to the tail end on the conveying path of the horizontal conveyor belt 407. The tool base 602 is slidably connected to the guide vertical rod 601. In order to improve the sliding stability, a linear bearing can be set between the tool base 602 and the guide vertical rod 601. Furthermore, in order to improve the stability of the guide vertical rod 601 and prevent its radial shaking, a fixed top plate 606 can be set on the top of the guide vertical rod 601 to improve the stability of the guide vertical rod 601 and prevent it from shaking. A core punching tool 603 is fixed on the tool base 602, and the core punching tool 603 faces downward. The number and position of the core punching tools 603 are equivalent to the number and position of the trays 406 on a conveying unit. Figure 8 , the trays 406 are arranged in a matrix.

[0049] In this embodiment, Figure 10-11 As shown, the core-punching tool 603 is vertically fixed on the tool base 602 and can be fixed on the tool base 602 by a nut, which facilitates the disassembly and adjustment of the core-punching tool 603. The blade surface at the end of the tool base 602 is arc-shaped, and the blade surface can form a shape similar to a semicircle. When the tool base 602 moves downward, the apricot pit in the fresh apricot can be pushed out and the fruit can be divided into two. The core-punching tool 603 is embedded in the pulp along the fruit stem, and the loss rate of the pulp is minimal. In order to meet the two requirements of cutting and pitting fresh apricots, preferably, the tool base 602 is a solid rod made of 304 stainless steel with a diameter of 6 mm, and the end of the tool base 602 is concave with a hemispherical groove with a diameter of 5 mm, and the thickness of the blade surface is 1 mm.

[0050] Further, in this embodiment, reference Figure 9 Tray 406 is square with a hemispherical concave in the middle. The bottom of the concave part is a round flat bottom with a cross opening of 3mm in width. When used for pitting and cutting fresh apricots, if the size of the fresh apricots is between 40 and 55mm, the diameter of the hemispherical concave part of tray 406 is preferably 55mm, the diameter of the round flat bottom is 25mm and the thickness is 3mm, which minimizes the fruit loss rate. Tray 406 is square, 100×100mm, and 10mm in thickness. The external dimensions of tray 406 are not limited to the above values ​​and are determined according to the average size of local apricots. To facilitate the extrusion of apricot kernels from the cross opening of tray 406, the elasticity of the material of tray 406 is particularly critical. Generally, tray 406 is made of food-grade silicone rubber. The Shore hardness of silicone rubber is 55, and the thickness of tray 406 as a whole is preferably 3mm. If the Shore hardness of the tray 406 material is too high, the tray 406 will not deform when the pulp is squeezed, which may easily cause damage to the pulp. If the Shore hardness is too low, the pulp and the apricot kernel may be squeezed out of the tray 406.

[0051] In this embodiment, Figure 6-7 As shown, alignment wheel 507 is adjacent to the cross-shaped gap at the bottom of tray 406. When alignment wheel 507 is not operating, its long axis remains parallel to the circular flat bottom of tray 406, preventing interference with tray 406. When tray 406, carrying fresh apricots, moves onto actuator 508, control unit 503 sends a pulsed electrical signal, causing stepper motor 504 to rotate a certain angle. A 60-tooth spur gear is fixedly attached to the motor shaft, while a 12-tooth spur gear meshes with the 60-tooth spur gear and is connected to alignment wheel bracket 506 via a bearing. The 12-tooth spur gear is fixedly attached to alignment wheel 507 via the shaft. The positioning wheel 507 is a rounded rectangular (50×10mm) thin sheet of 2mm. The positioning wheel 507 contacts the bottom of the fresh apricots through the cross gap at the bottom of the tray 406. The rotation angle of the stepper motor 504 is transmitted to the positioning wheel 507 through the engagement of two spur gears 505, causing it to rotate 5 times the angle of the stepper motor 504. The positioning wheel 507 contacts the bottom of the fresh apricots and rotates in the tray 406 to achieve orientation.

[0052] In this embodiment, Figure 6 As shown, the first CCD industrial camera 501a photographs four fresh apricots located in the first row tray 406 of the horizontal conveyor belt 407, and identifies the four fresh apricot-stem axis vector coordinates through the lightweight fresh apricot and stalk recognition model on the automatic orientation control system 8 in the control unit 503, calculates the corresponding number of rotation steps and outputs an electrical signal to the stepper motor 504 located in the actuator 508a and the actuator 508b. The stepper motor 504 is connected to the alignment wheel 507 through the spur gear 505. During the intermittent motion stagnation of the horizontal conveyor belt 407, the alignment wheel 507 drives the fresh apricots to rotate the corresponding angle in the conveying unit tray 406 to achieve individual posture adjustment of the fresh apricots and uniformly arrange the stalks upward. A second CCD industrial camera 501b captures four fresh apricots on tray 406 in row 4 of horizontal conveyor 407. Using the lightweight fresh apricot and stem recognition model in the automatic orientation control system 8 within control unit 503, it identifies the four fresh apricot-stem axis vector coordinates, determines whether the stems are uniformly aligned upward, and records the coordinates. If not, it continues to calculate the corresponding number of rotation steps and outputs an electrical signal to stepper motor 504 in actuators 508c and 508d. During periods of intermittent motion stagnation on horizontal conveyor 407, alignment wheels 507 rotate the fresh apricots within the conveyor unit trays by the corresponding angle. A third CCD industrial camera 501c captures the four fresh apricots on tray 406 in row 7 of horizontal conveyor 407. Using the lightweight fresh apricot and stem recognition model in the automatic orientation control system 8 within control unit 503, it identifies the four fresh apricot-stem axis vector coordinates, determines whether the stems are uniformly aligned upward, and records the coordinates, concluding the automatic orientation operation.

[0053] In this embodiment, Figures 1 to 2As shown, the frame 1 is secured with an apricot kernel discharge conveyor belt 305 and a collection device 304. The apricot kernel discharge conveyor belt 305 is located below the kernel punching cutter 603 and is used to receive apricot kernels that fall from the conveyor unit tray 406 below the cutter base 602. The collection device 304 is located at the end of the conveyor belt's transport path and is used to receive the fruit pulp that falls from the tray 406.

[0054] Furthermore, in this embodiment, if Figure 1 As shown, the core punching and cutting mechanism also includes a core punching protective cover 605, which is arranged outside the guide vertical rod 601 and the tool base 602 to prevent the core punching tool 603 from being contaminated and damaged by impact.

[0055] In this embodiment, Figures 1 to 11 As shown, the use process of the continuous fruit pitting and cutting equipment is as follows: fresh apricots will pass through the feed port 301, the directional machine cover 509, the pit-punching protective cover 605 and the apricot meat discharge port 303 in sequence from the head end to the tail end of the conveyor belt.

[0056] In the orientation machine cover 509: the automatic orientation execution device 508 will straighten the fresh apricots randomly placed in the tray 406 in an orderly manner, ensuring that the core-cutting tool can cut along the stem of the fresh apricots to obtain the apricot flesh.

[0057] Inside the pit-removing protective cover 605: When the conveying unit tray 406 carries the fresh apricots with the stems facing upwards into the pit-removing protective cover 605, the chain 404 stops, and the tool base 602 drives the pit-removing tool 603 to do reciprocating motion up and down under the drive of the crank-connecting rod structure. When the pit-removing tool 603 moves downwards, the blade cuts the fresh flesh, and the apricot pit begins to separate from the flesh under the push of the pit-removing tool 603 and completely pushes the apricot pit out of the cross gap at the bottom of the tray 406 and falls into the discharge conveyor 305, achieving complete separation of the flesh and the apricot pit. At this time, the pit-removing tool 603 resets upwards, and two petals of fresh flesh remain on the tray 406. By repeating the above actions in this way, the automatic directional cutting and pitting of fresh apricots can be continuously achieved.

[0058] At the discharge port of the machine cover 7: After the fresh apricots are cut and pitted, the conveyor unit tray 406 continues to move, carrying the flesh on the tray 406 into the collection device 304. As the conveyor unit tray 406 reaches the rear end, the tray 406 as a whole faces downward, and the apricot flesh falls off and falls into the collection device 304, completing the collection of the apricot flesh. The above steps are repeated to continuously complete the fresh apricot conveying, automatic orientation, cutting, pitting, and collection processes.

[0059] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A device for automatic orientation, cutting and pitting of fresh apricots based on a deep learning network, comprising a frame (1), a driving mechanism (2), an automatic feeding mechanism (3), a conveying mechanism (4), an automatic orientation mechanism (5), a pitting and cutting mechanism (6), a machine cover (7) and an automatic orientation control system (8), and used for identification, orientation, posture adjustment, cutting and pitting of fresh apricots, characterized in that: The conveying mechanism (4) is fixedly connected to the frame (1) via a vertical seat bearing (405), the automatic orientation mechanism (5) is fixedly connected to the frame (1) via a positioning wheel bracket (506), the core punching and cutting mechanism (6) is fixedly connected to the frame (1) via a guide rod clamp (604), and the driving mechanism (2) and the automatic feeding mechanism (3) are both fixedly connected to the frame (1); The driving mechanism (2) includes an asynchronous motor (201), a worm gear reducer (202), an intermittent cam divider (203), a crank-connecting rod structure (204), a coupling (209), a spur gear (205) and a helical gear (206); the crank-connecting rod structure (204) includes a crank (207) and a connecting rod (208); the input end of the input shaft of the intermittent cam divider (203) is connected to the worm gear reducer (202), and the output end is connected to the worm gear reducer (202) through the crank-connecting rod structure (204). The tool base (602) is connected, and the output shaft of the intermittent cam divider (203) is connected to the drive sprocket (402) through a spur gear (205) and a bevel gear (206); the intermittent cam divider (203) can convert the original power into an intermittent power and a continuous power. The continuous power enables the crank connecting rod structure (204) to drive the core punching tool (603) to move up and down, and the intermittent power drives the conveyor belt to move intermittently, so as to achieve precise coordination between conveying and core removal; The automatic feeding mechanism (3) includes an inlet (301), a limiting brush (302), an apricot meat outlet (303), a collecting device (304) and an apricot kernel outlet conveyor (305); the above devices are all fixedly connected to the frame (1); the limiting brush (302) is located above the inclined conveyor belt (401) in the inlet (301) area, disturbing the excess fresh apricots not in the tray (406) back to the inlet; the apricot meat outlet (303) is at an angle of 35 degrees to the vertical conveyor belt (408) and is adjacent to it, collecting the apricot meat after the fresh apricot kernels are punched and cut; the apricot kernel outlet conveyor (305) is located below the punching and cutting mechanism (6) and collects the fresh apricot kernels; The conveying mechanism (4) includes a conveyor belt, a driving sprocket (402), a driven sprocket (403), a chain (404), and a vertical seat bearing (405). The conveyor belt includes an inclined conveyor belt (401), a horizontal conveyor belt (407), and a vertical conveyor belt (408). The conveyor belt includes a plurality of trays (406) arranged side by side. The tray (406) has a hemispherical concave in the middle, and the bottom of the concave is a circular flat bottom with a cross opening on the circular flat bottom. The driving sprocket (402) is fixedly connected to the frame (1) through the vertical seat bearing (405). The driven sprocket (403) is connected to the driving sprocket (402) through the chain (404). A row of four trays (406) is fixedly connected to the chain (404). The inclined conveyor belt (401) is located at an angle of 28° with the horizontal plane in the feed port area. The horizontal conveyor belt (407) is located above the calibration wheel (507) and below the core punching tool (603). The automatic orientation mechanism (5) includes three CCD industrial cameras (501), an LED light source (502), a control unit (503), an orientation machine cover (509) and four sets of execution devices (508), wherein the execution device (508) includes: a stepper motor (504), a spur gear (505), a calibration wheel bracket (506) and a calibration wheel (507), the calibration wheel (507) is a rounded rectangular thin sheet, the calibration wheel (507) contacts the bottom of the fresh apricot through the cross gap at the bottom of the tray (406), wherein the stepper motor (504), the spur gear (505) and the calibration wheel (507) are all fixedly connected to the calibration wheel bracket (506), the calibration wheel bracket (506) is connected to the stepper motor (504) through the spur gear (505), and the execution device (508) is connected to the machine through the calibration wheel bracket (506). The frame (1) is fixed; a row of pallets (406) adjacent to the horizontal conveyor belt (407) and the inclined conveyor belt (401) is set as the first row, and each row has four pallets (406); four sets of actuators (508) are located below the pallets (406) in the second, third, fifth and sixth rows of the horizontal conveyor belt (407), wherein the rotation direction of the calibration wheels (507) of the actuators a and d is parallel to the travel direction of the horizontal conveyor belt (407), and the rotation direction of the calibration wheels (507) of the actuators b and c is perpendicular to the travel direction of the horizontal conveyor belt (407); three CCD industrial cameras (501) are located above the pallets (406) in the first, fourth and seventh rows of the horizontal conveyor belt (407), and the three CCD industrial cameras (501) and the LED light source (502) are fixed to the top of the directional machine cover (509); The core punching and cutting mechanism (6) comprises a core punching protective cover (605), two sets of guide vertical rods (601), a fixed top plate (606), two sets of guide rod clamps (604), and a tool base (602) sliding on the guide vertical rods (601). Four sets of core punching tools (603) are provided on the tool base (602); wherein the two sets of guide vertical rods (601) are fixedly connected to the frame (1) through the two sets of guide rod clamps (604), the tool base (602) is connected to the intermittent cam divider (203) through a crank connecting rod structure (204), and the four sets of core punching tools (603) are located above the 12th row of trays (406) of the horizontal conveyor belt (407); The control unit (503) is mainly composed of edge devices and single-chip microcomputers; the automatic orientation control system (8) is deployed in the control unit (503), and mainly includes: a reading module, a recognition module, a calculation module and an output module, wherein the reading module sends a photo instruction to the CCD industrial camera (501) according to the intermittent motion stagnation time of the horizontal conveyor belt (407), and transmits the photo to the recognition module after low-light image enhancement processing; the recognition module is mainly composed of a lightweight fresh apricot and fruit stem recognition model, which accurately recognizes the fresh apricot and fruit stem in the image, and accurately frames the target in the image. Fitting each identified target, extracting the label and coordinate information of the target frame and transmitting it to the calculation module, the calculation module calculates the coordinates of the center of mass of the fresh apricot and the fruit stem through the coordinate information of the target frame and obtains the fresh apricot-fruit stem axis vector coordinates, calculates the corresponding number of rotation steps through Fourier transform and transmits it to the output module; the output module sends a serial port signal to the single-chip microcomputer in the control unit (503), and when the photoelectric infrared sensor detects the gap where the next tray moves and stops, the single-chip microcomputer sends a pulse signal to the stepping motor (504), and the stepping motor (504) rotates, driving the fresh apricot posture adjustment; The first CCD industrial camera (501a) photographs four fresh apricots in the first row of the tray (406) of the horizontal conveyor belt (407), and identifies the four fresh apricot-stem axis vector coordinates through the lightweight fresh apricot and stem recognition model on the automatic orientation control system (8), calculates the corresponding rotation steps and outputs an electrical signal to the stepper motor (504) located in the actuator a and the actuator b. The stepper motor (504) is connected to the alignment wheel (507) through the spur gear (505). During the intermittent motion stagnation period of the horizontal conveyor belt (407), the alignment wheel (507) drives the fresh apricots to rotate the corresponding angle in the tray to achieve individual posture adjustment of the fresh apricots and uniformly arrange the stems upward. The second CCD industrial camera (501b) photographs the four fresh apricots in the fourth row of the tray (406) of the horizontal conveyor belt (407). Four fresh apricots are identified by the lightweight fresh apricot and stalk recognition model on the automatic orientation control system (8), and the four fresh apricot-stalk axis vector coordinates are identified. It is determined whether the stalks are uniformly arranged upward and recorded. If not, the corresponding rotation steps are continued to be calculated and an electrical signal is output to the stepper motor (504) located in the actuator c and the actuator d. During the intermittent motion stagnation period of the horizontal conveyor belt (407), the calibration wheel (507) drives the fresh apricots to rotate the corresponding angle in the tray; the third CCD industrial camera (501c) photographs the four fresh apricots located in the 7th row tray (406) of the horizontal conveyor belt (407), and the four fresh apricot-stalk axis vector coordinates are identified by the lightweight fresh apricot and stalk recognition model on the automatic orientation control system (8), and it is determined whether the stalks are uniformly arranged upward and recorded to end the automatic orientation operation.

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