A prefabricated dish screening and packaging system based on image processing and mechanical arm

Abstract

This invention relates to the field of pre-prepared vegetable packaging technology, and more particularly to a pre-prepared vegetable screening and packaging system based on image processing and a robotic arm. The invention includes a display, a main unit, a screening mechanism, a weighing mechanism, a vegetable packaging mechanism, a sorting mechanism, and a pre-prepared vegetable packaging mechanism. The display is located inside the main unit. A weighing mechanism is mounted at one end of the screening mechanism, and a vegetable packaging mechanism is located at the bottom of the weighing mechanism. A sorting mechanism is mounted at one end of the vegetable packaging mechanism. This invention can be used to detect vegetable diseases, rot, and the uniformity of cutting, achieving automatic screening, automatic packaging based on weight, and automatic combination packaging based on set pre-prepared vegetable types. This invention achieves automated detection, screening, portioning, packaging, and data management of pre-prepared vegetables with a small number of devices, possessing advantages such as high efficiency, high automation level, low cost, convenient data management, high degree of flexibility, and easy expansion, and has significant practical value.

Description

Technical Field

[0001] This invention relates to the field of pre-prepared food packaging technology, and in particular to a pre-prepared food sorting and packaging system based on image processing and a robotic arm. Background Technology

[0002] Pre-cooked meals refer to finished or semi-finished products made from agricultural, livestock, poultry, and aquatic products as raw materials, along with various auxiliary ingredients, and processed in advance. Pre-cooked meals are linked upstream to agricultural development and rural revitalization, and downstream to the transformation of the catering industry and changes in consumption patterns.

[0003] Currently, the inspection and sorting of vegetables, especially those after cutting and washing, relies on manual labor. This is not only time-consuming but also prone to inaccuracies due to the influence of individual subjective judgment. This is extremely detrimental to the large-scale inspection, quality control, management, and effective utilization of pre-prepared vegetables. Therefore, there is a need to research an automated, intelligent, accurate, and reliable inspection and packaging system to replace manual identification of pre-prepared vegetables. To address this practical need, this invention provides a pre-prepared vegetable screening and packaging system based on image processing and a robotic arm. Summary of the Invention

[0004] The purpose of this invention is to provide a pre-prepared food screening and packaging system based on image processing and a robotic arm to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A pre-prepared vegetable sorting and packaging system based on image processing and a robotic arm includes a display, a main unit, a sorting mechanism, a weighing mechanism, a vegetable packaging mechanism, a sorting mechanism, and a pre-prepared vegetable packaging mechanism. The display is located inside the main unit. A weighing mechanism is mounted at one end of the sorting mechanism, and a vegetable packaging mechanism is located at the bottom of the weighing mechanism. A sorting mechanism is mounted at one end of the vegetable packaging mechanism, and a pre-prepared vegetable packaging mechanism is mounted on one side of the sorting mechanism. The sorting mechanism is used to sort vegetables, the weighing mechanism is used to weigh vegetables, the vegetable packaging mechanism is used to package vegetables, the sorting mechanism is used to combine vegetable packages, and the pre-prepared vegetable packaging mechanism is used to package pre-prepared vegetables. The main unit is electrically connected to the sorting mechanism, the weighing mechanism, the vegetable packaging mechanism, the sorting mechanism, and the pre-prepared vegetable packaging mechanism.

[0007] Preferably, the screening mechanism includes a feeding section and a driving section. The feeding section includes a first conveyor belt, a first support, and a first roller. The first support is provided on one side of the main unit, and the first roller is rotatably connected to the top of the first support. The first conveyor belt is provided on the inner side of the first support. The driving section includes a first motor and a speed regulator. The first motor is fixed on one side of the first conveyor belt, and the speed regulator is provided on the inner side of the first motor. The first motor is electrically connected to the main unit through a wire.

[0008] Preferably, the screening mechanism further includes an image acquisition section and a screening section. The image acquisition section includes a first camera and a first crossbeam support. The first camera includes a CCD camera lens, an LED ring light source, a polarizing filter, and a seventh support. The top of the first conveyor belt is provided with a first crossbeam support. The first camera is fixed to the top of the inner side of the first crossbeam support. The seventh support is fixed to the top of the inner side of the first crossbeam support. The inner side of the seventh support is provided with a CCD camera lens. Multiple LED ring light sources are evenly distributed and fixed at the bottom of the seventh support. A polarizing filter is fixed in the middle of the bottom of the seventh support.

[0009] Preferably, the screening section includes a second support, a third support, a fourth support, a second crossbeam support, a robot arm, a first inclined chute, and a second inclined chute. The second supports are fixed to both sides of the top of the first conveyor belt, and each second support is fixed to the first crossbeam support. The top of the first conveyor belt is fixed with a third support and a fourth support. A second crossbeam support is fixed between the third and fourth supports. A robot arm is fixed to the bottom of the second crossbeam support. The robot arm is electrically connected to the main unit via wires. A first inclined chute is formed on one side of the fourth support, and a second inclined chute is formed on the other side of the fourth support.

[0010] Preferably, the weighing mechanism includes a first baffle, a second baffle, a third baffle, a fourth baffle, and a fifth support. The fifth support is fixed on both sides of one end of the first conveyor belt. The first baffle, the second baffle, the third baffle, and the fourth baffle are fixed on the inner sides of the two fifth supports. The first baffle is fixed to the second baffle, and the third baffle is fixed to the fourth baffle. Pressure sensors are built into the third baffle and the fourth baffle. The pressure sensors are electrically connected to the main unit through wires.

[0011] Preferably, the vegetable packaging mechanism includes a first packaging film, a second conveyor belt, a fifth baffle, a sixth baffle, a limiting roller, a guide plate, a second roller, a third roller, a first thermoplastic seal, a fourth roller, a fifth roller, and a third thermoplastic seal. The bottom of the fourth baffle is provided with the second conveyor belt, the inner side of one end of the second conveyor belt is provided with the first packaging film, one end of the second conveyor belt is fixed with the fifth baffle, both ends of the top of the fifth baffle are fixed with the sixth baffle, the inner side of the sixth baffle is rotatably connected with the limiting roller, the top of the second conveyor belt is provided with the guide plate and the first thermoplastic seal, the bottom of the first thermoplastic seal is provided with the second roller, the third roller, the fourth roller, and the fifth roller, and one end of the second conveyor belt is provided with the third thermoplastic seal.

[0012] Preferably, the sorting mechanism includes a second camera, a third crossbeam support, a sixth support, a third conveyor belt, a second motor, a seventh baffle, an eighth baffle, a ninth baffle, a tenth baffle, a third motor, a fourth motor, a fifth motor, a sixth motor, a third inclined chute, a fourth inclined chute, a fifth inclined chute, and a sixth inclined chute. A third conveyor belt is provided on one side of the vegetable packaging mechanism. Sixth supports are fixed to both sides of the top of the third conveyor belt. A third crossbeam support is fixed to the top of the two sixth supports. A second camera is fixed to the bottom of the third crossbeam support. The second camera... The wires are electrically connected to the main unit. A second motor is fixed to one end of the third conveyor belt. A third motor, a fourth motor, a fifth motor, and a sixth motor are fixed to one side of the third conveyor belt. The third motor, the fourth motor, the fifth motor, and the sixth motor are all electrically connected to the main unit through wires. A seventh baffle, an eighth baffle, a ninth baffle, and a tenth baffle are fixed to the output ends of the third motor, the fourth motor, the fifth motor, and the sixth motor, respectively. A third inclined groove, a fourth inclined groove, a fifth inclined groove, and a sixth inclined groove are fixed to the outer sides of the third motor, the fourth motor, the fifth motor, and the sixth motor, respectively.

[0013] Preferably, the pre-prepared food packaging mechanism includes a first collection box, a second collection box, a third collection box, a fourth collection box, a fifth collection box, a robotic arm, a fourth conveyor belt, packaging boxes, a second packaging film, a first limiting roller, a second limiting roller, a second thermoplastic seal, and a seventh motor. The first collection box, the second collection box, the third collection box, the fourth collection box, and the fifth collection box are placed on one side of the third conveyor belt. The fourth conveyor belt is placed on one side of the fifth collection box. Multiple packaging boxes are evenly distributed on the top of the fourth conveyor belt. A second thermoplastic seal is fixed to one end of the fourth conveyor belt. A second packaging film is provided on the top of the second thermoplastic seal. A first limiting roller is provided at one end of the second thermoplastic seal, and a second limiting roller is provided at the other end of the second thermoplastic seal. A seventh motor is fixed to one end of one side of the fourth conveyor belt.

[0014] Preferably, the host is electrically connected to the seventh motor via a wire.

[0015] It is clear without a doubt that the technical solution described above in this application can solve the technical problem that this application aims to address.

[0016] Meanwhile, through the above technical solutions, the present invention has at least the following beneficial effects:

[0017] 1. This invention can be used to detect diseases, rot, and uniformity of cutting in vegetables, achieving automatic screening, automatic packaging based on weight, and automatic combination packaging based on set types of pre-prepared vegetables. This invention uses a small number of devices to automate the detection, screening, portioning, packaging, and data management of pre-prepared vegetables, offering advantages such as high efficiency, high automation, low cost, convenient data management, high flexibility, and easy scalability, thus possessing significant practical value.

[0018] 2. In the screening mechanism of this invention, the feeding section can adjust its height according to different vegetables, spreading them evenly and improving the efficiency and accuracy of image recognition, thus enhancing the accuracy and efficiency of the screening section. The image acquisition section uses a CCD camera and a ring light source; the acquired raw images are processed by software to obtain the target area image and recognition results, reducing costs. The screening section can automatically grasp and intelligently screen, providing a convenient and reliable solution for batch detection and screening of pre-prepared vegetables. The weighing mechanism and vegetable packaging mechanism can automatically sort vegetables according to weight. The sorting mechanism can classify and collect vegetables at low cost. The pre-prepared vegetable packaging mechanism uses a robotic arm to randomly grasp vegetables, enabling free combination and packaging. The host and display can control the movement of the entire device and display the detection results in real time, and the detection data can be interfaced with the management system. The entire device is highly efficient, highly automated, convenient for data management, highly flexible, and easily expandable. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the connection structure between the display and the host of the present invention;

[0022] Figure 3 This is a schematic diagram of the internal structure of the first support of the present invention;

[0023] Figure 4 This is a schematic diagram of the connection structure between the first baffle and the second baffle of the present invention;

[0024] Figure 5 This is a schematic diagram of the connection structure between the second motor and the third conveyor belt of the present invention;

[0025] Figure 6 This is a schematic diagram of the internal structure of the first thermoplastic seal of the present invention;

[0026] Figure 7 This is a schematic diagram of the connection structure between the fourth conveyor belt and the packaging box of the present invention;

[0027] Figure 8 This is a schematic diagram of the connection structure between the LED ring light source and the polarizing mirror of the present invention.

[0028] The attached diagram lists the components represented by each number as follows:

[0029] In the diagram: 1. Screening mechanism; 101. Display; 102. Main unit; 103. First conveyor belt; 104. First motor; 105. First support; 106. First roller; 107. First camera; 108. First crossbeam support; 109. Second support; 110. Third support; 111. Fourth support; 112. Second crossbeam support; 113. Robotic arm; 114. First inclined chute; 115. Second inclined chute; 2. Weighing mechanism; 201. First baffle; 202. 203. Second baffle; 204. Third baffle; 205. Fourth baffle; 206. Fifth support; 307. Vegetable packaging mechanism; 308. First packaging film; 309. Second conveyor belt; 300. Fifth baffle; 300. Sixth baffle; 300. Limiting roller; 301. Guide plate; 302. Second roller; 303. Third roller; 304. First thermoplastic seal; 315. Fourth roller; 316. Fifth roller; 317. Third thermoplastic seal; 4. Sorting mechanism; 401. Second camera; 402, Third crossbeam support; 403, Sixth support; 404, Third conveyor belt; 405, Second motor; 406, Seventh baffle; 407, Eighth baffle; 408, Ninth baffle; 409, Tenth baffle; 410, Third motor; 411, Fourth motor; 412, Fifth motor; 413, Sixth motor; 414, Third inclined chute; 415, Fourth inclined chute; 416, Fifth inclined chute; 417, Sixth inclined chute; 5, Pre-prepared food packaging mechanism; 501 502. First collection bin; 503. Second collection bin; 504. Third collection bin; 505. Fourth collection bin; 506. Fifth collection bin; 507. Robotic arm; 508. Fourth conveyor belt; 509. Packaging box; 510. Second packaging film; 511. First limiting roller; 512. Second limiting roller; 513. Second thermoplastic seal; 514. Seventh motor; 605. CCD camera lens; 606. LED ring light source; 607. Polarizing filter; 608. Seventh bracket. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0031] Example 1

[0032] Reference Figure 1-8A pre-prepared vegetable sorting and packaging system based on image processing and a robotic arm includes a display 101, a host 102, a sorting mechanism 1, a weighing mechanism 2, a vegetable packaging mechanism 3, a sorting mechanism 4, and a pre-prepared vegetable packaging mechanism 5. The display 101 is located inside the host 102. The weighing mechanism 2 is mounted at one end of the sorting mechanism 1. The vegetable packaging mechanism 3 is located at the bottom of the weighing mechanism 2. The sorting mechanism 4 is mounted at one end of the vegetable packaging mechanism 3. The pre-prepared vegetable packaging mechanism 5 is mounted on one side of the sorting mechanism 4. The sorting mechanism 1 is used to sort vegetables, the weighing mechanism 2 is used to weigh vegetables, the vegetable packaging mechanism 3 is used to package vegetables, the sorting mechanism 4 is used to combine vegetable packages, and the pre-prepared vegetable packaging mechanism 5 is used to package pre-prepared vegetables. The host 102 is electrically connected to the sorting mechanism 1, the weighing mechanism 2, the vegetable packaging mechanism 3, the sorting mechanism 4, and the pre-prepared vegetable packaging mechanism 5.

[0033] The screening mechanism 1 includes a feeding section and a driving section. The feeding section includes a first conveyor belt 103, a first support 105, and a first roller 106. The first support 105 is provided on one side of the main unit 102, and the first roller 106 is rotatably connected to the top of the first support 105. The first conveyor belt 103 is provided on the inner side of the first support 105. The driving section includes a first motor 104 and a speed regulator. The first motor 104 is fixed on one side of the first conveyor belt 103, and the speed regulator is provided on the inner side of the first motor 104. The first motor 104 is electrically connected to the main unit 102 through a wire. The first roller 106 is located above the first conveyor belt 103 and its height can be adjusted up and down along the first support 105 to accommodate different vegetables. The surface of the first roller 106 has protrusions to prevent vegetables from piling up.

[0034] The screening mechanism 1 also includes an image acquisition section and a screening section. The image acquisition section includes a first camera 107 and a first crossbeam support 108. The first camera 107 includes a CCD camera lens 601, an LED ring light source 602, a polarizing filter 603, and a seventh support 604. The first crossbeam support 108 is set on the top of the first conveyor belt 103. The first camera 107 is fixed on the top of the inner side of the first crossbeam support 108. The seventh support 604 is fixed on the top of the inner side of the first crossbeam support 108. The CCD camera lens 601 is set on the inner side of the seventh support 604. Multiple LED ring light sources 602 are evenly distributed and fixed on the bottom of the seventh support 604. A polarizing filter 603 is fixed in the middle of the bottom of the seventh support 604. The image acquisition section mainly acquires the original images of the vegetables and provides them to the host 102 for processing.

[0035] The screening section includes a second support 109, a third support 110, a fourth support 111, a second crossbeam support 112, a robot arm 113, a first inclined chute 114, and a second inclined chute 115. The second support 109 is fixed to both sides of the top of the first conveyor belt 103, and the second support 109 is fixed to the first crossbeam support 108. The third support 110 and the fourth support 111 are fixed to the top of the first conveyor belt 103. A second crossbeam support 112 is fixed between the third support 110 and the fourth support 111. A robot arm 113 is fixed to the bottom of the second crossbeam support 112. The robot arm 113 is electrically connected to the host 102 via wires. A first inclined chute 114 is provided on one side of the fourth support 111, and a second inclined chute 115 is provided on the other side. Tracks are provided on the second support 109, the third support 110, and the fourth support 111, allowing the robot arm 113 to move forward, backward, left, and right, and to extend and retract vertically.

[0036] The weighing mechanism includes a first baffle 201, a second baffle 202, a third baffle 203, a fourth baffle 204, and a fifth support 205. The fifth support 205 is fixed on both sides of one end of the first conveyor belt 103. The first baffle 201, the second baffle 202, the third baffle 203, and the fourth baffle 204 are fixed on the inner side of the two fifth supports 205. The first baffle 201 is fixed to the second baffle 202, and the third baffle 203 is fixed to the fourth baffle 204. Pressure sensors are built into the third baffle 203 and the fourth baffle 204. The pressure sensors are electrically connected to the host 102 through wires, which can realize weighing when the first conveyor belt 103 is running continuously and divide the vegetables into equal portions according to the set weight.

[0037] The vegetable packaging mechanism 3 includes a first packaging film 301, a second conveyor belt 302, a fifth baffle 303, a sixth baffle 304, a limiting roller 305, a guide plate 306, a second roller 307, a third roller 308, a first thermoplastic seal 309, a fourth roller 310, a fifth roller 311, and a third thermoplastic seal 312. The second conveyor belt 302 is located at the bottom of the fourth baffle 304. The first packaging film 301 is located on the inner side of one end of the second conveyor belt 302. A fifth baffle 303 is fixed, and a sixth baffle 304 is fixed at both ends of the top of the fifth baffle 303. A limit roller 305 is rotatably connected to the inner side of the sixth baffle 304. A guide plate 306 and a first thermoplastic seal 309 are provided at the top of the second conveyor belt 302. A second roller 307, a third roller 308, a fourth roller 310 and a fifth roller 311 are provided at the bottom of the first thermoplastic seal 309. A third thermoplastic seal 312 is provided at one end of the second conveyor belt 302 to facilitate the output of each portion of vegetables.

[0038] The sorting mechanism 4 includes a second camera 401, a third crossbeam support 402, a sixth support 403, a third conveyor belt 404, a second motor 405, a seventh baffle 406, an eighth baffle 407, a ninth baffle 408, a tenth baffle 409, a third motor 410, a fourth motor 411, a fifth motor 412, a sixth motor 413, a third inclined chute 414, a fourth inclined chute 415, a fifth inclined chute 416, and a sixth inclined chute 417. A third conveyor belt is provided on one side of the vegetable packaging mechanism 3. 404. Sixth brackets 403 are fixed to both sides of the top of the third conveyor belt 404. A third crossbeam bracket 402 is fixed to the top of the two sixth brackets 403. A second camera 401 is fixed to the bottom of the third crossbeam bracket 402. The second camera 401 is electrically connected to the host 102 via wires. A second motor 405 is fixed to one end of the third conveyor belt 404. A third motor 410, a fourth motor 411, a fifth motor 412, and a sixth motor 413 are fixed to one side of the third conveyor belt 404. All three motors are electrically connected to the host 102 via wires. A seventh baffle 406, an eighth baffle 407, a ninth baffle 408, and a tenth baffle 409 are fixed to the output ends of the third motors 410, 411, 412, and 413, respectively. A third... Inclined chute 414, fourth inclined chute 415, fifth inclined chute 416 and sixth inclined chute 417, the weighing mechanism 2 weighs according to the image recognition results collected by camera 107, camera 401 checks whether the vegetable packaging is intact, and at the same time detects the type of vegetable again, the recognition result controls the seventh baffle 406, eighth baffle 407, ninth baffle 408 and tenth baffle 409, after a certain vegetable is detected, the corresponding baffle opens and the other baffles close, so that the packaged vegetables enter the corresponding collection box through the inclined chute.

[0039] The host 102 is electrically connected to the seventh motor 513 via wires. The host 102 is responsible for processing data and sending signals. The display 101 displays the type of vegetables, disease rate, expected pre-cooked dishes and other relevant information.

[0040] Example 2

[0041] Further optimizations to Example 1, specifically, such as... Figure 7As shown, the pre-prepared food packaging mechanism 5 includes a first collection box 501, a second collection box 502, a third collection box 503, a fourth collection box 504, a fifth collection box 505, a robotic arm 506, a fourth conveyor belt 507, a packaging box 508, a second packaging film 509, a first limiting roller 510, a second limiting roller 511, a second thermoplastic seal 512, and a seventh motor 513. The first collection box 501, the second collection box 502, the third collection box 503, the fourth collection box 504, and the fifth collection box 505 are placed on one side of the third conveyor belt 404. The fourth conveyor belt 507 is placed on one side of the fifth collection box 505. Multiple packaging boxes 508 are evenly distributed on the top of the fourth conveyor belt 507. A second thermoplastic seal 512 is fixed to one end of the fourth conveyor belt 507. A second packaging film 509 is provided on the top of the second thermoplastic seal 512. A first limiting roller 510 is provided at one end of the second thermoplastic seal 512, and a second limiting roller 511 is provided at the other end of the second thermoplastic seal 512. A seventh motor 513 is fixed to one end of one side of the fourth conveyor belt 507. Based on disordered grasping technology, the robotic arm 506 can put different vegetables from different collection bins into a packaging box 508 according to the required combination. After the vegetables are put in, the packaging box 508 is transported with the fourth conveyor belt 507.

[0042] In summary:

[0043] This invention addresses the technical problem of: Currently, the inspection and sorting of vegetables, especially those after cutting and washing, rely on manual labor, which is not only time-consuming but also prone to inaccuracy due to the influence of individual subjective judgment. This is extremely detrimental to the large-scale inspection, quality control, management, and effective utilization of prepared vegetables; the invention employs the technical solutions described in the above embodiments. Furthermore, the implementation process of the above technical solutions is as follows:

[0044] The device is electrically connected to an external power source. The chopped vegetables then enter the sorting mechanism via the first conveyor belt 103. The first roller 106 can move up and down along the first support 105, with adjustable heights for different vegetables. The first roller 106 flattens the vegetables, improving the sorting accuracy of the robotic arm 113. The vegetables then reach the image acquisition section via the first conveyor belt 103. The first crossbeam support 108 can move up and down along the second support 109. The first camera 107 includes a CCD camera lens 601, an LED ring light source 602, a polarizing filter 603, and a seventh support. 604, the image acquisition section acquires the original image and uploads it to the host 102. After the image is processed by the software, the type of vegetable and the uncut, diseased and rotten parts can be identified. Then the structure is displayed on the display 101 and a signal is sent to the screening section. The second crossbeam support 112, the third support 110 and the fourth support 111 move left and right. The robot arm 113 can move back and forth along the second crossbeam support 112. The robot arm 113 is retractable. The robot arm 113 picks up the uncut vegetables and puts them into the first inclined groove 114, and puts the diseased and rotten vegetables into the second inclined groove 115.

[0045] The third baffle 203 and the fourth baffle 204 are equipped with pressure sensors for weighing. The preset weight is different for each type of vegetable. Based on the set pre-made vegetable type and the type of vegetable identified by the first camera 107, the host 102 automatically sets the preset weighing value. The first baffle 201 and the second baffle 202 open, and the vegetables fall into the third baffle 203 and the fourth baffle 204. When the weight reaches the preset value, the first baffle 201 and the second baffle 202 close, and the third baffle 203 and the fourth baffle 204 open, and the vegetables fall into the packaging mechanism. The third baffle 203 and the fourth baffle 204 close, and the first baffle 201 and the second baffle 202 open, and the vegetables fall into the third baffle 203 and the fourth baffle 204 for weighing.

[0046] The first packaging film 301 first passes through the fifth baffle 303 and the sixth baffle 304, and then through the limiting roller 305 and the guide plate 306 to form a groove for receiving vegetables falling from the third baffle 203 and the fourth baffle 204. The first packaging film 301 enters the second roller 307 and the third roller 308 through the guide plate 306, so that they mesh. The fourth roller 310 and the fifth roller 311 cooperate with the second roller 307 and the third roller 308 to make the first packaging film 301 stably pass through the first thermoplastic seal 309. The first thermoplastic seal 309 seals the plastic wrap. The sixth roller seals the first packaging film 301 that has passed through. After passing through the first thermoplastic seal 309 and the sixth roller, the vegetables are packaged into individual packages.

[0047] The packaged vegetables arrive at the sorting mechanism. The third crossbeam support 402 can move up and down along the sixth support 403. The second camera 401 captures images and transmits them to the host 102 for processing. After the images are processed by the software, the type of vegetables and whether the packaging is intact can be identified. If the packaging is damaged, the host 102 sends signals to the third motor 410 to the sixth motor 413, causing the seventh baffle 406 to the tenth baffle 409 to close completely. The damaged packaging is conveyed along the third conveyor belt 404. If the packaging is intact and the type of vegetable is identified as 'a', the eighth baffle 407 to the tenth baffle 409 remain closed. The third motor 410 drives the seventh baffle 406 to open. Vegetable 'a' enters the third inclined chute 414 and then enters the first collection box 501. Similarly, vegetables 'b', 'c', and 'd' enter the second collection box 502, the third collection box 503, and the fourth collection box 504, respectively.

[0048] The first collection bin 501, the second collection bin 502, the third collection bin 503, and the fourth collection bin 504 contain vegetables a, b, c, and d respectively. The fifth collection bin 505 contains seasoning packets, which are replenished manually. The robotic arm 506 takes one packet of each type of vegetable from the first collection bin 501 to the fourth collection bin 504 and puts it into the packaging box 508. Then, it takes the corresponding seasoning packet from the fifth collection bin 505 and puts it into the packaging box 508. The packaging box 508 is brought to the packaging section by the fourth conveyor belt 507. The second packaging film 509 is opened by the first limiting roller 510 and the second limiting roller 511. The second thermoplastic seal 512 presses down to seal the second packaging film 509 onto the packaging box 508.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] Obviously, the embodiments described above are merely some embodiments of the present invention, not all embodiments. The accompanying drawings show preferred embodiments of the present invention, but do not limit the patent scope of the present invention. The present invention can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this invention.

Claims

1. A pre-prepared food sorting and packaging system based on image processing and a robotic arm, characterized in that, The system includes a display (101), a host (102), a screening mechanism (1), a weighing mechanism (2), a vegetable packaging mechanism (3), a sorting mechanism (4), and a pre-prepared vegetable packaging mechanism (5). The display (101) is located inside the host (102). The screening mechanism (1) is equipped with a weighing mechanism (2) at one end. The vegetable packaging mechanism (3) is located at the bottom of the weighing mechanism (2). The sorting mechanism (4) is equipped with a sorting mechanism (4) at one end. The pre-prepared vegetable packaging mechanism (5) is equipped with a sorting mechanism (4) on one side of the sorting mechanism (4). The screening mechanism (1) is used to screen vegetables. The weighing mechanism (2) is used to weigh vegetables. The vegetable packaging mechanism (3) is used to package vegetables. The sorting mechanism (4) is used to combine vegetable packages. The pre-prepared vegetable packaging mechanism (5) is used to package pre-prepared vegetables. The host (102) is connected to the screening mechanism (1), the weighing mechanism (2), the vegetable packaging mechanism (3), and the sorting mechanism (5). (4) Electrically connected to the pre-prepared food packaging mechanism (5), the screening mechanism (1) includes a feeding part and a driving part, the feeding part includes a first conveyor belt (103), a first support (105) and a first roller (106), the first support (105) is provided on one side of the host (102), the first roller (106) is rotatably connected to the top of the first support (105), the first conveyor belt (103) is provided on the inner side of the first support (105), the driving part includes a first motor (104) and a speed regulator, the first motor (104) is fixed on one side of the first conveyor belt (103), the speed regulator is provided on the inner side of the first motor (104), the first motor (104) is electrically connected to the host (102) through a wire, the screening mechanism (1) also includes an image acquisition part and a screening part, the image acquisition part includes a first camera (107) and a first crossbeam support (108); the first camera (107) includes a CCD The system includes a camera lens (601), an LED ring light source (602), a polarizing filter (603), and a seventh bracket (604). A first crossbeam bracket (108) is provided on the top of the first conveyor belt (103). A first camera (107) is fixed on the top of the inner side of the first crossbeam bracket (108). The seventh bracket (604) is fixed on the top of the inner side of the first crossbeam bracket (108). A CCD camera lens (601) is provided on the inner side of the seventh bracket (604). Multiple LED ring light sources (602) are evenly distributed and fixed on the bottom of the seventh bracket (604). A polarizing filter (603) is fixed in the middle of the bottom of the seventh bracket (604). The preset weight of each vegetable is different. Based on the set type of pre-made dish and the type of vegetable identified by the first camera (107), the host (102) automatically sets the preset value for weighing. The pre-prepared vegetable packaging mechanism (5) includes a robotic arm (506). The pre-prepared vegetable packaging mechanism (5) achieves free combination of vegetables and packaging by the disordered grasping of the robotic arm (506).

2. The pre-prepared vegetable sorting and packaging system based on image processing and a robotic arm according to claim 1, characterized in that, The screening section includes a second support (109), a third support (110), a fourth support (111), a second crossbeam support (112), a robot (113), a first chute (114), and a second chute (115). The second support (109) is fixed on both sides of the top of the first conveyor belt (103). The second support (109) is fixed to the first crossbeam support (108). The top of the first conveyor belt (103) is fixed with the third support (110) and the fourth support (111). A second crossbeam support (112) is fixed between the third support (110) and the fourth support (111). A robot (113) is fixed at the bottom of the second crossbeam support (112). The robot (113) is electrically connected to the host (102) through a wire. The first chute (114) is opened on one side of the fourth support (111), and the second chute (115) is opened on the other side of the fourth support (111).

3. The pre-prepared vegetable sorting and packaging system based on image processing and a robotic arm according to claim 2, characterized in that, The weighing mechanism includes a first baffle (201), a second baffle (202), a third baffle (203), a fourth baffle (204), and a fifth support (205). The fifth support (205) is fixed on both sides of one end of the first conveyor belt (103). The first baffle (201), the second baffle (202), the third baffle (203), and the fourth baffle (204) are fixed on the inner side of the two fifth supports (205). The first baffle (201) is fixed to the second baffle (202), and the third baffle (203) is fixed to the fourth baffle (204). Pressure sensors are built into the interior of the third baffle (203) and the fourth baffle (204). The pressure sensors are electrically connected to the host (102) through wires.

4. The pre-prepared vegetable sorting and packaging system based on image processing and a robotic arm according to claim 3, characterized in that, The vegetable packaging mechanism (3) includes a first packaging film (301), a second conveyor belt (302), a fifth baffle (303), a sixth baffle (304), a limiting roller (305), a guide plate (306), a second roller (307), a third roller (308), a first thermoplastic seal (309), a fourth roller (310), a fifth roller (311), and a third thermoplastic seal (312). The bottom of the fourth baffle (204) is provided with a second conveyor belt (302), and the inner side of one end of the second conveyor belt (302) is provided with a first packaging film (301). One end of the second conveyor belt (302) is fixed with a fifth baffle (303), and both ends of the top of the fifth baffle (303) are fixed with a sixth baffle (304). The inner side of the sixth baffle (304) is rotatably connected with a limiting roller (305). The top of the second conveyor belt (302) is provided with a guide plate (306) and a first thermoplastic seal (309). The bottom of the first thermoplastic seal (309) is provided with a second roller (307), a third roller (308), a fourth roller (310) and a fifth roller (311). One end of the second conveyor belt (302) is provided with a third thermoplastic seal (312).

5. The pre-prepared vegetable sorting and packaging system based on image processing and a robotic arm according to claim 1, characterized in that, The sorting mechanism (4) includes a second camera (401), a third crossbeam support (402), a sixth support (403), a third conveyor belt (404), a second motor (405), a seventh baffle (406), an eighth baffle (407), a ninth baffle (408), a tenth baffle (409), a third motor (410), a fourth motor (411), a fifth motor (412), a sixth motor (413), a third inclined chute (414), a fourth inclined chute (415), a fifth inclined chute (416), and a sixth inclined chute (417). A third conveyor belt (404) is provided on one side of the vegetable packaging mechanism (3). Sixth supports (403) are fixed on both sides of the top of the third conveyor belt (404). A third crossbeam support (402) is fixed on the top of the two sixth supports (403). A second camera (401) is fixed at the bottom of the third crossbeam support (402). The second camera (401) is connected to the host (102) via a wire. Electrically connected, a second motor (405) is fixed to one end of the third conveyor belt (404), and a third motor (410), a fourth motor (411), a fifth motor (412), and a sixth motor (413) are fixed to one side of the third conveyor belt (404). The third motor (410), the fourth motor (411), the fifth motor (412), and the sixth motor (413) are all electrically connected to the host (102) through wires. The output ends of the motor (411), the fifth motor (412) and the sixth motor (413) are respectively fixed with the seventh baffle (406), the eighth baffle (407), the ninth baffle (408) and the tenth baffle (409), and the outer sides of the third motor (410), the fourth motor (411), the fifth motor (412) and the sixth motor (413) are respectively fixed with the third inclined groove (414), the fourth inclined groove (415), the fifth inclined groove (416) and the sixth inclined groove (417).

6. A pre-prepared vegetable sorting and packaging system based on image processing and a robotic arm according to claim 5, characterized in that, The pre-prepared food packaging mechanism (5) also includes a first collection box (501), a second collection box (502), a third collection box (503), a fourth collection box (504), a fifth collection box (505), a fourth conveyor belt (507), a packaging box (508), a second packaging film (509), a first limiting roller (510), a second limiting roller (511), a second thermoplastic seal (512), and a seventh motor (513). The first collection box (501), the second collection box (502), the third collection box (503), the fourth collection box (504), and the fifth collection box (505) are placed on one side of the third conveyor belt (404). 05), a fourth conveyor belt (507) is placed on one side of the fifth collection box (505), and multiple packaging boxes (508) are evenly distributed on the top of the fourth conveyor belt (507). A second thermoplastic seal (512) is fixed at one end of the fourth conveyor belt (507), and a second packaging film (509) is provided on the top of the second thermoplastic seal (512). A first limiting roller (510) is provided at one end of the second thermoplastic seal (512), and a second limiting roller (511) is provided at the other end of the second thermoplastic seal (512). A seventh motor (513) is fixed at one end of one side of the fourth conveyor belt (507).

7. A pre-prepared vegetable sorting and packaging system based on image processing and a robotic arm according to claim 6, characterized in that, The host (102) is electrically connected to the seventh motor (513) via a wire.

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