A food material take-out identification method and an identification system

Abstract

The application is suitable for the field of computers, and provides a food raw material taking-out identification method and system, which comprises the following steps: detecting the outer side of a first local range where a raw material storage part is located according to a raw material taking-out instruction; when only a taking-out part is detected in a set range outside the first local range, performing an opening action on the raw material storage part, the taking-out part is used for taking and placing raw materials, and a tendency track is used for characterizing that the track of the taking-out part points to the raw material storage part; when it is further detected that the moving track of the taking-out part coincides with the edge of the first local range at least once, determining a second local range according to the size of the taking-out part and the distance between the raw material storage part and a raw material temporary storage part, the technical scheme of the application embodiment can complete the identification from the opening and transfer of the raw material, and ensure that the raw material is transferred from the raw material storage part to the raw material temporary storage part by the taking-out part without damage.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of computer, and particularly relates to a food raw material taking-out identification method and an identification system. BACKGROUND

[0002] Medicinal and edible is a traditional concept of traditional Chinese medicine, that is, many things can be used as medicine while being used as food, so generally medicinal and edible things have relatively high nutritional value, and these food raw materials need to be processed or mixed before entering the market.

[0003] At present, some food raw materials are still directly taken out by human beings or controlled by human beings when taken out, but considering the value of some food raw materials, it is necessary to identify the taking-out of food raw materials, and the process is generally completed by monitoring in the prior art, and the unintentional loss or intentional loss in the taking-out process is difficult to identify considering the multi-step nature of taking and transferring. SUMMARY

[0004] The purpose of the embodiment of the present application is to provide a food raw material taking-out identification method and an identification system, which aims to solve the problems in the background art.

[0005] The embodiment of the present application is implemented in this way, on the one hand, a food raw material taking-out identification method, the method comprises the following steps:

[0006] detecting the outside of a first local range where the raw material storage piece is located according to the raw material taking-out instruction;

[0007] when only the tendency trajectory of the taking-out piece is detected in the set range outside the first local range, performing an opening action on the raw material storage piece, the taking-out piece is used to take and place raw materials, and the tendency trajectory is used to represent the trajectory of the taking-out piece pointing to the raw material storage piece;

[0008] when it is further detected that the moving trajectory of the taking-out piece coincides with the edge of the first local range at least once, determining a second local range according to the size of the taking-out piece and the distance between the raw material storage piece and the raw material temporary storage piece, the second local range covers the maximum range of the edge activity of the taking-out piece in the raw material storage piece and the raw material temporary storage piece;

[0009] limiting the raw material taking-out section of the taking-out piece to the second local range, and detecting whether suspicious contact occurs between the raw material taking-out section and the non-raw material taking-out storage piece in the second local range;

[0010] if not, it is determined that the raw material taking-out is qualified this time;

[0011] The second local range is determined according to the size of the material taking member, and the distance between the raw material storage member and the raw material temporary storage member.

[0012] Identify the maximum distance between the raw material storage member and the raw material temporary storage member;

[0013] Determine the virtual line segment where the maximum distance is located;

[0014] Construct a first virtual circle with the midpoint of the virtual line segment as the center and half of the maximum distance as the radius;

[0015] Determine a concentric circle of the first virtual circle with the length of the material taking member as the outer expansion radius to obtain a second virtual circle;

[0016] Determine the local range where the second virtual circle is located as the second local range.

[0017] As a further scheme of the present application, after detecting the outside of the first local range where the raw material storage member is located according to the raw material taking instruction, the method further comprises:

[0018] When a first target object is detected in the externally set range outside the first local range, a pre-warning prompt is issued, and the first target object is a non-raw material storage member;

[0019] Continue to detect the duration of the existence of the first target object in the externally set range, and when the duration of the existence reaches a first preset duration, a first warning prompt is issued.

[0020] As a further scheme of the present application, the method further comprises:

[0021] Obtain a real-time monitoring image in the externally set range;

[0022] Based on the real-time monitoring image, locate the material taking member, and identify the trajectory change of the material taking member from the real-time monitoring image;

[0023] When it is identified that the trajectory end of the material taking member points to the material taking port of the raw material storage member, and the duration of the trajectory end pointing to the material taking port of the raw material storage member reaches a second preset duration, it is determined that the trend trajectory of the material taking member is detected.

[0024] As a further scheme of the present application, the method further comprises:

[0025] Obtain a first time when the trend trajectory is detected;

[0026] Obtain detection information of the material taking port of the raw material storage member, and the detection information includes sensing information;

[0027] Screen sub-detection information after the first time;

[0028] identifying whether the material taking member appears in the sub-detection information;

[0029] If yes, it is determined that the moving track of the material taking member coincides with the edge of the first local range once.

[0030] As a further aspect of the present application, the step of limiting the material taking section of the material taking member to the second local range comprises:

[0031] determining whether the material taking section of the material taking member exceeds the second local range according to the distinguishing feature of the material taking section;

[0032] If yes, a closing action on the material storage member is performed and a second warning prompt is sent.

[0033] As a further aspect of the present application, the step of limiting the material taking section of the material taking member to the second local range further comprises:

[0034] detecting the released length of the line length of the material taking member;

[0035] when the released length reaches a first line length, performing a closing action on the material storage member and sending a third warning prompt, wherein the first line length is not greater than the maximum distance between the initial storage point of the material taking member and the second local range.

[0036] As a further aspect of the present application, the method further comprises:

[0037] detecting whether the distance between the material taking section and the non-material taking storage member within the second local range reaches a preset distance;

[0038] If yes, it is determined that suspicious contact occurs between the material taking section and the non-material taking storage member; or, within the second local range, detecting whether the material taking section is flipped relative to the material taking storage position;

[0039] If yes, it is determined that suspicious contact occurs between the material taking section and the non-material taking storage member.

[0040] As a further aspect of the present application, in another aspect, a food material taking identification system, the system comprises:

[0041] a detection module configured to detect the outside of a first local range in which a material storage member is located according to a material taking instruction;

[0042] an execution module configured to perform an opening action on the material storage member when only a tendency track of a material taking member is detected within a set range outside the first local range, the material taking member being used for taking and placing materials, and the tendency track being used to represent a track of the material taking member pointing to the material storage member;

[0043] A condition determining module is configured to determine a second local range according to the size of the material taking member and the distance between the material storage member and the material temporary storage member when it is further detected that the moving track of the material taking member coincides with the edge of the first local range at least once, and the second local range covers the maximum range of the edge activity of the material taking member in the material storage member and the material temporary storage member.

[0044] A defining and determining module is configured to define the material taking section of the material taking member in the second local range, and detect whether suspicious contact occurs between the material taking section and the non-material taking storage member in the second local range.

[0045] A determining module is configured to determine that the material taking is qualified if it is detected that no suspicious contact occurs, and determine that the material taking is unqualified otherwise.

[0046] The second local range is determined according to the size of the material taking member and the distance between the material storage member and the material temporary storage member, and includes:

[0047] Identifying the maximum distance between the material storage member and the material temporary storage member;

[0048] Determining a virtual line segment where the maximum distance is located;

[0049] Constructing a first virtual circle with the midpoint of the virtual line segment as the center and half of the maximum distance as the radius;

[0050] Determining a concentric circle of the first virtual circle with the length of the material taking member as the expansion radius to obtain a second virtual circle;

[0051] Determining the local range where the second virtual circle is located as the second local range.

[0052] The food material taking recognition method and the recognition system provided by the embodiment can perform complete recognition from the opening and transfer of the material, ensure the "lossless" transfer of the material from the material storage member to the material temporary storage member by the material taking member, and can reduce the loss probability in the material taking process, especially for some precious materials, and can provide protection for the processing and delivery of the material. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 A mainstream flowchart of a food material taking recognition method.

[0054] Figure 2 A flowchart of determining the trend track of the material taking member in a food material taking recognition method.

[0055] Figure 3 A flowchart of determining whether the moving track of the material taking member coincides with the edge of the first local range in a food material taking recognition method.

[0056] Figure 4 This is a flowchart for determining a second local area in a food ingredient extraction and identification method.

[0057] Figure 5 This is a planar schematic diagram of the second local area in a food ingredient extraction and identification method.

[0058] Figure 6 This is a main structure diagram of a food ingredient retrieval and identification system. Detailed Implementation

[0059] 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.

[0060] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0061] The food ingredients in this application are not limited, such as dried ginseng, walnut grains, dried dendrobium, etc.; the raw material storage components include storage tanks with opening and closing functions; the raw material temporary storage components include transfer containers; the material retrieval components include scoops for direct use or manual control, retrieval hands, etc. When the above components are used in practice, they should meet the relevant functions in the following embodiments.

[0062] The present invention provides a food raw material removal identification method and identification system, which completes the identification from the opening and transfer of raw materials, ensuring the "non-destructive" transfer of raw materials from raw material storage to raw material temporary storage using the material removal component. This can reduce the probability of loss during the raw material removal process, especially for some more precious raw materials, and can provide a guarantee for the processing and delivery of raw materials, thus solving the technical problems in the background art.

[0063] like Figure 1 The diagram shown is a main flowchart of a food ingredient removal and identification method according to an embodiment of the present invention. The food ingredient removal and identification method includes:

[0064] Step S10: Detect the outer side of the first local area where the raw material storage unit is located according to the raw material removal instruction; before the raw material is removed, it is necessary to receive the issued raw material removal identification instruction, that is, directly control the subsequent series of identification and reasonable removal through the control center. After receiving the raw material removal instruction, start detecting the outer side of the first local area. The first local area coincides with the top view position of the raw material storage unit.

[0065] Step S11: When only the approaching trajectory of the material taking member is detected in the external set range of the first local range, an opening action of the material storage member is performed, the material taking member is used for taking and placing the material, and the approaching trajectory is used to characterize the trajectory of the material taking member pointing to the material storage member; before the personnel directly uses or controls the use of the material taking member, the material taking member is in a certain set reasonable position, and is generally outside the first local range, and when only the approaching trajectory of the material taking member is detected, it indicates that there is no other illegal material taking member, so there is only the possibility of the material taking member for taking out, and there is an approaching trajectory, that is, the material taking member has been controlled or directly operated by artificial to point to the material taking instruction from the initial position or to the material taking instruction from the storage member; the above indicates that the possibility of taking out the food material has been prepared; the external set range can be determined according to the actual situation, for example, the external set range slightly larger than the first local range, and the ring-shaped external set range; the opening action of the material storage member is performed, so as to facilitate the subsequent material taking member to take the material;

[0066] Step S12: When it is further detected that the moving trajectory of the material taking member coincides with the edge of the first local range at least once, a second local range is determined according to the size of the material taking member, the distance between the material storage member and the material temporary storage member, the second local range covers the maximum range of the material taking member moving at the edge of the material storage member and the material temporary storage member; when the moving trajectory coincides with the edge of the first local range at least once, it indicates that the material taking member has cooperated with the material storage member, that is, it has the possibility of entering from the edge of the material temporary storage member and taking out part of the material; at this time, the second local range determined is actually limited to the maximum limited activity range of the material taking member after taking the material, and in the second local range, it should complete the transfer of the material from the material storage member to the material temporary storage member;

[0067] Step S13: The material taking section of the material taking member is limited in the second local range, and it is detected whether suspicious contact occurs between the material taking section and the non-material taking storage member in the second local range; the limitation of the second local range can prevent the material taking member from escaping identification after taking out the material, and if suspicious contact occurs between the material taking section and the non-material taking storage member in the second local range, it is extremely possible that the food material is intentionally transferred from the material taking section to the non-material taking storage member, for example, a self-provided container or the ground. The non-material taking storage member refers to other objects except the material storage member and the material temporary storage member.

[0068] Step S14: If no, it is determined that the raw material taking out is qualified. When there is no, it indicates that the raw material taking out is qualified, a time stamp can be generated according to the determination time of the taking out qualification, and a label can be generated according to the time stamp, the taken raw material can be sealed in the raw material temporary storage for subsequent traceability viewing, and the raw material temporary storage is delivered to the next process or process after sealing at least once taken raw material, such as mixing and batching.

[0069] In the application of the embodiment, the outer side of the first local range where the raw material storage is located is detected according to the raw material taking out instruction; when only the approaching track of the taking device for taking and placing raw materials is detected in the set range outside the first local range, the opening action of the raw material storage is performed, and the approaching track is used to represent that the track of the taking device points to the raw material storage; when it is further detected that the moving track of the taking device coincides with the edge of the first local range at least once, the second local range is determined according to the size of the taking device, the distance between the raw material storage and the raw material temporary storage, and the second local range covers the maximum range of the edge activity of the taking device between the raw material storage and the raw material temporary storage; the raw material taking out section of the taking device is limited to the second local range, and whether suspicious contact occurs between the raw material taking out section and the non-raw material taking out storage in the second local range is detected; if no suspicious contact is detected, it is determined that the raw material taking out is qualified, otherwise, it is determined that the raw material taking out is unqualified, complete identification can be performed from the opening and transfer of the raw material, and the "lossless" transfer of the raw material from the raw material storage to the raw material temporary storage by the taking device is ensured, which can reduce the loss probability in the raw material taking out process, and especially for some valuable raw materials, the processing and delivery of the raw materials can be ensured.

[0070] As a preferred embodiment of the present application, after the outer side of the first local range where the raw material storage is located is detected according to the raw material taking out instruction, the method further comprises:

[0071] Step S20: When the first target object is detected in the set range outside the first local range, a pre-warning prompt is issued, and the first target object is a non-raw material storage;

[0072] Step S21: Continue to detect the existence duration of the first target object in the set range, and issue a first warning prompt when the existence duration reaches a first preset duration. The existence duration indicates that it is extremely likely to be intentional.

[0073] It can be understood that when the non-raw material storage is detected, it indicates that there is a possibility of transferring the raw material through the non-raw material storage, such as through a privately carried non-raw material storage, and therefore the first warning prompt can be issued by the embodiment to alarm the identified non-raw material storage, so that the event can be handled in time.

[0074] As Figure 2 shown, as a preferred embodiment of the present application, the method further comprises:

[0075] Step S30: acquiring real-time monitoring images within the externally set range;

[0076] Step S31: based on the real-time monitoring images, positioning the taking-out piece, identifying the trajectory change of the taking-out piece from the real-time monitoring images;

[0077] Step S32: when it is identified that the trajectory end of the taking-out piece points to the taking-out port of the raw material storage piece, and the time length of the trajectory end pointing to the taking-out port of the raw material storage piece reaches a second preset time length, it is determined that the trend trajectory of the taking-out piece is detected. When the time length reaches a certain value, it indicates that it is not accidental and a certain distance is passed in the trend process.

[0078] Specifically, when the trajectory change is detected from a plurality of image sequences with time stamps in sequence, the motion change of the taking-out piece can be identified, such as approaching or away from the taking-out port of the raw material storage piece, or bending to approach, gradually approaching, etc., and through the second preset time length, it is indicated that the pointing is not accidental and has purpose, i.e., it is used for taking out materials. In particular, the first trajectory length within the externally set range can be limited, and the first trajectory length can be set by the distance from the taking-out port of the raw material storage piece. For example, when the use time of the first trajectory length reaches the second preset time length, it can be determined that the trend trajectory of the taking-out piece is detected.

[0079] As Figure 3 shown, as a preferred embodiment of the present application, the method further comprises:

[0080] Step S40: acquiring a first time when the trend trajectory is detected; the first time is mainly used to acquire sub-detection information, so as to avoid invalid detection before the first time;

[0081] Step S41: acquiring detection information of the taking-out port of the raw material storage piece, the detection information including sensing information; specifically, a sensor is embedded in the taking-out port of the raw material storage piece, which can detect the crossing of the taking-out piece, for example, detecting foreign matters on the taking-out port of the raw material storage piece through an infrared sensor. After the open taking-out port, the foreign matters are most likely to be the taking-out piece; the sensing information can also be an infrared image measured by an infrared thermal imager, which can directly identify the taking-out piece;

[0082] Step S42: screening sub-detection information after the first time; the sub-detection information corresponds to the sensing information after the first time;

[0083] Step S43: identifying whether the taking material appears in the sub-detection information; according to the foregoing, when the taking material appears in the sub-detection information, it indicates that the foreign matter on the taking material taking opening is detected or the infrared image is the taking material, and the first time point is after the first time point;

[0084] Step S44: if yes, it is determined that the moving track of the taking material coincides with the edge of the first local range once. According to the foregoing, that is, the moving track of the taking material coincides with the edge of the first local range once, and generally, the earliest time point represents the earliest coincidence.

[0085] It should be understood that by acquiring the first time point of the detected trend track, and then screening the sub-detection information after the first time point, the operation amount of identification can be effectively reduced. In addition, by detecting whether the taking material appears in the sub-detection information, a criterion can be provided for the moving track of the taking material to coincide with the edge of the first local range, thereby providing a criterion for whether the taking material contacts the food raw material.

[0086] As shown in Figure 4 , as a preferred embodiment of the present application, the second local range is determined according to the size of the taking material, the distance between the raw material storage and the raw material temporary storage, which includes:

[0087] Step S131: identifying the maximum distance between the raw material storage and the raw material temporary storage; the purpose of determining the maximum distance is to establish a first virtual circle covering both;

[0088] Step S132: determining a virtual line segment where the maximum distance is located; the virtual line segment is equal in length to the maximum distance and coincides with the maximum distance;

[0089] Step S133: constructing a first virtual circle with the midpoint of the virtual line segment as the center and half of the maximum distance as the radius; the first virtual circle is the common circumscribed circle of the raw material storage and the raw material temporary storage, and can cover both;

[0090] Step S134: determining a concentric circle of the first virtual circle with the length of the taking material as the expansion radius, to obtain a second virtual circle; the second virtual circle is a concentric circle of the first virtual circle, and the ring spacing of the annulus formed by the two circles is the length of the taking material; it represents the maximum reasonable allowable range that the taking material can reach based on the movement of the raw material storage and the raw material temporary storage under the limit condition, and exceeding this range is considered unreasonable, that is, there is a motive to lose raw materials;

[0091] Step S135: determining the local range where the second virtual circle is located as the second local range. The above detailed schematic diagram can be referred to in Figure 5 .

[0092] In the application of the embodiment, specifically, the raw material storage part A, the raw material temporary storage part B, the first virtual circle c, the second virtual circle d, and the outer expansion radius x, that is, the length of the taking part G. Since the taking and placing of raw materials are performed around the raw material storage part A and the taking part B, the first virtual circle c is determined, and the movement of the taking part B generally captures more than the first virtual circle c, but in the extreme condition, for example, one end of the taking part G is at the edge of the raw material temporary storage part B and the raw material storage part A, and the other end is limited to the edge of the second virtual circle d, so that the embodiment reasonably guarantees the space for taking and storing raw materials of the taking part G by determining the second local range, can effectively control the illegal out-of-bound of the taking part G, and can limit the identified local range to avoid too large or too small identification range.

[0093] As a preferred embodiment of the present application, the raw material taking section of the taking part is limited to the second local range, which includes:

[0094] Step S1311: judging whether the raw material taking part exceeds the second local range according to the distinguishing feature of the raw material taking section; for example, by acquiring the image of the raw material taking section in the second local range, the raw material taking section is captured to determine whether the raw material taking section exceeds the second local range, and the electronic fence technology can also be used, the second local range is equivalent to an electronic fence, and the raw material taking part is built-in with a positioning chip; through information means, the determined virtual fence is defined, and when the raw material taking part enters or leaves the virtual fence, the background can automatically sense;

[0095] Step S1312: if yes, performing a closing action on the raw material storage part and issuing a second alarm prompt.

[0096] It can be understood that this method is suitable for determining the inclusion relationship between the raw material taking part and the second local range based on positioning or image sensing, and limiting the raw material taking section of the taking part to the second local range. This identification method is more direct and intuitive, and is convenient for image tracing. The so-called closing action is not allowed to enter the raw material storage part to take food raw materials in this case, and handling is required.

[0097] In view of the above embodiment, the present embodiment is a parallel embodiment, and the raw material taking section of the taking part is limited to the second local range, which further includes:

[0098] Step S1421: detecting the release length of the line length of the taking part; on some taking parts, the taking part is connected to the winding device through a traction line, and the traction line and the taking part are fixed in a relatively difficult-to-separate manner, such as welding; the winding device is provided with a reading module for reading the length of the line length retraction (for example, reading the number of winding turns combined with the winding diameter to calculate the length of the line length retraction), which can directly read the length of the line length retraction, that is, the release length of the line length;

[0099] Step S1422: when the release length reaches a first line length, perform a closing action on the raw material storage part and issue a third warning prompt, wherein the first line length is not greater than the maximum distance between the initial storage point of the material taking part and the second local range. When the release length reaches the first line length, it indicates that the material taking part reaches the edge of the second local range from the initial storage point, which is not allowed because the raw material of the material taking part may be released outside the second local range and escape detection;

[0100] In application, the present embodiment can be implemented in parallel with the previous embodiment or alternatively, and thus the greatest advantage of the present embodiment is that when the image of the material taking part cannot be acquired, the raw material taking-out section of the material taking part can also be limited to the second local range, avoiding the material taking part from escaping the second local range. The first warning prompt and the second warning prompt can be issued synchronously on site and in the control center.

[0101] As a preferred embodiment of the present application, the method further comprises:

[0102] Step S50: detecting whether the distance between the raw material taking-out section and the non-raw material taking-out storage part in the second local range reaches a preset distance; the preset distance indicates that there is a possibility of illegal cooperation between the raw material taking-out section and the non-raw material taking-out storage part to transfer raw materials; it includes three scenarios of detecting that the raw material taking-out section is close to the non-raw material taking-out storage part, the non-raw material taking-out storage part is close to the raw material taking-out section, and both are close to each other;

[0103] Alternatively, in the second local range, it is detected whether the raw material taking-out section is flipped relative to the raw material taking-out storage position; this scenario is that the raw material taking-out section deviates from its normal angle, and there may be a raw material taking-out storage position below it, which will also cause the loss of raw materials from the raw material taking-out section; specifically, since the actual size of the raw material taking-out section is known, it is not difficult to calculate or estimate the relative distance between the raw material taking-out section and the non-raw material taking-out storage part, which can be compared and identified from the captured image;

[0104] Step S51: if so, it is determined that suspicious contact occurs between the raw material taking-out section and the non-raw material taking-out storage part; at least including the scenarios summarized in the above four cases, when any of them occurs, it is determined that relative contact occurs. The non-raw material taking-out storage part includes some non-specified storage containers, etc., which do not belong to the raw material storage part.

[0105] It should be understood that, by the above method of determining suspicious contact between the raw material taking-out section and the non-raw material taking-out storage, it is extremely likely that there is a loss of raw material after the raw material is taken out from the raw material storage, which includes partial loss and total loss, so the case of the embodiment can meet the accurate identification of the raw material taking-out process to determine whether the raw material is taken away by the non-raw material taking-out storage, causing loss of raw material.

[0106] As shown in Figure 6 as another preferred embodiment of the present application, in another aspect, a food raw material taking-out identification system, the system comprises:

[0107] The detection module 100 is configured to detect the outside of the first local range where the raw material storage is located according to the raw material taking-out instruction;

[0108] The execution module 200 is configured to execute an opening action on the raw material storage when only the tendency trajectory of the taking-out member for taking and placing raw material is detected within the set range outside the first local range, and the tendency trajectory is used to represent the trajectory of the taking-out member pointing to the raw material storage.

[0109] The condition determination module 300 is configured to determine a second local range according to the size of the taking-out member and the distance between the raw material storage and the raw material temporary storage when it is further detected that the moving trajectory of the taking-out member coincides with the edge of the first local range at least once, and the second local range covers the maximum range of the taking-out member moving at the edge of the raw material storage and the raw material temporary storage.

[0110] The limiting and determining module 400 is configured to limit the raw material taking-out section of the taking-out member to the second local range, and detect whether suspicious contact occurs between the raw material taking-out section and the non-raw material taking-out storage within the second local range.

[0111] The determination module 500 is configured to determine that the raw material taking-out is qualified if it is detected that no suspicious contact occurs, otherwise, it is determined that the raw material taking-out is unqualified.

[0112] Referring to the foregoing embodiment of the specific implementation of the food raw material taking-out identification method, the system and the implementation method of the method are completely corresponding, and will not be described here.

[0113] The food material taking-out identification method provided in the above embodiments of the present application and the food material taking-out identification system based on the food material taking-out identification method can detect the outside of a first local range where the material storage piece is located according to the material taking-out instruction; when only the approaching track of the material taking piece is detected within the set range outside the first local range, the opening action of the material storage piece is performed, the material taking piece is used to take and place the material, and the approaching track is used to represent the track of the material taking piece pointing to the material storage piece; when the moving track of the material taking piece is further detected to coincide with the edge of the first local range at least once, the second local range is determined according to the size of the material taking piece, the distance between the material storage piece and the material temporary storage piece, and the maximum range of the edge activity of the material taking piece between the material storage piece and the material temporary storage piece; the material taking section of the material taking piece is limited to the second local range, and whether suspicious contact occurs between the material taking section and the non-material taking storage piece within the second local range is detected; if no suspicious contact is detected, it is determined that the material taking is qualified, otherwise, it is determined that the material taking is unqualified, the opening and transfer of the material can be completely identified, the "lossless" transfer of the material from the material storage piece to the material temporary storage piece by the material taking piece can be ensured, the loss probability in the material taking process can be reduced, and especially for some valuable materials, the processing and delivery of the material can be ensured.

[0114] In order to enable the above method and system to run smoothly, the system can include more or less components than described above, or combine some components, or different components, for example, it can include input and output devices, network access devices, buses, processors and memories, etc.

[0115] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The above processor is the control center of the system, and is connected with various parts through various interfaces and lines.

[0116] The above memory can be used to store computer and system programs and / or modules, and the above processor realizes the above various functions by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required by at least one function (such as an information collection template display function, a product information publishing function, etc.), and the like. The data storage area can store data created according to the use of the berth state display system (such as product information collection templates corresponding to different product categories, product information to be published by different product providers, etc.), and the like. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0117] It should be understood that, although each step in the flowchart of each embodiment of the present application is displayed in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in each embodiment can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or sub-steps or stages of other steps.

[0118] Each technical feature of the above-described embodiments can be combined arbitrarily, and in order to make the description concise, each technical feature in the above-described embodiments is not described in all possible combinations, however, as long as the combination of these technical features does not exist contradictory, it should be considered as the scope of the present application.

[0119] The above-described embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

[0120] The above merely describes preferred embodiments of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for identifying and removing food ingredients, characterized in that, The method includes: The outer side of the first local area where the raw material storage unit is located is detected according to the raw material retrieval instruction; When only the directional trajectory of the picking component is detected within the external set range of the first local area, the opening action of the raw material storage component is performed. The picking component is used to pick up and put in raw materials, and the directional trajectory is used to indicate that the trajectory of the picking component points to the raw material storage component. When it is further detected that the movement trajectory of the picking component coincides with the edge of the first local area at least once, a second local area is determined based on the size of the picking component and the distance between the raw material storage component and the raw material temporary storage component. The second local area covers the maximum range of movement of the picking component at the edges of the raw material storage component and the raw material temporary storage component. The material extraction section of the material extraction component is confined to a second local area, and it is detected whether any suspicious contact occurs between the material extraction section and a non-material extraction storage component within the second local area. If no suspicious contact is detected, the raw material removal is deemed acceptable; otherwise, the raw material removal is deemed unacceptable. The step of determining the second local area based on the size of the material receiving component and the distance between the material storage component and the material temporary storage component includes: Identify the maximum distance between raw material storage units and raw material temporary storage units; Determine the virtual line segment containing the maximum distance; Construct a first virtual circle with the midpoint of the virtual line segment as the center and half the maximum distance as the radius; Using the length of the material as the outer radius, determine a concentric circle that is concentric with the first virtual circle to obtain the second virtual circle; The local area containing the second virtual circle is defined as the second local area.

2. The food ingredient extraction and identification method according to claim 1, characterized in that, After detecting the area outside the first local area where the raw material storage unit is located according to the raw material retrieval instruction, the method further includes: When a first target object is detected within a set range outside the first local area, an early warning is issued. The first target object is not a raw material storage component. Continue to monitor the duration of the presence of the first target object within the set external range. When the duration of presence reaches the first preset duration, issue the first alarm prompt.

3. The food ingredient extraction and identification method according to claim 1, characterized in that, The method further includes: Acquire real-time monitoring images within a defined external range; Based on the real-time monitoring images, the material to be picked up is located, and the trajectory changes of the material to be picked up are identified from the real-time monitoring images; When the trajectory end of the picking component is detected to point to the picking port of the raw material storage component, and the duration for which the trajectory end points to the picking port of the raw material storage component reaches a second preset duration, it is determined that the directional trajectory of the picking component has been detected.

4. The food ingredient extraction and identification method according to claim 1, characterized in that, The method further includes: Obtain the first moment when the trend trajectory is detected; Obtain detection information from the material inlet of the raw material storage component, wherein the detection information includes sensing information; Filter sub-detection information after the first moment; Identify whether a material to be picked up appears in the sub-detection information; If so, it is determined that the movement trajectory of the material being picked up coincides with the edge of the first local area once.

5. The food ingredient extraction and identification method according to claim 1, characterized in that, The step of limiting the raw material extraction section of the material extraction component to the second local area includes: Determine whether the raw material extraction component exceeds the second local area based on the distinguishing features of the raw material extraction section; If so, perform the shutdown action on the raw material storage device and issue a second alarm.

6. The food ingredient extraction and identification method according to claim 5, characterized in that, The method of limiting the raw material extraction section of the material receiving component to the second local area further includes: Release length of the detection line length of the material being picked up; When the release length reaches the first line length, a closing action is performed on the raw material storage device and a third alarm is issued, wherein the first line length is not greater than the maximum distance between the initial storage point of the material picker and the second local range.

7. The food ingredient extraction and identification method according to claim 1, characterized in that, The method further includes: Detect whether the distance between the raw material extraction section and the non-raw material extraction storage component within the second local area is lower than a preset distance; If so, it is determined that there is suspicious contact between the raw material extraction section and the non-raw material extraction storage component.

8. The food ingredient extraction and identification method according to claim 7, characterized in that, The method further includes: Within the second local area, it is detected whether the raw material extraction section is flipped relative to the raw material extraction and storage position; If so, it is determined that there has been suspicious contact between the raw material extraction section and the non-raw material extraction storage section.

9. A food ingredient removal and identification system, characterized in that, The system includes: The detection module is used to detect the area outside the first local area where the raw material storage unit is located, according to the raw material retrieval instruction; The execution module is used to perform an opening action on the raw material storage device when only the directional trajectory of the picking component is detected within a set range outside the first local area. The picking component is used to pick up and put down raw materials, and the directional trajectory is used to indicate that the trajectory of the picking component points to the raw material storage device. The condition determination module is used to determine a second local range based on the size of the picking component, the distance between the raw material storage component and the raw material temporary storage component when the movement trajectory of the picking component is further detected to coincide with the edge of the first local range at least once. The second local range covers the maximum range of movement of the picking component at the edge of the raw material storage component and the raw material temporary storage component. The limiting and determining module is used to limit the raw material taking section of the material taking member to a second local area and detect whether there is any suspicious contact between the raw material taking section and the non-raw material taking storage member within the second local area; The judgment module is used to determine that the raw material extraction is qualified if no suspicious contact is detected, otherwise it is determined that the raw material extraction is unqualified. The step of determining the second local area based on the size of the material receiving component and the distance between the material storage component and the material temporary storage component includes: Identify the maximum distance between raw material storage units and raw material temporary storage units; Determine the virtual line segment containing the maximum distance; Construct a first virtual circle with the midpoint of the virtual line segment as the center and half the maximum distance as the radius; Using the length of the material as the outer radius, determine a concentric circle that is concentric with the first virtual circle to obtain the second virtual circle; The local area containing the second virtual circle is defined as the second local area.

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