Adaptive reshaping method and system for optimizing 3D imaging performance of irregular raw meat

Abstract

The application relates to the technical field of intelligent food processing, and provides a self-adaptive shaping method and system for optimizing 3D imaging performance of irregular raw meat, which is applied to a server and comprises the following steps: in response to a raw meat cutting signal, obtaining meat product multi-dimensional information of the raw meat based on a raw meat multi-dimensional information sensing unit; based on the meat product multi-dimensional information, adjusting the relative position of the raw meat in a transportation direction by a raw meat adjusting unit; and based on the meat product multi-dimensional information, shaping the external form of the raw meat with adjusted relative position by a raw meat shaping unit. The application realizes automatic self-adaptive shaping of raw meat in different states to optimize the 3D imaging performance of irregular raw meat by combining mechatronics technology.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent food processing, and in particular to a self-adaptive shaping method and system for optimizing 3D imaging performance of irregular raw meat. BACKGROUND

[0002] In the field of food processing, especially in the meat processing industry, accurately measuring the shape and volume of raw meat is crucial for determining cutting methods, assessing product quality and reducing losses, and maximizing the output of finished products. Traditional measurement techniques, such as two-dimensional image analysis and manual measurement, often fail to accurately capture the irregular shape of raw meat, resulting in inaccurate data, low efficiency, and difficulty in achieving automated processing.

[0003] To overcome these limitations, 3D imaging technology has been applied in the field of meat processing. In related technologies, such as three-dimensional laser scanning, although a non-contact and non-destructive measurement method is provided, there are still some deficiencies when dealing with irregularly shaped raw meat. For example, the scanning device may not be able to fully capture the obscured parts, resulting in inaccurate calculation of the volume of the raw meat. In addition, the state of different raw meat (such as chilled and frozen state) will also affect the accuracy of imaging due to the difference in protein, lipid and water content, which in turn affects the precise cutting effect. These factors limit the effectiveness of existing 3D imaging systems in the practical application of intelligent and precise quantitative cutting of raw meat, especially when dealing with irregular samples such as boneless poultry meat. SUMMARY

[0004] The present application provides a self-adaptive shaping method and system for optimizing the 3D imaging performance of irregular raw meat, to solve the defect that the existing 3D imaging system is limited in the practical application of intelligent and precise quantitative cutting of raw meat.

[0005] According to the self-adaptive shaping method for optimizing the 3D imaging performance of irregular raw meat provided by the first aspect of the present application, applied to a server, comprising: a raw meat multi-dimensional information perception unit, a raw meat adjustment unit and a raw meat shaping unit connected in sequence;

[0006] The method comprises:

[0007] In response to a raw meat cutting signal, the raw meat multi-dimensional information perception unit obtains meat multi-dimensional information of the raw meat, which at least includes any one or a combination of several of the following: weight, position, shape contour, type, fat-to-lean ratio, moisture content, texture, viscoelasticity and texture distribution of the raw meat;

[0008] Based on the meat multi-dimensional information, the raw meat adjustment unit adjusts the relative position of the raw meat in the transportation direction;

[0009] The raw meat shaping unit shapes the external form of the raw meat with the adjusted relative position based on the multi-dimensional information of the meat product.

[0010] According to an embodiment of the present application, the raw meat adjusting unit adjusts the relative position of the raw meat in the transportation direction based on the multi-dimensional information of the meat product, specifically including:

[0011] Based on the multi-dimensional information of the meat product, it is determined that the raw meat belongs to a first type of meat product, the first muscle fiber direction of the raw meat is obtained, and the first muscle fiber direction is adjusted to be parallel to the transportation direction of the raw meat, wherein the texture distribution of the first type of meat product is greater than or equal to a preset texture threshold.

[0012] Based on the multi-dimensional information of the meat product, it is determined that the raw meat belongs to a second type of meat product, the second muscle fiber direction of the raw meat is obtained, and the second muscle fiber direction is adjusted to be perpendicular to the transportation direction of the raw meat, wherein the texture distribution of the second type of meat product is less than a preset texture threshold.

[0013] Specifically, the embodiment provides an embodiment of adjusting the relative position of the raw meat in the transportation direction.

[0014] According to an embodiment of the present application, the raw meat shaping unit shapes the external form of the raw meat with the adjusted relative position based on the multi-dimensional information of the meat product, specifically including:

[0015] Based on the multi-dimensional information of the meat product, a raw meat physical property model of the raw meat is constructed;

[0016] Based on the raw meat physical property model, the external form of the raw meat is shaped.

[0017] Specifically, the embodiment provides an embodiment of shaping the external form of the raw meat with the adjusted relative position.

[0018] According to an embodiment of the present application, the external form of the raw meat is shaped based on the raw meat physical property model, specifically including:

[0019] Based on the raw meat physical property model, the viscoelasticity, surface friction coefficient and external shape contour of the raw meat are determined;

[0020] Based on the viscoelasticity and surface friction coefficient of the raw meat, the shaping pressure of the raw meat is determined;

[0021] Based on the external shape contour of the raw meat, the shaping angle of the raw meat is determined;

[0022] In a case where the conveying speed of the raw meat is within a variation threshold range, the raw meat is shaped based on the shaping pressure and the shaping angle.

[0023] Specifically, the embodiment provides an implementation of shaping the external morphology of the raw meat based on the raw meat physical property model.

[0024] According to an embodiment of the present application, the shaping of the raw meat based on the shaping pressure and the shaping angle in a case where the conveying speed of the raw meat is within a variation threshold range specifically comprises:

[0025] The real-time force information, weight and shaping angle of the raw meat during shaping are acquired, the real-time force information at least including a force parameter of the raw meat during shaping and a friction parameter of the raw meat during conveying and shaping, and the shaping angle being an angle between a shaping clamp and a conveying plane;

[0026] Based on the real-time force information, weight and shaping angle, a conveying speed variation feature of the raw meat is determined;

[0027] In a case where the conveying speed of the raw meat represented by the conveying speed variation feature is within the variation threshold range, the raw meat is continuously shaped based on the shaping pressure and the shaping angle.

[0028] Specifically, the embodiment provides an implementation of shaping the raw meat based on the shaping pressure and the shaping angle.

[0029] According to an embodiment of the present application, the shaping of the raw meat based on the shaping pressure and the shaping angle in a case where the conveying speed of the raw meat is within a variation threshold range specifically comprises:

[0030] Based on the viscoelasticity of the raw meat, the shaping pressure and the shaping angle, a rebound threshold of the raw meat is determined;

[0031] The external morphology variation feature of the raw meat after first shaping by the raw meat shaping part is acquired;

[0032] Based on the external morphology variation feature and the rebound threshold, a secondary shaping pressure and a secondary shaping angle of the raw meat shaping part for second shaping of the raw meat are determined, and the raw meat is shaped based on the secondary shaping pressure and the secondary shaping angle.

[0033] Specifically, the embodiment provides an implementation of shaping the raw meat based on the shaping pressure and the shaping angle.

[0034] According to an embodiment of the present application, after the shaping of the raw meat based on the shaping pressure and the shaping angle, specifically comprising:

[0035] Obtaining the meat characteristic parameters of the shaped raw meat and the cut form of the raw meat, the meat characteristic parameters at least including any one or combination of several of the weight parameters, the profile parameters, the profile boundary tangent angle, the meat viscoelasticity, the texture direction, the color value, the fat and lean ratio and the texture of the shaped raw meat;

[0036] Generating the cut path planning model based on the meat characteristic parameters and the cut form.

[0037] Specifically, the present embodiment provides an embodiment after the shaping of the raw meat based on the shaping pressure and the shaping angle.

[0038] According to an embodiment of the present application, generating the cut path planning model based on the meat characteristic parameters and the cut form, specifically comprising:

[0039] In the case that the cut form of the raw meat is equal-thickness slicing, obtaining the preset cut thickness of the raw meat, the constant-thickness slicing path of the raw meat in the profile length direction, the conveying speed of the raw meat and the constant-thickness cutting time interval of adjacent two pieces of meat;

[0040] Generating the cut path planning model based on the preset cut thickness, the constant-thickness slicing path, the conveying speed and the constant-thickness cutting time interval;

[0041] Wherein, in the case that the cut quantity n determined by the preset cut thickness and the profile length is a non-integer, and the non-integer part is greater than or equal to a preset slice base, the preset cut thickness is updated according to n+1 cut quantities and the profile length;

[0042] In the case that the cut quantity n determined by the preset cut thickness and the profile length is a non-integer, and the non-integer part is less than a preset slice base, the preset cut thickness is updated according to n-1 cut quantities and the profile length.

[0043] Specifically, the present embodiment provides an embodiment of the cut form being equal-thickness slicing.

[0044] According to an embodiment of the present application, generating the cut path planning model based on the meat characteristic parameters and the cut form, specifically comprising:

[0045] In the case that the cut form of the raw meat is a quantitative slice, a preset cut weight of the raw meat, a first slice weight cut thickness, a weight parameter of the raw meat, a weight cut slice path of the raw meat in a contour length direction, a conveying speed of the raw meat, and a weight cut time interval of adjacent two meat slices are obtained.

[0046] Based on the preset cut weight, the first slice weight cut thickness, the weight parameter, the weight cut slice path, the conveying speed, and the weight cut time interval, the cut path planning model is generated.

[0047] In the case that the cut quantity m determined by the preset cut weight and the weight parameter is a non-integer, and the non-integer part is greater than or equal to a preset slice base, the preset cut weight is updated according to m+1 cut quantities and the contour length.

[0048] In the case that the cut quantity m determined by the preset cut weight and the contour length is a non-integer, and the non-integer part is less than a preset slice base, the preset cut weight is updated according to m-1 cut quantities and the contour length.

[0049] Specifically, the embodiment provides an implementation in which the cut form is a quantitative slice.

[0050] According to the second aspect of the present application, an adaptive shaping system for optimizing 3D imaging performance of irregular raw meat is provided.

[0051] The above one or more technical solutions in the present application have at least one of the following technical effects: The adaptive shaping method and system for optimizing 3D imaging performance of irregular raw meat provided by the present application realize automatic adaptive shaping of raw meat in different states to optimize 3D imaging performance of irregular raw meat by combining mechatronics technology, which is of great significance for realizing precise quantitative cutting of raw meat and promoting intelligentization and industrial upgrading of meat processing technology.

[0052] Further, the present application combines food processing, artificial intelligence algorithms, and chef knife skills in the cooking process of Chinese dishes to obtain multi-dimensional information of raw meat and develop adaptive shaping of the external morphology of raw meat, thereby providing technical support for precise, quantitative, and high-precision cutting of raw meat into slices, strips, and cubes, effectively reducing the loss in the initial processing link of meat, and providing an intelligent solution for quality improvement and efficiency increase in industrialized processing of dishes and the formation of new productivity. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to make the technical solutions in the present application or prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0054] Figure 1 is one of the arrangement relationship schematic diagrams of the raw meat machine humanoid slitting equipment based on multi-dimensional information perception provided by the present application.

[0055] Figure 2 is the arrangement relationship schematic diagram of the raw meat multi-dimensional information perception part provided by the present application.

[0056] Figure 3 is one of the arrangement relationship schematic diagrams of the raw meat shaping part provided by the present application.

[0057] Figure 4 is the arrangement relationship schematic diagram of the raw meat shaping part provided by the present application.

[0058] Figure 5 is the arrangement relationship schematic diagram of the raw meat shaping part provided by the present application.

[0059] Figure 6 is one of the arrangement relationship schematic diagrams of the shaping assembly in the raw meat shaping part provided by the present application.

[0060] Figure 7 is the arrangement relationship schematic diagram of the shaping assembly in the raw meat shaping part provided by the present application.

[0061] Figure 8 is the arrangement relationship schematic diagram of the shaping assembly in the raw meat shaping part provided by the present application.

[0062] Figure 9 is one of the arrangement relationship schematic diagrams of the meat product processing part provided by the present application.

[0063] Figure 10 is one of the arrangement relationship schematic diagrams of the slicing and slitting mechanism in the meat product processing part provided by the present application.

[0064] Figure 11 is the optimized slicing knife wheel contour design schematic diagram provided by the present application.

[0065] Figure 12 is the arrangement relationship schematic diagram of the slitting transmission belt and the telescopic mechanism in the meat product processing part provided by the present application.

[0066] Figure 13 is the arrangement relationship schematic diagram of the meat product processing part provided by the present application.

[0067] Figure 14 Figure 2 is a schematic diagram of the arrangement of the strip-cutting and dicing mechanism in the meat processing part according to the present application.

[0068] Figure 15 Figure 3 is a schematic diagram of the arrangement of the strip-cutting and dicing mechanism in the meat processing part according to the present application.

[0069] Figure 16 Figure 4 is a schematic diagram of the arrangement of the strip-cutting and dicing mechanism in the meat processing part according to the present application.

[0070] Figure 17 Figure 5 is a schematic diagram of the arrangement of the strip-cutting and dicing mechanism in the meat processing part according to the present application.

[0071] Figure 18 Figure 6 is a schematic diagram of the arrangement of the strip-cutting and dicing mechanism in the meat processing part according to the present application.

[0072] Figure 19 Figure 7 is a schematic diagram of the arrangement of the strip-cutting and dicing mechanism in the meat processing part according to the present application.

[0073] Figure 20 Figure 8 is a schematic diagram of the arrangement of the strip-cutting and dicing mechanism in the meat processing part according to the present application.

[0074] Figure 21 Figure 9 is a schematic diagram of the arrangement of the meat packaging part according to the present application.

[0075] Figure 22 Figure 10 is a schematic diagram of the arrangement of the meat packaging part according to the present application.

[0076] Figure 23 Figure 11 is a schematic diagram of the angle adjustment of the beef and mutton conveying according to the present application.

[0077] Figure 24 Figure 12 is a schematic diagram of the angle adjustment of the pork and chicken conveying according to the present application.

[0078] Figure 25 Figure 13 is a schematic diagram of the execution of the slicing knife according to the present application.

[0079] Figure 26 Figure 14 is a schematic diagram of the execution of the slicing knife according to the present application.

[0080] Figure 27 Figure 15 is a schematic diagram of the execution of the slicing knife according to the present application.

[0081] Figure 28 Figure 16 is a schematic diagram of the execution of the slicing knife according to the present application.

[0082] Figure 29 is one of the raw meat oblique path planning slicing knife execution schematic provided by the application.

[0083] Figure 30 is the second raw meat oblique path planning slicing knife execution schematic provided by the application.

[0084] Figure 31 is one of the raw meat cutting path execution schematic provided by the application.

[0085] Figure 32 is the second raw meat cutting path execution schematic provided by the application.

[0086] Figure 33 is the second raw meat machine simulation equipment arrangement relationship schematic based on multi-dimensional information perception provided by the application.

[0087] Figure 34 is the flowchart of the adaptive shaping method for optimizing the irregular raw meat 3D imaging performance provided by the application.

[0088] Reference signs:

[0089] 100, raw meat multi-dimensional information perception part; 110, weighing belt; 120, first photoelectric sensor; 130, ultrasonic detector; 140, first laser scanner; 150, imaging spectrometer;

[0090] 200, raw meat adjusting part;

[0091] 300, raw meat shaping part; 310, shaping support frame; 320, bottom support plate; 330, pre-adjustment transmission belt; 340, shaping mechanism; 341, shaping fixed support; 342, driving assembly; 3421, vertical displacement module; 3422, horizontal displacement module; 343, shaping assembly; 3431, mounting support; 3432, shaping motor; 3433, transmission gear; 3434, shaping gear connecting rod; 3435, shaping module; 34351, roller support; 34352, roller pressing plate; 34353, shaping electric push rod; 34354, roller adjusting push rod; 34355, angle sensing module; 34356, force sensing module; 3436, double-shaft electric push rod; 350, angle adjusting mechanism; 360, second laser scanner; 370, second photoelectric sensor; 380, third photoelectric sensor;

[0092] 400, meat processing part; 410, cutting transmission belt; 411, adjustable inclined transmission belt; 420, slice cutting mechanism; 421, rotary gear mounting frame; 422, cutter fixing disc; 423, slice cutter; 424, cutter driving motor; 425, angle adjusting gear; 426, rotating shaft; 427, angle adjusting motor; 430, strip and dice cutting mechanism; 431, cutting fixing support; 432, pressure stabilizing assembly; 4321, transverse screw rod; 4322, screw rod motor; 4323, transverse screw pair; 4324, electric cylinder; 4325, pressure roller frame; 4326, pressure roller; 433, strip cutting assembly; 4331, longitudinal optical shaft; 4332, lifting pair; 4333, connecting rod; 4334, fixed rack; 4335, rolling gear; 4336, turnover disc; 4337, guide column; 4338, chopping cutter; 434, dice cutting assembly; 4341, mounting plate; 4342, hobbing cutter seat; 4343, hobbing cutter body; 4344, dice cutting driving motor; 4345, electric sliding table; 4346, guide plate; 4347, guide groove; 4348, roller; 4349, dice cutting longitudinal driving module; 435, power assembly; 4351, hobbing cutting driving motor; 4352, hobbing cutter shaft; 4353, rotating disc; 4354, dice cutting electric push rod; 440, fourth photoelectric sensor; 450, telescopic mechanism;

[0093] 500, meat packaging part; 510, right-angle transfer mechanism; 520, slice ration packaging mechanism; 530, strip and dice ration packaging mechanism;

[0094] 600, raw meat. DETAILED DESCRIPTION

[0095] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the drawings in the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0096] The present application will be described in detail below in combination with specific embodiments.

[0097] In some specific embodiments of the present application, as shown in Figures 1 to 34 The present application provides an adaptive shaping method for optimizing the 3D imaging performance of irregular raw meat, applied to a server, comprising: a raw meat multi-dimensional information sensing part 100, a raw meat adjusting part 200, and a raw meat shaping part 300 connected in sequence.

[0098] The method comprises:

[0099] In response to the raw meat 600 cutting signal, the raw meat multi-dimensional information sensing unit 100 obtains meat multi-dimensional information of the raw meat 600, and the meat multi-dimensional information at least includes any one or a combination of several of the following: weight, position, external contour, type, fat and lean ratio, moisture content, texture, viscoelasticity, and texture distribution of the raw meat 600;

[0100] Based on the meat multi-dimensional information, the raw meat adjusting unit 200 adjusts the relative position of the raw meat 600 in the transportation direction;

[0101] Based on the meat multi-dimensional information, the raw meat shaping unit 300 shapes the external form of the raw meat 600 after adjusting the relative position.

[0102] It should be noted that the present application is based on the knife work experience of the chef in the cooking process of Chinese dishes, and comprehensively uses raw meat 600 information intelligent recognition, multi-modal digital representation, artificial intelligence algorithm, mechatronics, etc. to complete the intelligent recognition, accurate positioning and adaptive shaping of the multi-dimensional information of the raw meat 600 such as weight, texture, color, viscoelasticity, contour size, etc. Breakthrough cutting path planning algorithm, build a human-simulated cutting path planning model that simulates the chef's knife work, establish a machine-simulated cutting action instruction set for slicing, striping, and dicing, and provide technical support for realizing accurate, quantitative, and high-precision cutting of raw meat 600 slices, filaments, and cubes. Effectively reduce the loss of the initial processing link of meat.

[0103] In some possible embodiments of the present application, based on the meat multi-dimensional information, the raw meat adjusting unit 200 adjusts the relative position of the raw meat 600 in the transportation direction, specifically including:

[0104] Based on the meat multi-dimensional information, it is determined that the raw meat 600 belongs to the first type of meat, the first muscle fiber direction of the raw meat 600 is obtained, and the first muscle fiber direction is adjusted to be parallel to the transportation direction of the raw meat 600, wherein the texture distribution of the first type of meat is greater than or equal to a preset texture threshold;

[0105] Based on the meat multi-dimensional information, it is determined that the raw meat 600 belongs to the second type of meat, the second muscle fiber direction of the raw meat 600 is obtained, and the second muscle fiber direction is adjusted to be perpendicular to the transportation direction of the raw meat 600, wherein the texture distribution of the second type of meat is less than a preset texture threshold.

[0106] Specifically, the present embodiment provides an embodiment of adjusting the relative position of the raw meat 600 in the transportation direction, which classifies the type of the raw meat 600, and then adjusts the direction of the raw meat 600 according to different meat, which is more in line with cooking habits.

[0107] In a possible embodiment, the first type of meat product is raw meat 600 with a coarser texture, such as beef or mutton, and the second type of meat product is raw meat 600 with a tender texture, such as pork or chicken.

[0108] In possible embodiments, such as Figure 23 As shown, when the raw meat 600 to be cut is beef, mutton, or other meats with coarser texture, that is, the raw meat 600 belongs to the first category of meat, when slicing, Chinese chefs will place the raw meat 600 so that the knife is perpendicular to the texture of the meat at 90° and cut with the knife against the grain; when cutting into strips or cubes, the cut meat slices will be stacked neatly, the knife will be placed parallel to the texture of the meat slices, and the slices will be cut along the grain.

[0109] The specific implementation process is as follows: Distribution of muscle fibers in 600g of raw meat and adjustment direction, as follows: Figure 23 As shown, the direction of the muscle fibers is at an angle α to the direction of transport. The adjustment angle of the platform for the raw meat 600 is then set to α, so that the direction of the muscle fibers is parallel to the direction of transport. This ensures that the slices are cut perpendicular to the grain during slicing. It also ensures that after the slices are flipped over, the neatly stacked meat slices can be cut into strips by the chopping blade 4339 parallel to the muscle fibers, and the rolling blade group can be cut into chunks and cubes parallel to the muscle fibers, in accordance with the knife skills used in Chinese cooking for cutting beef and mutton.

[0110] In possible embodiments, such as Figure 24 As shown, when the raw meat 600 to be cut is tender meat such as pork or chicken, that is, the raw meat 600 belongs to the second category of meat, when slicing, Chinese chefs will place the raw meat 600 so that the knife is parallel to the grain of the meat and make a vertical or oblique cut; when cutting into strips, the cut meat slices will be stacked neatly, the knife will be placed parallel to the grain of the meat slices and cut along the grain; when cutting into cubes, the knife will be rotated 90° to cut perpendicular to the fibers.

[0111] The specific implementation process is as follows: Distribution of muscle fibers in 600g of raw meat and adjustment direction, as follows: Figure 21 As shown, the angle is adjusted to 90°-α so that the direction of the muscle fibers is perpendicular to the conveying direction. This ensures that the slicing operation is carried out along the grain, i.e., a straight cut or a diagonal cut. At the same time, it ensures that after the subsequent slicing operation is completed and the slices are flipped over, the neatly stacked meat slices can be cut into strips by the chopping blade 4339 along the muscle fibers, and the rolling cutter group can be cut into chunks or cubes perpendicular to the muscle fibers, in accordance with the knife skills used for cutting pork and chicken in Chinese cooking.

[0112] In some possible embodiments of the present invention, based on multidimensional information about the meat, the raw meat shaping unit 300 shapes the external morphology of the raw meat 600 after its relative position has been adjusted, specifically including:

[0113] Based on multidimensional information about meat products, a physical property model of raw meat 600 is constructed.

[0114] Based on the raw meat 600 physical model, the external shape of the raw meat 600 is shaped.

[0115] Specifically, the embodiment provides an implementation of shaping the external shape of the raw meat 600 after adjusting the relative position, and data support is provided for the external shape adjustment of the raw meat 600 by constructing a raw meat 600 physical model of the raw meat 600 based on multi-dimensional information of the meat product.

[0116] In some possible embodiments of the present application, the external shape of the raw meat 600 is shaped based on the raw meat 600 physical model, and specifically includes:

[0117] Based on the raw meat 600 physical model, the viscoelasticity, surface friction coefficient and external shape contour of the raw meat 600 are determined;

[0118] Based on the viscoelasticity and surface friction coefficient of the raw meat 600, the shaping pressure of the raw meat 600 is determined;

[0119] Based on the external shape contour of the raw meat 600, the shaping angle of the raw meat 600 is determined;

[0120] In the case that the conveying speed of the raw meat 600 is within a change threshold range, the raw meat 600 is shaped based on the shaping pressure and the shaping angle.

[0121] Specifically, the embodiment provides an implementation of shaping the external shape of the raw meat 600 based on the raw meat 600 physical model, and according to the viscoelasticity and surface friction coefficient of the raw meat 600, the shaping pressure required by the raw meat 600 in the shaping process can be determined, and according to the external shape contour of the raw meat 600, the shaping angle of the raw meat 600 is determined.

[0122] Further, in the process of shaping the raw meat 600, the conveying speed of the raw meat 600 is acquired in real time, so as to avoid the decrease of the conveying speed of the raw meat 600 caused by shaping, and thus affect the subsequent process of the raw meat 600.

[0123] In some possible embodiments of the present application, in the case that the conveying speed of the raw meat 600 is within a change threshold range, the raw meat 600 is shaped based on the shaping pressure and the shaping angle, and specifically includes:

[0124] The real-time force information, weight and shaping angle of the raw meat 600 in the shaping process are acquired, the real-time force information at least includes force parameters of the raw meat 600 in the shaping process, and friction parameters of the raw meat 600 in the conveying and shaping process, and the shaping angle is the angle between the shaping clamp and the conveying plane;

[0125] Determine the conveying speed variation feature of the raw meat 600 based on the real-time force information, weight and shaping angle;

[0126] In the case that the conveying speed of the raw meat 600 represented by the conveying speed variation feature is within the variation threshold range, continuously shape the raw meat 600 based on the shaping pressure and shaping angle.

[0127] Specifically, the embodiment provides an implementation of shaping the raw meat 600 based on the shaping pressure and shaping angle, determines the conveying speed variation feature of the raw meat 600 in the shaping process by acquiring the real-time force information, weight and shaping angle of the raw meat 600 in the shaping process, and compares the conveying speed variation feature with the variation threshold range, and then determines the shaping pressure and shaping angle for shaping the raw meat 600.

[0128] In some possible embodiments of the present application, in the case that the conveying speed of the raw meat 600 is within the variation threshold range, the raw meat 600 is shaped based on the shaping pressure and shaping angle, specifically including:

[0129] Determine the rebound threshold of the raw meat 600 based on the viscoelasticity, shaping pressure and shaping angle of the raw meat 600;

[0130] Acquire the external appearance change feature of the raw meat 600 after the first shaping by the raw meat shaping part 300;

[0131] Determine the secondary shaping pressure and secondary shaping angle of the raw meat 600 for the second shaping by the raw meat shaping part 300 based on the external appearance change feature and rebound threshold, and shape the raw meat 600 based on the secondary shaping pressure and secondary shaping angle.

[0132] Specifically, the embodiment provides an implementation of shaping the raw meat 600 based on the shaping pressure and shaping angle, acquires the viscoelasticity, shaping pressure and shaping angle of the raw meat 600, and then determines the rebound threshold of the raw meat 600, and finally acquires the external appearance change feature of the raw meat 600 after the first shaping, i.e., pre-shaping, and determines the secondary shaping pressure and secondary shaping angle of the raw meat 600 in the second shaping process based on the external appearance change feature and rebound threshold.

[0133] In some possible embodiments of the present application, after shaping the raw meat 600 based on the shaping pressure and shaping angle, specifically including:

[0134] obtain the meat characteristic parameters of the reshaped raw meat 600 and the cut form of the raw meat 600, and the meat characteristic parameters at least include any one or combination of the weight parameters, profile parameters, profile boundary tangent angle, meat viscoelasticity, texture direction, color value, fat and lean ratio, and texture of the reshaped raw meat 600;

[0135] Based on the meat characteristic parameters and the cut form, a cut path planning model is generated.

[0136] Specifically, the embodiment provides an implementation of reshaping the raw meat 600 based on the shaping pressure and the shaping angle, and by obtaining the cut form and the meat characteristic parameters of the reshaped raw meat 600, a cut path planning model capable of meeting different cooking requirements or cut mode information is generated.

[0137] In some possible embodiments of the present application, based on the meat characteristic parameters and the cut form, a cut path planning model is generated, specifically including:

[0138] In the case that the cut form of the raw meat 600 is equal-thickness slicing, the preset cut thickness of the raw meat 600, the constant-thickness slicing path of the raw meat 600 in the profile length direction, the conveying speed of the raw meat 600, and the constant-thickness cutting time interval of adjacent two meat slices are obtained.

[0139] Based on the preset cut thickness, the constant-thickness slicing path, the conveying speed, and the constant-thickness cutting time interval, a cut path planning model is generated.

[0140] Wherein, when the cut quantity n determined by the preset cut thickness and the profile length is a non-integer, and the non-integer part is greater than or equal to the preset slice base, the preset cut thickness is updated according to n+1 cut quantities and the profile length.

[0141] When the cut quantity n determined by the preset cut thickness and the profile length is a non-integer, and the non-integer part is less than the preset slice base, the preset cut thickness is updated according to n-1 cut quantities and the profile length.

[0142] Specifically, the embodiment provides an implementation of the cut form being equal-thickness slicing, as shown in Figure 25 and Figure 26 When the parameters to be cut are equal-thickness slicing, such as thickness d, the slicing path X1, X2, X3……Xn perpendicular to the muscle fiber direction is designed in the raw meat profile length L direction. n At this time, n is L / d (n is a positive number), and this path feature point is the specific position of the subsequent slicing knife, and the preset adjustment conveying belt speed is V 传输带 Then, the cut time interval t of the slicing knife is equal-thickness cutting interval d / V 传输带Let t be the time it takes for the slicing blade to make one cut. When the distance between the laser scanner and the slicing blade is S, the slices to be made are from X1, X2, X3...X... n When there are a total of n pieces of meat of equal thickness, the response time sequence of the slicing knife is as follows: When the outline length of the raw meat is L and the thickness of the selected meat slice is d, n is not necessarily an integer.

[0143] In one application scenario, if mod(L,d)≥5, the value of d is appropriately reduced. At this time, the value of n gradually increases and can be rounded to n+1, that is, the raw meat is cut into n+1 slices of equal thickness.

[0144] In one application scenario, if mod(L,d) < 5, the value of d should be increased appropriately. At this time, the value of n will gradually decrease and can be rounded to n-1, that is, the raw meat is cut into n-1 pieces of equal thickness.

[0145] Based on the texture of the meat slices, if it is necessary to perform a bevel cut of equal thickness on the meat slices, the bevel cutting angle of the slicing blade can be adjusted to achieve a bevel cut of equal thickness on the meat slices under the same path planning model.

[0146] In some possible embodiments of the present invention, a cutting path planning model is generated based on meat characteristic parameters and cutting methods, specifically including:

[0147] When the raw meat 600 is cut into quantitative slices, the preset cutting weight of the raw meat 600, the thickness of the first slice cut into quantitative slices, the weight parameters of the raw meat 600, the quantitative slicing path of the raw meat 600 in the contour length direction, the conveying speed of the raw meat 600, and the quantitative slicing time interval between two adjacent slices are obtained.

[0148] Based on the preset slitting weight, the first piece fixed-weight slitting thickness, weight parameters, fixed-weight slitting path, conveying speed and fixed-weight slitting time interval, a slitting path planning model is generated.

[0149] Among them, the number of cuts m determined by the preset cut weight and weight parameters is a non-integer, and the non-integer part is greater than or equal to the preset slice base number. The preset cut weight is updated according to the m+1 cut quantities and the outline length.

[0150] If the number of cuts m, determined by the preset cut weight and contour length, is a non-integer and the non-integer part is less than the preset slice base, the preset cut weight is updated based on the m-1 cut quantities and contour length.

[0151] Specifically, this embodiment provides an implementation method in which the slicing form is quantitative slicing, such as... Figure 27 and Figure 28As shown, when the cutting parameter needs to be a quantitative slice, such as the weight of each piece of meat being p, if the overall weight of the raw meat is M, in order to ensure the quantification of each piece of meat, the quantitative slice path X1, X2, X3...X m At this time, m is M / p (m is a positive number), X1 represents the thickness l1 of the first piece of meat when cutting the first piece of meat, which is also the position of the first piece of meat quantitative cutting feature point, and the pre-adjusted transmission belt speed V 传输带 Under the condition, l1 / V 传输带 represents the time interval between the initial position and the first piece of meat corresponding to the cutting feature point, and the cutting time of the cutting knife 423 is t, when the distance between the two laser scanners and the cutting knife 423 is S, the response time of the cutting knife 423 is (S+l1) / V 传输带 -t 分切时间 Similarly, X2, X3...X m corresponding meat thicknesses are l2, l3...l m , and the response times of the cutting knife 423 are {(S+l1+l2) / V 传输带 -t 分切时间 , (S+l1+l2+l3) / V 传输带 -t 分切时间 ... (S+l1+l2+l3+....l m ) / V 传输带 -t 分切时间} respectively. In actual cutting, due to the irregularity of meat, m is not necessarily an integer.

[0152] In one application scenario, if mod(M, p) is greater than or equal to 5, the value of p is appropriately reduced, at this time, the value of m gradually increases and can be rounded to m+1, that is, the raw meat is cut into m+1 pieces of equal weight meat.

[0153] In one application scenario, if mod(M, p) is less than 5, the value of p is appropriately increased, at this time, the value of m gradually decreases and can be rounded to m-1, that is, the raw meat is cut into m-1 pieces of quantitative meat.

[0154] According to the texture of the meat slice, if it is necessary to complete the quantitative oblique cutting of the meat slice, by adjusting the oblique cutting angle of the cutting knife 423, the quantitative oblique cutting of the meat slice can be realized under the same path planning.

[0155] In some possible embodiments of the present application, based on the characteristic parameters of meat and the cutting form, a cutting path planning model is generated, which specifically includes:

[0156] In the case of the cut form of the raw meat 600 being strips, the parameters of the width of the shaped raw meat 600, the length of the strip, the width of the strip, the thickness of the strip, the frequency of the chopping of the strip, and the cutting path of the strip are obtained;

[0157] Based on the width of the shaped raw meat 600, the length parameter of the strip, the width parameter of the strip, the thickness parameter of the strip, the chopping frequency of the strip, and the cutting path of the strip, a cutting path planning model is generated;

[0158] Wherein, in the case that the cutting number k determined by the width parameter of the strip and the width of the shaped raw meat 600 is a non-integer and the non-integer part is greater than or equal to the preset slicing base, the width parameter of the strip is updated according to the k+1 cutting number and the width of the shaped raw meat 600;

[0159] In the case that the cutting number k determined by the width parameter of the strip and the width of the shaped raw meat 600 is a non-integer and the non-integer part is less than the preset slicing base, the width parameter of the strip is updated according to the k-1 cutting number and the width of the shaped raw meat 600.

[0160] Specifically, the embodiment provides an implementation in which the cut form is a strip, as shown in Figure 29 and Figure 30 When the required cutting parameter is a strip, as the length, width, and thickness of the required strip are , there are two ways to achieve it.

[0161] The first method: using pre-shaping / second shaping, slicing knife 423, chopping knife 4339, and other components to cooperate to achieve it, wherein the length L of the strip 肉条 matches the transverse distance of the pre-shaping / second shaping, in other words, the pre-shaping / second shaping determines the length of the cut strip, the width W 肉条 is determined by the chopping knife frequency and size position corresponding to the chopping knife, corresponding to Figure 30 the path Y1, Y2, Y3, … Y n between the intervals, the adjustment during actual cutting can refer to the method during slicing, following the principle of rounding off, and the thickness D 肉条 is determined by the distance between the planning paths X1, X2, X3, … X m of the slicing knife during quantitative slicing.

[0162] The second method: using slicing knife 423, chopping knife 4339, and rolling cutter body 4343 to cooperate to achieve it, wherein the length L of the strip 肉条 is determined by the transverse distance between the rolling cutters, corresponding to the distance between Z1, Z2, Z3, … Z n in Figure 30 , the width W 肉条 is determined by the chopping knife frequency and size position corresponding to the chopping knife, corresponding to Figure 30The paths Y1, Y2, Y3...Y n The spacing between the segments, when adjusted during actual slicing, can refer to the methods used during slicing, following the principle of rounding, and the thickness D. 肉条 The planned paths X1, X2, X3...X of the microtome 423 during quantitative sectioning. m The distance between them determines the outcome.

[0163] In some possible embodiments of the present invention, a cutting path planning model is generated based on meat characteristic parameters and cutting methods, specifically including:

[0164] When the raw meat 600 is cut into meat cubes, obtain the following parameters after shaping: width of raw meat 600, length of meat cube, width of meat cube, thickness of meat cube, cutting frequency of meat cube, cutting position of meat cube, and cutting path of meat cube;

[0165] Based on the parameters of the 600 width of the shaped raw meat, the length of the meat cubes, the width of the meat cubes, the thickness of the meat cubes, the chopping frequency of the meat cubes, the chopping position of the meat cubes, and the cutting path of the meat cubes, a cutting path planning model is generated.

[0166] Among them, the number of cuts p determined by the meat cube width parameter and the 600 width of the raw meat after shaping is a non-integer, and the non-integer part is greater than or equal to the preset slice base number. The meat cube width parameter is updated according to p+1 cuts and the 600 width of the raw meat after shaping.

[0167] If the number of cuts p, determined by the meat cube width parameter and the 600 width of the raw meat after shaping, is a non-integer and the non-integer part is less than the preset slice base number, the meat cube width parameter is updated according to the p-1 cuts and the 600 width of the raw meat after shaping.

[0168] Specifically, this embodiment provides an implementation method for cutting meat into diced pieces, such as... Figure 31 and Figure 32 As shown, when the required cutting parameters are meat cubes, such as the required length, width, and thickness of the meat cubes are... This is achieved using components such as a slicing blade 423, a chopping blade 4339, and a rolling blade 4343, where the length L of the diced meat is... 肉丁 Determined by the lateral distance between the hobs, corresponding Figure 32 Z1, Z2, Z3...Z n The distance between them, the width W 肉丁 The frequency and size of the slashing blade are determined by its corresponding slashing frequency and position. Figure 30 The paths Y1, Y2, Y3...Y n The spacing between the segments, when adjusted during actual slicing, can refer to the methods used during slicing, following the principle of rounding, and the thickness D. 肉丁 The planned paths X1, X2, X3...X of the microtome 423 during quantitative sectioning.m The distance between the two points is determined.

[0169] In one application scenario, as shown in the pre-adjustment transmission belt 330, after the scanning imaging of the raw meat multi-dimensional information sensing part 100, when the raw meat 600 is transmitted to the third photosensitive sensor 380, the secondary shaping adjustment angle, pressure, distance and other parameters are adjusted to match the pre-shaping parameters, ensuring that the same parameters as the three laser scanning imaging after pre-shaping are used for secondary shaping of the raw meat 600, which ensures the consistency of the profile and volume of the raw meat 600 during imaging and slicing. Combined with pre-shaping / secondary shaping, the raw meat 600 can be accurately transmitted to the slicing knife 423 position for subsequent slicing operation. Figure 33

[0170] Further, after the slicing knife 423 completes the equal-thickness or quantitative slicing of the raw meat 600 according to the slicing path planning model, it realizes the continuous stacking of the sliced meat on the slicing transmission belt 410 under the action of the electric telescopic rod. When it reaches the fourth photosensitive sensor 440, the strip-cutting and dicing mechanism 430 starts to work. If only the stacked meat slices are planned to be cut into strips, the clutch mechanism in the dicing assembly 434 is first disconnected, the dicing drive motor 4344 drives the entire dicing assembly 434 to separate from the strip-cutting assembly 433, and moves backward. The crank connecting rod on the rotating disc 4353 only drives the up-down reciprocation of the chopping knife 4339, completing the chopping of the stacked meat slices and realizing the precise strip cutting of the fixed-weight meat slices. If the strip size needs to be adjusted, the pre-shaping / secondary shaping size, chopping knife 4339 frequency / speed and other parameters can be re-planned on the upper computer.

[0171] There are two specific implementation methods:

[0172] The first method: assuming that the total weight of the meat strips is , i.e., the ni meat slices after quantitative slicing are further cut into strips. According to the slicing path planning model, the strip length L 肉条 is determined by the raw meat shaping part adjusted raw meat width, which is realized by the shaping gear, shaping gear connecting rod, shaping electric push rod and double-shaft electric push rod.

[0173] The strip width W 肉条 is determined by the distance between the path planning Y1, Y2, Y3……Y n , and is realized by the chopping knife 4339; the strip thickness D 肉条 is determined by the distance between the sliced path X1, X2, X3……X m ; and the speed R 滚切 of the rolling cutting drive motor satisfies the following formula:​

[0174]

[0175] H ni切片(max) represents the maximum height of the ni pieces of meat slices before stacking, v 传输 represents the cutting and conveying belt conveying speed, and n represents the number of meat strips to be cut.

[0176] The second method is the same as the dicing method, and the implementation process is as follows:

[0177] When it is necessary to dice the stacked raw meat 600, the cutter driving motor 424 drives the dicing assembly 434 to reset, the hobbing driving motor 4351 drives the hobbing shaft 4352 to rotate, under the action of the rotating disc 4353, the crank connecting rod and the chopping cutter 4339, the meat strips are diced into cubes while the meat slices are chopped, according to the planned dicing size path cutting model, the belt driving motor drives the moving screw pair to adjust to different positions, and then the hobbing support is set to different distances by the hobbing roller 4348 in the guide plate 4346, the hobbing cutting size adjustment is completed, and the accurate quantitative cutting of different meat cube sizes of the fixed weight meat slices is realized.

[0178] Suppose the length of the meat to be diced is L 肉丁 , the width is W 肉丁 , and the thickness is D 肉丁 , wherein the length is determined by the distance between the hobbing bodies; the width is determined by the distance between the paths Y1, Y2, Y3……Y n of the chopping cutter; and the thickness is determined by the distance between the paths X1, X2, X3……X m of the slices, at this time, the total weight of the diced meat is the same as the total weight of the ni pieces of meat slices.

[0179] In some specific embodiments of the present application, the present application provides an adaptive shaping system for optimizing the 3D imaging performance of irregular raw meat, and when the 3D imaging performance of the irregular raw meat is optimized, the adaptive shaping method for optimizing the 3D imaging performance of the irregular raw meat is used.

[0180] In some specific embodiments of the present application, as Figures 1 to 22As shown, the scheme provides a raw meat machine robot slicing equipment based on multi-dimensional information perception, which comprises: a raw meat multi-dimensional information perception part 100 for obtaining meat product multi-dimensional information of raw meat 600, the meat product multi-dimensional information at least including any one or several combinations of weight, position, external contour, type, fat ratio, moisture content, texture, viscoelasticity and texture distribution of the raw meat 600; a raw meat adjusting part 200 arranged on the downstream side of the raw meat multi-dimensional information perception part 100, at least for adjusting the relative position of the raw meat 600 in the moving direction according to the meat product multi-dimensional information; a raw meat shaping part 300 arranged on the downstream side of the raw meat adjusting part 200, at least based on the meat product multi-dimensional information to adjust the external shape of the raw meat 600; a meat product processing part 400 arranged on the downstream side of the raw meat shaping part 300, based on the meat product multi-dimensional information, the raw meat 600 is subjected to slicing processing to obtain meat products, the slicing processing at least including any one or several combinations of slicing, strip cutting and dicing; a meat product packaging part 500 arranged on the downstream side of the meat product processing part 400, for packaging the sliced quantitative meat products.

[0181] It should be noted that, as Figure 1 As shown, the present application realizes the information perception, posture adjustment, shape processing, meat product slicing and finished product packaging of the raw meat 600 by sequentially arranging the raw meat multi-dimensional information perception part 100, the raw meat adjusting part 200, the raw meat shaping part 300, the meat product processing part 400 and the meat product packaging part 500, realizes the machine instead of the human, improves the slicing precision, slicing efficiency and reduces the loss, and has great significance for improving the intelligent processing level of meat and promoting the industrial upgrading of meat industry.

[0182] In some possible embodiments of the present application, the raw meat multi-dimensional information perception part 100 comprises: a weighing belt 110 arranged along the conveying direction of the raw meat 600, for providing power for the transportation of the raw meat 600 and obtaining the weight of the raw meat 100; a first photoelectric sensor 120 arranged on the side of the weighing belt 110; an ultrasonic detector 130 arranged on the side of the weighing belt 110 and spaced apart from the first photoelectric sensor 120 along the conveying direction of the raw meat 600; a first laser scanner 140 arranged above the weighing belt 110; an imaging spectrometer 150 arranged above the weighing belt 110 and spaced apart from the first laser scanner 140 along the conveying direction of the raw meat 600; wherein the initial detection position points of the ultrasonic detector 130, the first laser scanner 140 and the imaging spectrometer 150 are in the same detection plane.

[0183] Specifically, the embodiment provides an implementation of a raw meat multi-dimensional information perception part 100, as Figure 2As shown, the weighing belt 110 provides power for the conveying of the raw meat 600, and the first photoelectric sensor 120, the ultrasonic detector 130, the first laser scanner 140, and the imaging spectrometer 150 constitute the equipment for collecting information of the raw meat 600, and are used to acquire the meat multi-dimensional parameters of the raw meat 600 conveyed on the weighing belt 110.

[0184] In possible embodiments, the initial detection position points of the ultrasonic detector 130, the first laser scanner 140, and the imaging spectrometer 150 are in the same detection plane, and the three in the same detection plane can ensure the multi-dimensional information of the raw meat 600 to be collected multiple times at different positions, and the average value after multiple times is taken as the effective information of the raw meat 600.

[0185] In possible embodiments, the distance between the first photoelectric sensor 120 and the detection plane can be set according to requirements, to ensure that the raw meat multi-dimensional information sensing part 100 completes initialization and sets the start time within the distance, and to ensure that the unit component can completely collect the weight, position, shape profile, raw meat type, fat and lean ratio, moisture content, texture, viscoelasticity, and texture distribution of the raw meat 600.

[0186] In possible embodiments, the weighing belt 110 in the raw meat multi-dimensional information sensing part 100 is used to sense the weight information of the raw meat 600, the ultrasonic detector 130 is used to sense the viscoelasticity of the raw meat 600, the first laser scanner 140 is used to sense the position and shape profile of the raw meat 600, and the imaging spectrometer 150 is used to sense the fat and lean ratio, moisture content, texture, and texture distribution of the raw meat 600.

[0187] In some possible embodiments of the present application, the raw meat adjusting part 200 is a universal ball conveyor arranged on the downstream side of the raw meat multi-dimensional information sensing part 100.

[0188] Specifically, the present embodiment provides an embodiment of the raw meat adjusting part 200, as shown in Figure 1 As shown, by arranging the raw meat adjusting part 200 as a universal ball conveyor, the relative position adjustment of the raw meat 600 passing through is realized.

[0189] In possible embodiments, the raw meat adjusting part 200 is close to the weighing belt 110 and is arranged at the same height as the upper end surface of the weighing belt 110, to ensure that the raw meat 600 is smoothly transmitted from the weighing belt 110 to the raw meat adjusting part 200, and can be rotated and adjusted in any direction in a two-dimensional plane.

[0190] In possible embodiments, the specific adjustment parameters of the raw meat adjustment unit 200 will be based on the information of the raw meat 600 species, texture direction, position size, etc. obtained by the raw meat multi-dimensional information sensing unit 100, combined with the traditional chef's requirements for different raw meat 600 cutting knife work, techniques, and different dish oblique cutting, horizontal cutting, and straight cutting, to finally realize the rotation adjustment of the raw meat 600 in any direction on the two-dimensional plane, and provide the basis for the subsequent raw meat 600 pre-shaping, three-dimensional imaging, and machine human-like cutting (slicing, strip cutting, and dicing).

[0191] In some possible embodiments of the present application, the raw meat shaping unit 300 comprises: a shaping support frame 310 arranged on the downstream side of the raw meat adjustment unit 200; a bottom support plate 320 arranged on the shaping support frame 310; a pre-adjustment transmission belt 330 arranged above the bottom support plate 320 and connected with the raw meat adjustment unit 200, used to provide power for the transportation of the raw meat 600; two shaping mechanisms 340 arranged along the conveying direction of the pre-adjustment transmission belt 330, used to shape the external shape of the raw meat 600 conveyed by the pre-adjustment transmission belt 330; an angle adjustment mechanism 350 arranged on the bottom support plate 320 and connected with the bottom of the pre-adjustment transmission belt 330, used to adjust the inclination angle of the pre-adjustment transmission belt 330 to adjust the relative position of the raw meat 600 on the pre-adjustment transmission belt 330; a second laser scanner 360 arranged on the top of the first shaping mechanism 340 and corresponding to the outlet end of the first shaping mechanism 340; a second photoelectric sensor 370 arranged on the upstream side of the first shaping mechanism 340; and a third photoelectric sensor 380 arranged between the two shaping mechanisms 340.

[0192] Specifically, the present embodiment provides an embodiment of a raw meat shaping unit 300, as shown in Figure 3 By arranging two shaping mechanisms 340, the external shape of the raw meat 600 is adjusted twice, and the instability of the external shape of the raw meat 600 after the first adjustment due to the rebound of the raw meat 600 is solved.

[0193] Further, the arrangement of the second laser scanner 360, the second photoelectric sensor 370, and the third photoelectric sensor 380 provides data support for the adjustment of the external shape of the raw meat 600 by the shaping mechanism 340 and the cutting of the raw meat 600 by the meat processing unit 400.

[0194] It should be noted that the third photoelectric sensor 380 is arranged so that when the pre-shaped raw meat 600 is detected, in order to avoid the influence of the viscoelasticity and elastic recovery change of the raw meat 600 from the pre-shaping to the cutting time period on the precision cutting accuracy, the secondary shaping is completed by using the same adjustment parameters as the pre-shaping on the raw meat 600. This not only ensures the consistency of the profile of the raw meat 600 after pre-shaping and cutting, but also fixes the position of the raw meat 600, which is beneficial to improve the cutting stability and provide protection for high-precision quantitative cutting of the raw meat 600.

[0195] In possible embodiments, the angle adjustment mechanism 350 is installed at the central position of the bottom of the front end of the pre-adjustment conveying belt and is fixed on the bottom support plate 320. The pre-adjustment conveying belt can be lifted and inclined at a certain angle at one end, so as to ensure that the slicing and cutting mechanism 420 close to one end of the raw meat 600 is in close contact, and the raw meat 600 is more easily stacked in order on the cutting conveying belt 410 after the first cutting.

[0196] In some possible embodiments of the present application, the shaping mechanism 340 comprises: a shaping fixed support 341 connected with the shaping support 310; a driving assembly 342 arranged above the pre-adjustment conveying belt 330 and connected with the shaping fixed support 341; and a shaping assembly 343 arranged above the pre-adjustment conveying belt 330 and connected with the driving assembly 342, used for shaping the external shape of the raw meat 600 conveyed by the pre-adjustment conveying belt 330.

[0197] Specifically, the present embodiment provides an embodiment of the shaping mechanism 340, as shown in Figure 4 and Figure 5 The shaping fixed support 341 is connected with the shaping support 310, which provides a mounting position for the shaping assembly 343 above the pre-adjustment conveying belt 330. The driving assembly 342 is connected with the shaping assembly 343, which is used for adjusting the relative position between the shaping assembly 343 and the pre-adjustment conveying belt 330.

[0198] In some possible embodiments of the present application, the driving assembly 342 comprises: a vertical displacement module 3421 arranged on the shaping fixed support 341; and a horizontal displacement module 3422 connected with the vertical displacement module 3421; wherein the shaping assembly 343 is arranged on the horizontal displacement module 3422, and the relative position of the shaping assembly 343 on the pre-adjustment conveying belt 330 is adjusted under the action of the vertical displacement module 3421 and the horizontal displacement module.

[0199] Specifically, the present embodiment provides an embodiment of the driving assembly 342, as shown in Figure 4 and Figure 5As shown, the driving assembly 342 is provided with a vertical displacement module 3421 and a horizontal displacement module 3422, so as to realize the adjustment of the horizontal position and the vertical position of the shaping assembly 343 above the pre-adjustment transmission belt 330.

[0200] In possible embodiments, the vertical displacement module 3421 and the horizontal displacement module 3422 can be provided with components such as stepping motors, sliders, pulleys, belts, lead screws, optical shafts, etc. in actual applications, so as to realize the adjustment of the relative positions of the shaping assembly 343 in the horizontal and vertical directions.

[0201] In some possible embodiments of the present application, the shaping assembly 343 comprises: a mounting bracket 3431 connected with the driving assembly 342; a shaping motor 3432 connected with the mounting bracket 3431; a transmission gear 3433 provided at the output end of the shaping motor 3432; two shaping gear connecting rods 3434 symmetrically provided at both sides of the shaping motor 3432 along the conveying direction of the raw meat 600 and respectively engaged with the transmission gear 3433; two shaping modules 3435 respectively connected with the shaping gear connecting rods 3434 for shaping the external shape of the raw meat 600 conveyed by the pre-adjustment transmission belt 330; and a double-shaft electric push rod 3436 provided at the mounting bracket 3431 and respectively hingedly connected with the two shaping modules 3435.

[0202] Specifically, the present embodiment provides an embodiment of the shaping assembly 343, as shown in Figures 6 to 8 As shown, the mounting bracket 3431 provides a mounting basis, the shaping motor 3432, the transmission gear 3433 and the two shaping gear connecting rods 3434 are connected to form a transmission mechanism, so as to realize the driving of the two shaping modules 3435, and then to perform primary shaping or secondary shaping on the external shape of the raw meat 600.

[0203] In some possible embodiments of the present application, the shaping module 3435 comprises: a roller support 34351, which is hingedly connected to the double-shaft electric push rod 3436; a plurality of roller pressing plates 34352, which are arranged at intervals along the conveying direction of the raw meat 600 on the roller support 34351; a shaping electric push rod 34353, one end of which is hingedly connected to the shaping gear connecting rod 3434, and the other end of which is hingedly connected to a roller adjustment push rod 34354; the roller adjustment push rod 34354, which is arranged on the other side of the roller support 34351 where the shaping electric push rod 34353 is installed, and is hingedly connected to the roller support 34351; an angle sensing module 34355, which is arranged on the side of the roller pressing plate 34352 close to the double-shaft electric push rod 3436, and is used to detect the motion parameters of the roller pressing plate 34352; and a force sensing module 34356, which is arranged inside the roller pressing plate 34352, and is used to detect the pressure parameters of the raw meat 600 on the roller pressing plate 34352.

[0204] Specifically, the present embodiment provides an embodiment of a shaping module 3435, as shown in the figure, the roller support 34351 provides a mounting position for the roller pressing plate 34352, and the shaping electric push rod 34353 and the roller adjustment push rod 34354 adjust the relative position of the roller support 34351, so that the shaping surface of the roller pressing plate 34352 forms different shaping angles. Figures 6 to 8

[0205] It should be noted that when the shaping motor 3432 rotates, the transmission gear 3433 drives the shaping electric push rod 34353 to drive the roller pressing plate 34352 to adjust at different angles through the shaping gear connecting rod 3434, and the double-shaft electric push rod 3436 adjusts the lateral spacing of the shaping structure in the left-right direction under the rotation of the transmission gear 3433, the roller adjustment push rod 34354 can adjust the roller direction in the horizontal direction through the roller support 34351, and finally drives the roller pressing plate 34352 under the joint action of the shaping gear connecting rod 3434, the shaping electric push rod 34353 and the roller adjustment push rod 34354, so as to shape the raw meat 600 to a certain angle during conveying. The upper computer can obtain the angle and pressure data of the shaped raw meat 600 in real time in combination with the force sensing module 34356 and the angle sensing module 34355, and the double-shaft electric push rod 3436 and the shaping electric push rod 34353 adjust the compression amount of the meat product in real time to achieve the shaping angle, so as to avoid the large friction between the raw meat 600 and the roller pressing plate 34352 due to different viscoelasticity, which cannot be self-adapted during movement.

[0206] ​In possible embodiments, the angle sensing module 34355 is arranged on one side of the roller pressure plate 34352 close to the double-shaft electric push rod 3436, for real-time detection of the shaping angle of the roller pressure plate 34352 to the raw meat 600, and feedback to the host computer that the shaping angle of the meat product has reached the set shaping angle.

[0207] In possible embodiments, the force sensing module 34356 is a thin film flexible pressure sensor, which is annularly attached to the gap inside the single roller of the roller pressure plate 34352, for real-time detection of whether the force between the roller pressure plate 34352 and the raw meat 600 exceeds the maximum shaping pressure set by the host computer for the meat product, and feedback to the host computer to realize adaptive adjustment of the shaping pressure.

[0208] In some possible embodiments of the present application, the meat processing part 400 comprises: a cutting transmission belt 410, which is connected to the raw meat shaping part 300; a slicing and cutting mechanism 420, which is arranged on the conveying path of the cutting transmission belt 410 and close to one side of the raw meat shaping part 300; a strip and dice cutting mechanism 430, which is arranged on the conveying path of the cutting transmission belt 410 and downstream of the slicing and cutting mechanism 420; and a fourth photoelectric sensor 440, which is arranged between the slicing and cutting mechanism 420 and the strip and dice cutting mechanism 430; wherein the conveying angle of the cutting transmission belt 410 between the fourth photoelectric sensor 440 and the strip and dice cutting mechanism 430 is adjustable.

[0209] Specifically, the present embodiment provides an embodiment of a meat processing part 400, as shown in Figures 9 to 20 As shown, the cutting transmission belt 410 is arranged to receive the raw meat 600 conveyed by the pre-adjustment transmission belt 330, and the slicing and cutting mechanism 420 and the strip and dice cutting mechanism 430 are arranged to cut the shaped raw meat 600, so as to slice, strip and dice the raw meat 600 according to different cutting requirements.

[0210] Further, the fourth photoelectric sensor 440 is arranged a distance in front of the strip and dice cutting mechanism 430 as a trigger signal to start the working time of the strip and dice cutting mechanism.

[0211] In some possible embodiments of the present application, the slicing and cutting mechanism 420 comprises two rotating gear mounting racks 421, which are arranged on both sides of the cutting transmission belt 410; a cutter fixed disc 422, which is arranged above the cutting transmission belt 410 to form a channel for the raw meat 600 to pass through, and is fixedly connected with the two rotating gear mounting racks 421 respectively; a slicing cutter 423, which is rotatably connected with the cutter fixed disc 422 and used for cutting the passing raw meat 600; a cutter driving motor 424, which is connected with the slicing cutter 423 and used for driving the slicing cutter 423 to rotate; an angle adjusting gear 425, which is arranged in one-to-one correspondence with the rotating gear mounting racks 421, and the angle adjusting gear 425 and the rotating gear mounting racks 421 are engaged through the gear teeth; a rotating shaft 426, which is connected with the two angle adjusting gears 425 respectively; and an angle adjusting motor 427, which is connected with the rotating shaft 426 and used for adjusting the angle between the cutter fixed disc 422 and the cutting transmission belt 410.

[0212] Specifically, the present embodiment provides an embodiment of the slicing and cutting mechanism 420, which realizes the driving of the slicing cutter 423 to cut the passing raw meat 600 through the arrangement of the rotating gear mounting racks 421, the cutter fixed disc 422, the slicing cutter 423, the cutter driving motor 424, the angle adjusting gear 425, the rotating shaft 426 and the angle adjusting motor 427.

[0213] In possible embodiments, as shown in FIG. 6, the slicing and cutting mechanism 420 comprises a cutter fixed disc 422, which is arranged above the cutting transmission belt 410 to form a channel for the raw meat 600 to pass through, and is fixedly connected with the two rotating gear mounting racks 421. Figures 9 to 11As shown, the slicing knife 423 and the cutting knife driving motor 424 are fixed on the opposite sides of the cutting knife fixing disc 422 respectively, the cutting knife driving motor 424 is used for controlling the clockwise / anticlockwise rotation of the slicing knife 423, the cutting knife driving motor 424 is a servo motor, and a torque sensor is installed on the output shaft of the cutting knife driving motor 424, so that the torque change of the slicing knife 423 can be detected in real time, and then the stress change curve of different raw meat 600 during slicing can be obtained to guide the design of the slicing knife 423, and meanwhile, different slicing torques can be selected for slicing of different raw meat 600, the cutting knife fixing disc 422 is fixed together with the two rotating gear mounting frames 421 at both ends, the initial position of the cutting knife fixing disc 422 is located on a plane which is perpendicular to the transmission direction of the slicing transmission belt 410, the plane on which the rotating gear mounting frame 421 is located is parallel to the transmission direction of the slicing transmission belt 410, the end of the rotating gear mounting frame 421 is engaged with the angle adjusting gear 425, the angle adjusting gear 425 is installed at both ends of the rotating shaft 426 and is arranged below the rotating gear mounting frame 421, the middle part of the rotating shaft 426 is connected together with the angle adjusting motor 427, and the rotating shaft 426 is controlled to rotate by the angle adjusting motor 427 to drive the angle adjusting gear 425 to rotate, so that the slicing angle of the slicing knife 423 can be adjusted, and then the slicing angle and slicing speed can be adjusted according to the kind of raw meat 600, the texture distribution, the physical property characteristics, the slicing demand, the quantitative slicing model and the slicing path obtained by the raw meat multi-dimensional information sensing part 100, so that the requirements of quantitative slicing of the raw meat 600 in the vertical cross-cutting and different angle cutting can be met.

[0214] In some possible embodiments of the present application, the meat processing part 400 further comprises a telescopic mechanism 450 arranged on one side of the slicing transmission belt 410 close to the raw meat shaping part 300, which is used for compensating the distance between the sliced meat pieces after slicing by the slicing and cutting mechanism 420, so that the sliced meat pieces can be stacked on the slicing transmission belt 410.

[0215] Specifically, the present embodiment provides another embodiment of the meat processing part 400, as shown in Figure 12 As shown, by arranging the telescopic mechanism 450, the relative displacement between the sliced meat pieces can be compensated, so that the stacked meat pieces are neat.

[0216] In possible embodiments, the telescopic mechanism 450 at least comprises an electric telescopic rod and a corresponding driving motor.

[0217] In some possible implementation manners of the present application, the slicing and dicing mechanism 430 comprises: a slicing fixing support 431 arranged on the downstream side of the fourth photoelectric sensor 440; a pressure stabilizing assembly 432 connected with the slicing fixing support 431, used for stabilizing the pressure of the sliced meat slices so as to stabilize the external shape of the stacked meat slices; a slicing assembly 433 connected with the slicing fixing support 431 and arranged on the downstream side of the pressure stabilizing assembly 432, used for slicing the meat slices into meat strips; a dicing assembly 434 connected with the slicing fixing support 431 and arranged on the downstream side of the slicing assembly 433, used for slicing the meat strips into meat cubes; and a power assembly 435 connected with the slicing assembly 433 and the dicing assembly 434 respectively, used for providing power for the slicing assembly 433 and the dicing assembly 434 and adjusting the switching of the dicing assembly 434 between the dicing working position and the slicing working position.

[0218] Specifically, the present embodiment provides an implementation manner of the slicing and dicing mechanism 430, as shown in the figure, the slicing fixing support 431 provides a mounting position, and the pressure stabilizing assembly 432, the slicing assembly 433 and the dicing assembly 434 are arranged in sequence, which realizes the pressure stabilization, slicing and dicing of the sliced meat slices. Meanwhile, through the arrangement of the power assembly 435, the adjustment of the cooperation between the slicing assembly 433 and the dicing assembly 434 is realized, so as to realize the adjustment of slicing the meat slices into meat strips or meat cubes. Figures 13 to 20

[0219] In some possible implementation manners of the present application, the pressure stabilizing assembly 432 comprises: a transverse screw rod 4321 rotationally connected with the slicing fixing support 431 and arranged along the direction perpendicular to the conveying direction of the slicing conveying belt 410; a screw rod motor 4322 arranged on the slicing fixing support 431 and connected with one end of the transverse screw rod 4321; a transverse screw pair 4323 connected with the transverse screw rod 4321; an electric cylinder 4324 connected with the transverse screw pair 4323; a pressure roller frame 4325 connected with the electric cylinder 4324; and a pressure roller 4326 connected with the pressure roller frame 4325 and used for stabilizing the pressure of the meat slices, wherein the electric cylinder 4324 drives the pressure roller frame 4325 to reciprocally move along the surface perpendicular to the slicing conveying belt 410.

[0220] Specifically, the present embodiment provides an implementation manner of the pressure stabilizing assembly 432, as shown in the figure, the screw rod motor 4322 is fixedly connected with the transverse screw rod coaxially and is installed on the upper portion, the transverse screw pair 4323 is threadedly matched and installed on the transverse screw rod 4321, the electric cylinder 4324 is fixed on the transverse screw pair 4323, the lower end of the electric cylinder 4324 is connected with the pressure roller frame 4325, and the pressure roller 4326 on the pressure roller frame 4325 is a non-powered roller. Figures 13 to 20

[0221] ​​It should be noted that the pressure stabilizing assembly 432 is mainly used to fix the stacked slices of a certain weight and play a stabilizing role, so as to prevent the stacked slices from scattering during subsequent slicing and dicing, and affect the quantitative slicing accuracy. At the same time, since the compression roller 4326 is a non-powered roller, it does not affect the normal conveying of the slices on the slicing conveying belt 410.

[0222] In some possible embodiments of the present application, the power assembly 435 comprises: a hobbing drive motor 4351 arranged on the slicing fixing support 431; a hobbing shaft 4352, one end of which is connected with the hobbing drive motor 4351 and is arranged along the extension direction perpendicular to the conveying direction of the slicing conveying belt 410; and two rotating discs 4353, which are arranged in the extension direction of the hobbing shaft 4352.

[0223] The slicing assembly 433 comprises: two longitudinal optical axes 4331, which are arranged in the extension direction perpendicular to the conveying direction of the slicing conveying belt 410 and are perpendicular to the slicing conveying belt 410; two lifting subassemblies 4332, which are slidingly matched with the longitudinal optical axes 4331 one by one; a connecting rod 4333, one end of which is connected with the rotating disc 4353 close to one side of the hobbing drive motor 4351, and the other end of which is connected with the lifting subassembly 4332 close to one side of the hobbing drive motor 4351; a fixed rack 4334, which is connected with the slicing fixing support 431 and is arranged in the extension direction perpendicular to the conveying direction of the slicing conveying belt 410; a rolling gear 4335, which is arranged on the lifting subassembly 4332 close to one side of the hobbing drive motor 4351 and is in meshing transmission with the fixed rack 4334; two turnover discs 4336, which are arranged in the extension direction perpendicular to the conveying direction of the slicing conveying belt 410 and are provided with an inclination angle in the rotation direction, and the turnover disc 4336 close to one side of the hobbing drive motor 4351 rotates coaxially with the rolling gear 4335; four guide columns 4337, each two of which are connected with the same side of the turnover disc 4336; a rolling ball 4338, which is arranged at the connecting position of the guide column 4337 and the turnover disc 4336; and two chopping knives 4339, each of which is connected with two guide columns 4337 on the corresponding two turnover discs 4336, and the chopping knife 4339 is provided with a sawtooth blade on the side facing the slicing conveying belt 410. The connecting rod 4333 and the longitudinal optical axis 4331 form a crank rocker mechanism. The hobbing drive motor 4351 drives the lifting subassembly 4332 to reciprocate along the longitudinal optical axis 4331 through the connecting rod 4333, the rolling gear 4335 drives the turnover disc 4336 to rotate through the fixed rack 4334, and the two chopping knives 4339 relatively move in the horizontal direction and the vertical direction under the action of the turnover disc 4336, the rolling ball 4338 and the guide column 4337, so as to realize the slicing of the slices to form the slices.

[0224] Specifically, the embodiment provides an implementation of a power assembly 435 and a strip cutting assembly 433, which are matched with each other to realize the slicing of the meat slices into meat strips.

[0225] It should be noted that, as shown in Figures 13 to 20 The lifting pair 4332 is installed below the top optical axis support, the longitudinal optical axis 4331 is installed below the lifting pair 4332 and is supported by the bottom optical axis support at the lowermost end, the longitudinal optical axis 4331 is installed with the fixed rack 4334, the rolling gear 4335 is installed in mesh with the fixed rack 4334, and the lifting pair 4332 is fixedly installed together with the rolling gear 4335 to realize synchronous movement.

[0226] In a possible embodiment, as shown in Figures 13 to 20 The reciprocating mechanism is composed of a turnover disc 4336, two guide columns 4337 and a rolling ball 4338, the turnover disc 4336 is coaxially installed with the rolling gear 4335, the two guide columns 4337 are installed at upper and lower parts of the turnover disc 4336 respectively, and the rolling ball 4338 is embedded at one end of the two guide columns 4337 close to the turnover disc 4336, and the other end is fixedly connected with the cutting knife 4339, each guide column 4337 is installed with the cutting knife 4339, the two cutting knives 4339 abut against each other, the two cutting knives 4339 are designed in a sawtooth shape at the ends, and the two cutting knives 4339 are oriented in the same direction.

[0227] In a possible embodiment, as shown in Figures 13 to 20 The lifting pair 4332, the longitudinal optical axis 4331 and the turnover disc 4336, the connecting rod 4333 in the strip cutting assembly 433 form a crank connecting rod mechanism, when the rotating disc rotates, the crank connecting rod drives the rolling gear 4335 to reciprocate up and down on the fixed rack 4334, and the rotation of the rolling gear 4335 drives the turnover disc 4336 to rotate clockwise or counterclockwise, thereby driving the two cutting knives 4339 to move in the horizontal direction and the vertical direction under the action of the rolling ball 4338, realizing the synchronous execution of the cutting and shearing actions of the stacked raw meat 600 slices, finally completing the strip cutting of the sliced raw meat 600, and the frequency and speed of the two cutting knives 4339 are matched with the strip cutting path planning model of the raw meat 600.

[0228] In some possible embodiments of the present application, the power assembly 435 comprises: a rotary cutting driving motor 4351 arranged on the cutting fixed support 431; a rotary cutter shaft 4352, one end of which is connected with the rotary cutting driving motor 4351 and extends along a direction perpendicular to the conveying direction of the cutting conveying belt 410; two rotating discs 4353 arranged along the extension direction of the rotary cutter shaft 4352; and a dicing electric push rod 4354 connected with the rotary cutter shaft 4352 and the rotary cutting driving motor 4351 respectively, for adjusting the connection between the rotary cutter shaft 4352 and the rotary cutting driving motor 4351.

[0229] The dicing assembly 434 comprises: a mounting plate 4341 connected with the cutting fixed support 431; a plurality of rotary cutter seats 4342 arranged on the mounting plate 4341 along a direction perpendicular to the conveying direction of the cutting conveying belt 410; a rotary cutter body 4343 rotatably connected with the rotary cutter shaft 4352 and fixedly connected with the rotary cutter seats 4342 one by one, and extending to the cutting conveying belt 410, for cutting the meat strips into the meat dices; and a dicing driving motor 4344 arranged on the cutting fixed support 431 and connected with the mounting plate 4341, for driving the mounting plate 4341 to switch from the dicing working position to the strip cutting working position when the rotary cutter shaft 4352 and the rotary cutting driving motor 4351 are disconnected.

[0230] Specifically, the present embodiment provides an embodiment of the power assembly 435 and the dicing assembly 434, as shown in Figures 13 to 20 The power assembly 435 and the dicing assembly 434 cooperate with each other to switch the dicing assembly 434 between the dicing working position and the strip cutting working position, so as to cut the meat strips into the meat dices or only cut the meat slices into the meat strips.

[0231] In possible embodiments, as shown in Figures 13 to 20 The mounting plate 4341 is mounted on the rotating gear mounting frame 421 through an electric sliding table 4345, which is controlled by the dicing driving motor 4344 and used to fix and move the dicing assembly 434 forward and backward.

[0232] In possible embodiments, the middle part of the mounting plate 4341 is arranged with a horizontal rail, a plurality of horizontal sliding blocks are arranged on the horizontal rail, a belt drive motor is arranged at the leftmost side of the mounting plate 4341 and is coaxially fixed with a driving pulley, the driving pulley drives a driven pulley to rotate in a belt manner, the lower end of the driven pulley is connected with a longitudinal screw rod, the longitudinal screw rod is installed with a moving screw pair in a threaded cooperation manner, the moving screw pair, a guide plate 4346 and a longitudinal sliding block are sequentially fixed and connected from front to back, the moving screw pair is fixed with the left side of the guide plate 4346, and the left and right sides of the rear end of the guide plate 4346 are arranged on the longitudinal sliding block, the longitudinal sliding block is embedded on the horizontal rail, so as to ensure that when the belt drive motor drives the driving pulley to rotate, the moving screw pair moves up and down in a reciprocating manner on the longitudinal screw rod, thereby driving the guide plate 4346 to move up and down in a reciprocating manner under the action of the longitudinal sliding block.

[0233] In possible embodiments, as shown in Figures 13 to 20 one end of the cutting electric push rod 4354 is connected with the support seat of the hob shaft 4352, the other end of the cutting electric push rod 4354 is connected with the hob shaft 4352, and a rotating disc 4353 is installed at the end of the cutting electric push rod 4354 close to the support seat of the hob shaft 4352, wherein one end of the right cutting electric push rod 4354 is connected with the hob shaft 4352, the other end of the cutting electric push rod 4354 is connected with the hob driving motor 4351, and the same rotating disc 4353 is installed at the end close to the hob driving motor 4351, the rotating discs 4353 at the left and right ends are both installed with a crank connecting rod 4333 at a distance from the shaft center, one end of the connecting rod 4333 is connected with the rotating disc 4353, and the other end of the connecting rod 4333 is connected with the lifting pair 4332 in the cutting strip assembly 433.

[0234] In some possible embodiments of the present application, the cutting assembly 434 further comprises: an electric sliding table 4345 connected with a cutting driving motor 4344, the mounting plate 4341 is arranged on the other side of the electric sliding table 4345 connected with the cutting driving motor 4344, the electric sliding table 4345 can adjust the position of the mounting plate 4341 in a transverse direction perpendicular to the conveying direction of the splitting conveying belt 410; a guide plate 4346 arranged parallel to the moving surface of the electric sliding table 4345, and a plurality of inclined guide grooves 4347 are arranged on the surface of the guide plate 4346; a roller 4348 connected with the other end of the hob seat 4342 provided with the hob body 4343 and matched with the guide groove 4347; and a cutting longitudinal driving module 4349 arranged on the electric sliding table 4345 and used for adjusting the relative position of the guide plate 4346 in the vertical direction; wherein the distance between the adjacent two guide grooves 4347 gradually decreases or increases along the vertical direction.

[0235] Specifically, the present embodiment provides an embodiment of a cutting assembly 434, as shown in Figures 13 to 20As shown, by setting the electric sliding table 4345, the guide plate 4346, the roller 4348 and the cutting longitudinal driving module 4349, the distance between the adjacent two guide grooves 4347 gradually becomes smaller or larger in the vertical direction.

[0236] In possible embodiments, as shown in Figure 20 As shown, the rollers 4348, the cutter seat 4342 and the transverse sliding block are fixedly connected in sequence from front to back. The roller 4348 can roll in the guide groove 4347 on the guide plate 4346. The guide plate 4346 is provided with a plurality of inclined grooves distributed in a fan shape. The distance between the adjacent inclined grooves gradually increases from bottom to top. Each inclined groove is embedded with a roller 4348 and fixedly installed on the transverse sliding block at the rear end of the guide plate 4346. The transverse sliding block is nested on the horizontal rail and can move left and right on the horizontal rail. The lower part of each transverse sliding block is integrally provided with a cutter seat 4342. Each cutter seat 4342 is fixedly provided with a cutter body 4343 in the cutter groove at the lower end. The transverse sliding block, the cutter seat 4342 and the cutter body 4343 move at the same frequency and in the same direction, and have consistent pace.

[0237] Further, the movement of the transverse sliding block depends on the up-and-down movement of the guide plate 4346 on the longitudinal sliding block. At this time, the transverse distance of the ball in the inclined groove of the guide plate 4346 changes constantly, thereby driving the equal-distance adjustment of the transverse distance of the cutter seat 4342 fixedly connected thereto, and thereby realizing the equal-distance adjustment of the plurality of cutter bodies 4343.

[0238] In possible embodiments, as shown in Figure 21 As shown, the plurality of cutter bodies 4343 are driven to rotate by the cutter shaft 4352. The center of each cutter body 4343 is provided with a spline groove. The cutter shaft 4352 is a spline transmission shaft. The spline groove and the cutter shaft 4352 are installed in axial clearance fit to ensure that the transverse distance of the cutter seat 4342 can be adjusted at will and does not affect the rotation of the cutter when the cutter seat 4342 moves in the transverse direction. The rotation of the cutter body 4343 depends on the cutting driving motor 4351 arranged on the right side of the cutter shaft 4352. The cutting driving motor 4351 is arranged on the right side of the cutter shaft 4352. The cutting electric push rod 4354 is arranged on both sides of the cutter shaft 4352. The cutting electric push rod 4354 is used for clutching. The shaft end is connected with the rotating disc 4353 to realize the connection and disconnection, thereby realizing the control of the movement state of the plurality of cutter bodies 4343. The cutting electric push rod 4354 is connected with the cutting driving motor 4351 to improve the power source for the rotation of the whole cutter body 4343.

[0239] In one application scenario, when it is necessary to implement separate cutting of the stacked meat slices, the dicing electric push rod 4354 is actuated, the power assembly 435 is disconnected, the dicing drive motor 4344 drives the electric sliding table 4345 to work, driving the entire dicing mechanism to move backward, at this time the hobbing drive motor 4351 no longer drives the hobbing cutter body 4343 to work, but drives the connecting rod on the rotating disc 4353 to drive the rotating gear 4335 to rotate, thereby driving the reciprocating structure to rotate, realizing the up-and-down reciprocating shearing action of the chopping knife 4339, and completing the chopping of the stacked meat slices. According to the cutting path planning model, different sizes of meat strips can be accurately and quantitatively cut out. The backward movement of the dicing mechanism provides sufficient space position for the separate cutting of the meat slices, avoiding the blockage of the cutting mechanism.

[0240] In one application scenario, when it is necessary to implement dicing of the stacked raw meat 600, the dicing drive motor 4344 drives the electric sliding table 4345 to work, driving the entire dicing mechanism to move forward and return to the original position, at this time the power assembly 435 is closed, the hobbing drive motor 4351 drives the hobbing cutter shaft 4352 to rotate, under the action of the rotating disc 4353, the connecting rod 4333 and the chopping knife 4339, the hobbing cutter group chops the strip-shaped meat into diced meat while the meat slices are chopped, and according to the different meat dice size cutting path planning model established by the raw meat multi-dimensional information perception part 100, the belt drive motor drives the movable screw pair to adjust to different positions, and then the hobbing cutter seat 4342 is set to different distances by the rollers 4348 in the guide plate 4346, finally realizing the adjustment of the hobbing cutter cutting size and the accurate and quantitative cutting of different meat dice sizes.

[0241] In some possible embodiments of the present application, the meat product packaging part 500 comprises: a right-angle transfer mechanism 510 arranged below the cutting transmission belt 410 and corresponding to the adjustable inclined transmission belt 411 arranged at the output end of the cutting transmission belt 410; a meat slice quantitative packaging mechanism 520 arranged at the downstream side of the right-angle transfer mechanism 510; and a meat strip and diced meat quantitative packaging mechanism 530 arranged at the downstream side of the cutting transmission belt 410.

[0242] Specifically, the present embodiment provides an embodiment of a meat product packaging part 500, as shown in Figures 13 to 20 As shown in FIG. 22, the right-angle transfer mechanism 510, the meat slice quantitative packaging mechanism 520 and the meat strip and diced meat quantitative packaging mechanism 530 realize the packaging of the meat slices, the meat strips and the diced meat.

[0243] In possible embodiments, the meat slice quantitative packaging mechanism 520 and the meat strip and diced meat quantitative packaging mechanism 530 are respectively arranged below the cutting transmission belt 410 and the cutting mechanism 430, and are docked at the same height with both ends of the right-angle conveyor also arranged below. According to the cutting form and quantitative value of the raw meat 600 designed in advance by the raw meat multi-dimensional information perception part 100,

[0244] In possible embodiments, if the meat needs to be packaged as a certain amount of slices, after the cutting is completed, the adjustable inclined conveying belt 411 falls at a certain angle when the cutting conveying belt 410 is transported to the fourth photoelectric sensor 440, a certain amount of meat slices are transported to the right-angle conveyor, and then transported to the slice packaging unit for subsequent packaging of the slices.

[0245] In possible embodiments, if the meat needs to be packaged as strips or cubes, the cutting conveying belt 410 is normally transported, and the adjustable inclined conveying belt 411 does not change the angle, and the strips or cubes after cutting are transported to the strip or cube packaging unit in the other direction for subsequent packaging of the strips or cubes.

[0246] In some possible embodiments of the present application, the meat processing part 400 comprises: a slice cutting mechanism 420 arranged on one side close to the raw meat shaping part 300, for cutting the raw meat 600 into slices; a strip cutting assembly 433 arranged on the downstream side of the slice cutting mechanism 420, for cutting the slices into strips; a cube cutting assembly 434 arranged on the downstream side of the slice cutting mechanism 420, for cutting the strips into cubes; and a power assembly 435 connected with the strip cutting assembly 433 and the cube cutting assembly 434 respectively, for providing power to the strip cutting assembly 433 and the cube cutting assembly 434, and adjusting the switching of the cube cutting assembly 434 between the cube cutting working position and the strip cutting working position.

[0247] Based on the cutting mode information, the cutting form of the raw meat 600 in the meat processing part 400 is adjusted, and the cutting of the raw meat 600 is performed, specifically including:

[0248] When the cutting mode information indicates that the cutting form of the raw meat 600 is cutting into strips, the power assembly 435 adjusts the relative positions of the strip cutting assembly 433 and the cube cutting assembly 434, so that the cube cutting assembly 434 switches to the strip cutting working position;

[0249] When the cutting mode information indicates that the cutting form of the raw meat 600 is cutting into cubes, the power assembly 435 adjusts the relative positions of the strip cutting assembly 433 and the cube cutting assembly 434, so that the cube cutting assembly 434 switches to the cube cutting working position.

[0250] Specifically, the present embodiment provides an implementation for performing the cutting of the raw meat 600, as shown in ​ By the arrangement of the slice cutting mechanism 420, the strip cutting assembly 433, the cube cutting assembly 434 and the power assembly 435, the cutting form ensured according to the cutting mode information is realized, the relative positions of the strip cutting assembly 433 and the cube cutting assembly 434 are adjusted, and the switching between the strip cutting and the cube cutting is realized.

[0251] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An adaptive reshaping method to optimize 3D imaging performance of irregular raw material meat, characterized in that, The application is applied to a server, comprising: a raw meat multi-dimensional information sensing unit (100), a raw meat adjusting unit (200) and a raw meat shaping unit (300) connected in sequence; The method comprises: In response to a raw meat (600) cutting signal, obtaining meat product multi-dimensional information of the raw meat (600) based on the raw meat multi-dimensional information sensing unit (100), wherein the meat product multi-dimensional information at least includes any one or a combination of several of the following: weight, position, external shape contour, type, fat and lean ratio, moisture content, texture, viscoelasticity and texture distribution of the raw meat (600); Based on the meat product multi-dimensional information, the raw meat adjusting unit (200) adjusts the relative position of the raw meat (600) in the transportation direction; Based on the meat product multi-dimensional information, the raw meat shaping unit (300) shapes the external form of the raw meat (600) whose relative position has been adjusted; Based on the meat product multi-dimensional information, the raw meat shaping unit (300) shapes the external form of the raw meat (600) whose relative position has been adjusted, specifically comprising: Based on the meat product multi-dimensional information, a raw meat physical property model of the raw meat (600) is constructed; Based on the raw meat physical property model, the external form of the raw meat (600) is shaped; Based on the raw meat physical property model, the external form of the raw meat (600) is shaped, specifically comprising: Based on the raw meat physical property model, the viscoelasticity, surface friction coefficient and external shape contour of the raw meat (600) are determined; Based on the viscoelasticity and surface friction coefficient of the raw meat (600), the shaping pressure of the raw meat (600) is determined; Based on the external shape contour of the raw meat (600), the shaping angle of the raw meat (600) is determined; In the case that the conveying speed of the raw meat (600) is within a change threshold range, the raw meat (600) is shaped based on the shaping pressure and the shaping angle.

2. The method of claim 1, wherein the method is performed by a computer system. Based on the meat product multi-dimensional information, the raw meat adjusting unit (200) adjusts the relative position of the raw meat (600) in the transportation direction, specifically comprising: Based on the meat product multi-dimensional information, it is determined that the raw meat (600) belongs to a first type of meat product, the first muscle fiber direction of the raw meat (600) is obtained, and the first muscle fiber direction is adjusted to be parallel to the transportation direction of the raw meat (600), wherein the texture distribution of the first type of meat product is greater than or equal to a preset texture threshold; Based on the meat product multi-dimensional information, it is determined that the raw meat (600) belongs to a second type of meat product, the second muscle fiber direction of the raw meat (600) is obtained, and the second muscle fiber direction is adjusted to be perpendicular to the transportation direction of the raw meat (600), wherein the texture distribution of the second type of meat product is less than a preset texture threshold.

3. The method of claim 1, wherein the method is performed by a computer system. In the case that the conveying speed of the raw meat (600) is within a change threshold range, the raw meat (600) is shaped based on the shaping pressure and the shaping angle, specifically comprising: Obtain real-time force information, weight and shaping angle of the raw meat (600) in the shaping process, wherein the real-time force information at least includes force parameters of the raw meat (600) in the shaping process and friction parameters of the raw meat (600) in the conveying and shaping process, and the shaping angle is the angle between the shaping clamp and the conveying plane; Determine the conveying speed variation characteristics of the raw meat (600) based on the real-time force information, the weight and the shaping angle; If the conveying speed of the raw meat (600) is within the variation threshold range, continue to shape the raw meat (600) based on the shaping pressure and the shaping angle.

4. The method of claim 1, wherein the method is performed by a computer system. The shaping of the raw meat (600) based on the shaping pressure and the shaping angle when the conveying speed of the raw meat (600) is within the variation threshold range specifically includes: Determine the rebound threshold of the raw meat (600) based on the viscoelasticity of the raw meat (600), the shaping pressure and the shaping angle; Obtain the external appearance change characteristics of the raw meat (600) after the first shaping by the raw meat shaping part (300); Determine the secondary shaping pressure and the secondary shaping angle of the raw meat shaping part (300) for the second shaping of the raw meat (600) based on the external appearance change characteristics and the rebound threshold, and shape the raw meat (600) based on the secondary shaping pressure and the secondary shaping angle.

5. The method of adaptive reshaping to optimize 3D imaging performance of irregular raw meat according to any one of claims 1 to 4, characterized in that, After shaping the raw meat (600) based on the shaping pressure and the shaping angle, specifically includes: Obtain the meat characteristic parameters of the raw meat (600) after shaping and the split form of the raw meat (600), wherein the meat characteristic parameters at least include any one or combination of several of the weight parameters, contour parameters, contour boundary tangent angle, meat viscoelasticity, texture direction, color value, fat and lean ratio, and texture of the raw meat (600) after shaping; Generate a split path planning model based on the meat characteristic parameters and the split form.

6. The method of adaptive reshaping to optimize 3D imaging performance of irregular raw meat of claim 5, wherein, The generation of the split path planning model based on the meat characteristic parameters and the split form specifically includes: In the case that the split form of the raw meat (600) is equal-thickness slicing, obtain the preset split thickness of the raw meat (600), the fixed-thickness slicing path of the raw meat (600) in the contour length direction, the conveying speed of the raw meat (600) and the fixed-thickness split time interval of adjacent two pieces of meat; Generate the split path planning model based on the preset split thickness, the fixed-thickness slicing path, the conveying speed and the fixed-thickness split time interval; Wherein, if the split quantity n determined by the preset split thickness and the contour length is a non-integer and the non-integer part is greater than or equal to a preset slice base, the preset split thickness is updated according to n+1 split quantities and the contour length. The preset cutting thickness is updated according to n-1 cutting quantities and the profile length when the cutting quantity determined by the preset cutting thickness and the profile length is a non-integer, and the non-integer part is less than a preset slice base.

7. The method of claim 5, wherein the method further comprises: The cutting path planning model is generated based on the meat characteristic parameters and the cutting form, and specifically includes: In the case that the cutting form of the raw meat (600) is quantitative slicing, a preset cutting weight, a first slice constant weight cutting thickness, a weight parameter of the raw meat (600), a constant weight slicing path of the raw meat (600) in the profile length direction, a conveying speed of the raw meat (600), and a constant weight cutting time interval of adjacent two meat slices of the raw meat (600) are obtained. The cutting path planning model is generated based on the preset cutting weight, the first slice constant weight cutting thickness, the weight parameter, the constant weight slicing path, the conveying speed, and the constant weight cutting time interval. The preset cutting weight is updated according to m+1 cutting quantities and the profile length when the cutting quantity determined by the preset cutting weight and the weight parameter is a non-integer, and the non-integer part is greater than or equal to a preset slice base. The preset cutting weight is updated according to m-1 cutting quantities and the profile length when the cutting quantity determined by the preset cutting weight and the profile length is a non-integer, and the non-integer part is less than a preset slice base.

8. An adaptive reshaping system to optimize 3D imaging performance of irregular raw meat, characterized by, The adaptive shaping method for optimizing the 3D imaging performance of irregular raw meat in any one of claims 1 to 7 is used when the 3D imaging performance of irregular raw meat is optimized.

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