Automatic and orderly litchi feeding device and automatic litchi feeding method

Abstract

The invention provides an automatic and orderly litchi feeding device and an automatic litchi feeding method, and belongs to the technical field of feeding devices. The automatic ordered litchi feeding device comprises a rack, wherein a feeding hopper is arranged on the rack; a plurality of material distributing guide pipes are arranged at an outlet of the feeding hopper, one end of each material distributing guide pipe is communicated with the outlet of the feeding hopper, the other opposite end of each material distributing guide pipe is connected with the bearing mechanism, a plurality of bearing positions are arranged on the bearing mechanism, and each bearing position is opposite to one material distributing guide pipe; and the receiving mechanism is covered with a thermal forming film. According to the device, automatic feeding of litchi mulching films can be achieved, the litchi mulching efficiency can be improved, and the production cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of feeding devices, and in particular to an automatic and orderly litchi feeding device and a litchi automatic feeding method. Background Art

[0002] Liquid nitrogen cryogenic quick freezing technology utilizes liquid nitrogen as a refrigerant for rapid freezing. Liquid nitrogen is a cryogenic medium with a very low boiling point, approximately -196°C (-320°F), allowing it to rapidly absorb large amounts of heat and achieve rapid cooling. This technology is particularly important in food processing and preservation, as it maximizes the freshness, taste, and nutritional value of food. With the widespread adoption of liquid nitrogen cryogenic quick freezing technology in the food industry, the ultra-low temperature supply chain has gradually exposed some issues, such as the quick freezing process for fruits like lychees. Before being frozen in liquid nitrogen, lychees must be precisely placed in thermoformed film packaging to ensure optimal freezing and subsequent quality. However, this process currently relies primarily on manual labor, with workers manually placing each lychee into its corresponding thermoformed film. This frequent manual placement not only consumes significant manpower but also hinders automated production, resulting in inefficient lychee packaging. Furthermore, manual operation introduces errors and uncertainties, which can affect the placement and quantity of lychees, impacting overall product quality, production efficiency, and increasing production costs.

[0003] Therefore, it is necessary to improve the existing film packaging method of litchi to overcome the defects of the prior art. Summary of the Invention

[0004] In order to overcome the problems existing in the related art, one of the purposes of the present invention is to provide an automatic and orderly feeding device for litchi, which can realize automatic feeding of litchi film, improve the efficiency of litchi film covering, and reduce production costs.

[0005] A litchi automatic and orderly feeding device, comprising:

[0006] A frame, wherein a hopper is provided on the frame;

[0007] A plurality of material distribution conduits are provided at the outlet of the upper hopper, one end of each of the material distribution conduits is connected to the outlet of the upper hopper, and the other end opposite thereto is connected to a receiving mechanism, and a plurality of receiving positions are provided on the receiving mechanism, and each receiving position is respectively opposite to one of the material distribution conduits;

[0008] The receiving mechanism is covered with a thermoforming film.

[0009] In a preferred technical solution of the present invention, a swing mechanism is provided on the frame, and the swing mechanism is provided on one side of the upper hopper;

[0010] The swing mechanism includes a swing drive motor and a rocker arm, wherein the swing drive motor is fixed to the frame, the rocker arm is arranged on one side of the upper hopper, the output end of the swing drive motor is fixedly connected to one end of the rocker arm, and the other end of the rocker arm is fixedly connected to the upper hopper;

[0011] The upper hopper is hinged to the frame.

[0012] In a preferred technical solution of the present invention, two swing mechanisms are provided, and the two swing mechanisms are symmetrical about the axis center of the upper hopper.

[0013] In a preferred technical solution of the present invention, a detachable adapter is provided at the outlet of the upper hopper, and a plurality of discharge ports are provided on the adapter, and the plurality of discharge ports are arranged in an array of m rows and n columns, where m and n are both natural numbers greater than 1;

[0014] One end of the material distribution conduit is communicated with the discharge port.

[0015] In a preferred technical solution of the present invention, a telescopic tube is provided between the material distribution conduit and the material discharge port.

[0016] In a preferred technical solution of the present invention, a separation rotating shaft is further included, the separation rotating shaft is hinged to the frame, and the separation rotating shaft is arranged between the receiving mechanism and the material distribution conduit; the frame is also provided with a separation motor for driving the separation rotating shaft to rotate;

[0017] The separation rotating shaft is provided with a separation feed port and a separation discharge port. The separation feed port is communicated with the material distribution conduit, and the separation discharge port corresponds to the receiving position of the separation discharge port.

[0018] In a preferred technical solution of the present invention, a driving device is further provided on the frame, and the driving device includes a cross guide rail and a slider. The slider is slidably provided on the cross guide rail, and the receiving mechanism is provided on the slider.

[0019] In a preferred technical solution of the present invention, it further includes an image acquisition device, which is arranged on the frame and facing the receiving mechanism;

[0020] The image acquisition device is used to acquire the litchi pattern in the receiving mechanism and extract litchi features based on a preset algorithm model.

[0021] In a preferred technical solution of the present invention, the preset algorithm model includes a YoloV8 litchi recognition model improved based on a Gaussian filtering algorithm;

[0022] The model introduces an improved Gaussian filtering algorithm for image processing to process abnormal eigenvalues ​​and suppress speckle noise.

[0023] The improvement process of the Gaussian filtering algorithm is as follows:

[0024] The robust Gaussian filter expression is shown in formula (1):

[0025]

[0026] In formula (1), ε(φ) refers to the surface profile of the litchi; φ(α) refers to the low-frequency reference signal; γ(α) refers to the introduced vertical weight function; η(α-φ) refers to a convolution operation of the Gaussian weight function; D(φ) refers to the frequency response function; α1 and α2 represent the integration limits. Through continuous iterative operations, the optimal γ(α) is found.

[0027] Differentiate {φ(α)} and calculate the robust Gaussian filter centerline, as shown in formula (2):

[0028]

[0029] In formula (2), Refers to a convolution operation on the surface contour of the litchi; Refers to the frequency response function;

[0030] Then to Perform discrete calculations, and the calculation formula is shown in formula (3):

[0031]

[0032] In formula (3), η(α) refers to the Gaussian weight function;

[0033] In each iteration When , Gaussian filters are used to implement γ(α) and The residual function is introduced into the filter, and the residual function formula is shown in formula (4):

[0034]

[0035] In formula (4), mi d refers to the median, λ(α) refers to the integral function;

[0036] By continuously iterating γ(α+1), the iterative calculation formula is shown in formula (5):

[0037]

[0038] After iteration, γ(α) and To find the optimal solution, the calculation formula is shown in formula (6):

[0039]

[0040] Repeat multiple iterations to eliminate Gaussian noise and interference caused by outliers;

[0041] The edge of the image frame is detected using the Prewitt edge detection operator. The image is binarized, and the Boolean values ​​of smooth, non-edge pixel blocks are set to 0. The values ​​of pixel blocks with complex textures and located in edge areas are set to 1. The percentage of pixels with a value of "1" in each block is calculated, and the resulting data is sorted, with the median value taken as the set threshold. The image is judged, and blocks with a percentage greater than the set threshold are considered "edge blocks", and blocks with a percentage less than the set threshold are considered "non-edge blocks".

[0042] An attention mechanism SimAM module is added to the improved YoloV8 litchi recognition model. The SimAM module directly calculates the three-dimensional global weight for the litchi feature map, speeding up the calculation process of the attention weight.

[0043] A second object of the present invention is to provide an automatic litchi feeding method, which is implemented based on the automatic and orderly litchi feeding device as described above.

[0044] The beneficial effects of the present invention are:

[0045] The present invention provides an automatic, orderly feeding device for lychees. The device comprises a hopper mounted on a frame. Multiple distribution pipes are located at the outlet of the hopper. Each distribution pipe communicates with the outlet of the hopper at one end and connects to a receiving mechanism at the other end. The receiving mechanism is provided with multiple receiving positions, each corresponding to a distribution pipe. The receiving mechanism is covered with a thermoformed film. The distribution pipes are evenly spaced to ensure orderly distribution of lychees. Each distribution pipe forms a channel for transporting the lychees. The receiving positions of the receiving mechanism are designed with predetermined spacing and arrangement to ensure that each position corresponds to a distribution pipe. This ensures that lychees falling from the distribution pipes precisely land in their corresponding receiving positions, achieving orderly arrangement. In practice, lychees are first poured into the hopper and fall into the distribution pipes. Then, the lychees slide orderly through the distribution pipes and into the receiving positions of the receiving mechanism. Next, the thermoformed film covering device is activated, applying the film to the receiving mechanism and applying heat and shaping to ensure a tight fit on the surface of the litchi. Finally, the coated litchi is removed from the receiving mechanism for subsequent storage and transportation. This device enables automated and orderly feeding and film coating of litchi, significantly improving work efficiency and reducing the tedious and time-consuming manual operations. The formed film covering method also reduces the consumption of traditional packaging materials, thereby lowering overall production costs.

[0046] The present application also provides a litchi automatic feeding method based on the above-mentioned litchi automatic and orderly feeding device. The method can realize the automatic and orderly feeding and coating of litchi, greatly improves work efficiency, reduces the tedious and time-consuming manual operation, and can reduce production costs and improve the quality of litchi coating. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a first perspective view of the automatic and orderly litchi feeding device provided in an embodiment of the present invention;

[0048] Figure 2 yes Figure 1 A side view of the automatic and orderly litchi feeding device;

[0049] Figure 3 yes Figure 1 A top view of the automatic and orderly litchi feeding device;

[0050] Figure 4 is a second perspective view of the automatic and orderly litchi feeding device provided in an embodiment of the present invention;

[0051] Figure 5 yes Figure 4 A side view of the automatic and orderly litchi feeding device;

[0052] Figure 6 It is a schematic diagram of the cooperation between the driving device and the receiving mechanism provided in an embodiment of the present invention.

[0053] Reference numerals:

[0054] 1. Frame; 2. Loading hopper; 3. Material distribution guide tube; 31. Telescopic tube; 4. Separation rotating shaft; 5. Receiver mechanism; 51. Receiver position; 6. Swing mechanism; 61. Swing drive motor; 62. Rocker arm; 7. Adapter; 8. Drive device; 81. Slider; 82. Cross guide rail. DETAILED DESCRIPTION

[0055] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to make the present invention more thorough and complete and to fully convey the scope of the present invention to those skilled in the art.

[0056] Before being frozen in liquid nitrogen, lychees need to be precisely placed in thermoformed film packaging to ensure optimal freezing and subsequent consumption. However, this process currently relies heavily on manual labor, with workers manually placing each lychee into its corresponding thermoformed film. This frequent manual placement not only consumes significant human resources but also hinders automated production, resulting in inefficient lychee packaging. Furthermore, manual labor introduces errors and uncertainties that can affect the placement and quantity of lychees, impacting overall product quality and production efficiency, increasing production costs.

[0057] Based on this, the present application provides an automatic and orderly litchi feeding device.

[0058] See also Figures 1-6 The present application provides a litchi automatic and orderly feeding device, comprising:

[0059] A frame 1 is provided with an upper hopper 2; a plurality of material distribution pipes 3 are provided at the outlet of the upper hopper 2, one end of each of the material distribution pipes 3 is connected to the outlet of the upper hopper 2, and the other end is connected to a receiving mechanism 5, and a plurality of receiving positions 51 are provided on the receiving mechanism 5, and each of the receiving positions 51 is respectively opposite to one of the material distribution pipes 3; each receiving position 51 needs to correspond to one of the material distribution pipes 3 to achieve orderly arrangement of the litchis.

[0060] The receiving mechanism 5 is covered with a thermoformed film. After the litchi falls into the receiving position 51, the thermoformed film is heated and shaped to fit tightly onto the surface of the litchi, forming a protective film that prevents damage to the litchi during transportation and storage while maintaining its freshness and taste.

[0061] The device's distribution conduits 3 are evenly spaced, ensuring orderly distribution of litchis. Each distribution conduit 3 forms a channel for litchi transport. The receiving positions 51 of the receiving mechanism 5 are designed with predetermined spacing and arrangement to ensure that each receiving position 51 corresponds to a distribution conduit 3. This ensures that litchis falling from the distribution conduits 3 precisely land in their corresponding receiving positions 51, achieving orderly arrangement. In actual operation, litchis are first poured into the upper hopper 2 and fall into the distribution conduits 3. They then slide orderly through the distribution conduits 3 onto the receiving positions 51 of the receiving mechanism 5. Next, a thermoforming film coating device is activated to coat the receiving mechanism 5 with a film, heating and shaping it to fit tightly to the surface of the litchi. Finally, the coated litchis are removed from the receiving mechanism 5 for subsequent storage and transportation. This device enables the automated and orderly feeding and coating of litchis, significantly improving work efficiency and reducing the tedious and time-consuming manual operation. The formed film covering method also reduces the consumption of traditional packaging materials, thereby reducing overall production costs.

[0062] In one embodiment, a swing mechanism 6 is provided on the frame 1, and the swing mechanism 6 is provided on one side of the upper hopper 2;

[0063] The swing mechanism 6 includes a swing drive motor 61 and a rocker arm 62. The swing drive motor 61 is fixed to the frame 1. The rocker arm 62 is arranged on one side of the upper hopper 2. The output end of the swing drive motor 61 is fixedly connected to one end of the rocker arm 62, and the other end of the rocker arm 62 is fixedly connected to the upper hopper 2.

[0064] The upper hopper 2 is hinged to the frame 1. The hinged connection ensures the stability of the upper hopper 2 during the swinging process and makes the swinging action more flexible and smooth.

[0065] Furthermore, two swing mechanisms 6 are provided, and the two swing mechanisms 6 are symmetrical about the axis center of the upper hopper 2 .

[0066] Each set of rocking mechanisms 6 includes a rocking drive motor 61 and a rocker arm 62. The rocking drive motor 61 can be a motor or a pneumatic device. The rocking drive motor 61 is firmly fixed to the frame 1 to provide a stable driving force. The rocker arm 62 is arranged on one side of the upper hopper 2, one end of which is fixedly connected to the output end of the rocking drive motor 61, and the other end is fixedly connected to the upper hopper 2 itself. In this way, when the rocking drive motor 61 is started, the upper hopper 2 can be driven to perform a regular rocking motion through the rocker arm 62. The design of the two sets of rocking mechanisms 6 not only makes the upper hopper 2 more evenly stressed during the rocking process, avoiding the deflection or jamming caused by unilateral force, but also can further improve the uniformity of the dispersion of litchi in the upper hopper 2, laying a good foundation for subsequent material distribution and coating operations.

[0067] In actual operation, after the lychees are poured into the loading hopper 2, the rocking mechanism 6 begins to operate, causing the loading hopper 2 to swing rhythmically. This rocking action allows the lychees to be more evenly distributed within the hopper, avoiding blockage or uneven distribution caused by accumulation. The lychees then slide orderly through the distribution conduit 3 onto the receiving position 51 of the receiving mechanism 5, completing the loading process.

[0068] In a more preferred embodiment, a detachable adapter 7 is provided at the outlet of the upper hopper 2, and a plurality of discharge ports are provided on the adapter 7, and the plurality of discharge ports are arranged in an array of m rows and n columns, where m and n are both natural numbers greater than 1;

[0069] One end of the material distribution conduit 3 is communicated with the discharge port.

[0070] Furthermore, a telescopic tube 31 is provided between the material distribution conduit 3 and the material discharge port.

[0071] The detachable adapter 7 allows for easy installation and removal according to actual needs, facilitating the configuration and adjustment of the outlet of the upper hopper 2. The adapter 7 is carefully designed with multiple discharge ports. This design not only increases the number of discharge ports but also makes their distribution more uniform and orderly, providing a strong guarantee for the precise distribution of litchis.

[0072] The design of the telescopic tube 31 ensures that the distribution conduit 3 will not interfere with the swinging of the upper hopper 2, so that the upper hopper 2 can discharge materials better and reduce the failure rate caused by uneven distribution or blockage.

[0073] In another embodiment, the device further comprises a separation rotating shaft 4, which is hinged to the frame 1 and is disposed between the receiving mechanism 5 and the material distribution conduit 3; a separation motor for driving the separation rotating shaft 4 to rotate is further disposed on the frame 1;

[0074] The separation rotating shaft 4 is provided with a separation feed port and a separation discharge port. The separation feed port is communicated with the material distribution conduit 3 , and the separation discharge port corresponds to the receiving position 51 of the separation discharge port.

[0075] The separation rotating shaft 4 can be provided with a storage chamber for collecting and temporarily storing litchis. The separation rotating shaft 4 is hingedly connected to the frame 1, ensuring its stability while also allowing it to rotate to a certain angle. By controlling the start / stop and speed of the separation motor, the rotational state of the separation rotating shaft 4 can be precisely controlled. In actual operation, the litchis first slide through the material distribution conduit 3 to the separation feed port of the separation rotating shaft 4, where they are then briefly collected and temporarily stored within the storage chamber. As the separation motor starts, the separation rotating shaft 4 begins to rotate, and the litchis are gradually dispersed within the storage chamber due to centrifugal force. When the litchis reach the separation discharge port, they are discharged in an orderly manner onto the receiving station 51 along a predetermined path, completing the entire loading and separation process. In actual applications, the separation motor of the present application is implemented using existing technology. A solenoid valve can be provided at the separation discharge port to control its opening and closing. Monitoring equipment monitors the presence of litchis on the receiving mechanism, and the separation motor is started and stopped based on feedback from the monitoring equipment, thereby achieving orderly discharge of the litchis.

[0076] Furthermore, a driving device 8 is further provided on the frame 1 . The driving device 8 includes a cross guide rail 82 and a slider 81 . The slider 81 is slidably provided on the cross guide rail 82 , and the receiving mechanism 5 is provided on the slider 81 .

[0077] The combined design of the cross guide 82 and the slider 81 provides a stable and precise moving track for the receiving mechanism 5, allowing the receiving mechanism 5 to flexibly switch between different positions. This greatly improves the positioning accuracy of the receiving mechanism 5, ensuring that the lychees can accurately fall into the preset receiving position 51. In actual operation, when the lychees are orderly discharged into the receiving position 51 via the separation rotating shaft 4, the drive device 8 will control the movement of the slider 81 on the cross guide 82 according to a preset program or external signal, thereby driving the receiving mechanism 5 to move to the next working position. This movement can be unidirectional or multi-dimensional, depending on the specific production requirements and process flow.

[0078] In one embodiment, the device further includes an image acquisition device (not shown), which is disposed on the frame 1 and facing the receiving mechanism 5 ; the image acquisition device of the present application is prior art.

[0079] The image acquisition device is used to capture the litchi pattern in the receiving mechanism 5 and extract its features based on a pre-set algorithm model. The image acquisition device is capable of capturing real-time image information of the litchi in the receiving mechanism 5. The image acquisition device can be a high-resolution camera or webcam, and its installation must ensure that its viewing angle covers the entire receiving mechanism 5. When the litchi are orderly deposited onto the receiving position 51 via the separating rotating shaft 4, the image acquisition device immediately activates to capture a clear image of the litchi.

[0080] During actual operation, the image acquisition device continuously captures images of the litchi in the receiving mechanism 5 and transmits the data in real time to the algorithm model for processing. After receiving the image data, the algorithm model rapidly extracts features and generates characteristic information about the litchi. This information can be used to control subsequent workflows, such as grading litchi by size, screening by shape, and assessing quality by color to determine whether the litchi is rotten.

[0081] Furthermore, the preset algorithm model includes a YoloV8 litchi recognition model improved based on a Gaussian filtering algorithm;

[0082] The model introduces an improved Gaussian filtering algorithm for image processing to process abnormal eigenvalues ​​and suppress speckle noise.

[0083] The improvement process of the Gaussian filtering algorithm is as follows:

[0084] The robust Gaussian filter expression is shown in formula (1):

[0085]

[0086] In formula (1), ε(φ) refers to the surface profile of the litchi; φ(α) refers to the low-frequency reference signal; γ(α) refers to the introduced vertical weight function; η(α-φ) refers to a convolution operation of the Gaussian weight function; D(φ) refers to the frequency response function; α1 and α2 represent the integration limits. Through continuous iterative operations, the optimal γ(α) is found.

[0087] Differentiate {φ(α)} and calculate the robust Gaussian filter centerline, as shown in formula (2):

[0088]

[0089] In formula (2), Refers to a convolution operation on the surface contour of the litchi; Refers to the frequency response function;

[0090] Then to Perform discrete calculations, and the calculation formula is shown in formula (3):

[0091]

[0092] In formula (3), η(α) refers to the Gaussian weight function;

[0093] In each iteration When , Gaussian filters are used to implement γ(α) and The residual function is introduced into the filter, and the residual function formula is shown in formula (4):

[0094]

[0095] In formula (4), mi d refers to the median, λ(α) refers to the integral function;

[0096] By continuously iterating γ(α+1), the iterative calculation formula is shown in formula (5):

[0097]

[0098] After iteration, γ(α) and To find the optimal solution, the calculation formula is shown in formula (6):

[0099]

[0100] Repeated iterations eliminated Gaussian noise and outliers. This process not only eliminated the interference of Gaussian noise but also significantly improved the model's ability to recognize subtle features on the litchi surface. Through iterative processing and Gaussian noise suppression, the model's ability to recognize subtle features and outliers on the litchi surface was significantly improved, enhancing the model's robustness and stability.

[0101] The prewitt edge detection operator is used to detect the edge of the image frame, and the image is binarized. The Boolean value of the smooth, non-edge pixel blocks is set to 0; the value of the pixel blocks with more complex textures and in the edge area is set to 1; the percentage of pixels with a value of "1" in each block is calculated, and the resulting data is sorted, and the median is taken as the set threshold; the image is judged, and the blocks with a percentage greater than the set threshold are regarded as "edge blocks", and the blocks with a percentage less than the set threshold are regarded as "non-edge blocks"; the application of the prewitt edge detection operator simplifies the image information and provides a clearer and more accurate image basis for subsequent feature extraction and recognition.

[0102] An attention mechanism SimAM module is added to the improved YoloV8 litchi recognition model. The SimAM module directly calculates the three-dimensional global weight for the litchi feature map, speeding up the calculation process of the attention weight.

[0103] In this application, an improved Gaussian filtering algorithm is cleverly integrated into the YoloV8 model for preprocessing the acquired litchi images. The algorithm smoothes the surface contour of the litchi using a robust Gaussian filtering expression (Equation 1), effectively suppressing the interference of speckle noise and abnormal eigenvalues. The attention mechanism SimAM module can directly calculate the three-dimensional global weights for the litchi feature map, significantly accelerating the calculation process of the attention weights and improving the detection speed and accuracy of the model. Through the introduction of the SimAM module, the model can focus more closely on the key features of litchi, thereby achieving accurate recognition of litchi.

[0104] In summary, this application uses an improved Gaussian filtering algorithm for image processing, which not only improves the recognition accuracy and robustness of the automatic and orderly feeding device for litchi, but also optimizes the image processing process, improves the detection speed, and provides more intelligent technical support and guarantee for the efficient production and processing of litchi.

[0105] Example 2

[0106] See also Figures 1-6 This embodiment provides a method for automatically feeding litchi, which is implemented based on the automatic and orderly litchi feeding device as described above.

[0107] The method is as follows:

[0108] First, litchis are poured into the upper hopper 2 of the device in batches, and the swing mechanism 6 drives the upper hopper 2 to swing, so that the litchis in the upper hopper 2 can pass through the material distribution conduit 3 and enter the separation rotating shaft 4. The separation rotating shaft 4 is responsible for separating the litchis one by one and discharging them onto the receiving mechanism 5.

[0109] The receiving mechanism 5 can be driven by the driving device 8 to move to a designated position to receive the litchi according to a preset program or an external signal.

[0110] Once the lychees fall into the receiving mechanism 5, the image acquisition device activates, capturing a clear image of the lychees. This image is then fed into a pre-set algorithm model for feature extraction. The model pre-processes the image using an improved Gaussian filter to eliminate noise and outliers. The model then leverages YoloV8's detection capabilities to accurately identify features such as the lychees' position, size, and shape.

[0111] Based on the characteristic information extracted by the algorithm model, the lychees are judged and classified. For example, lychees can be classified into different grades based on their size, or their ripeness can be determined based on their shape and color. The classification results can be fed back to the control system in real time, which controls the movement of the receiving mechanism 5 and subsequent workflow based on the classification results.

[0112] During the loading process of litchi, the driving system drives the slider 81 to slide on the cross guide rail 82 to ensure that the litchi can accurately fall into the preset position.

[0113] When one batch of lychees is processed, the device automatically returns to its initial state and prepares for the next batch of lychees to be loaded. By continuously repeating the above steps, continuous and orderly loading of lychees is achieved.

[0114] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0115] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0116] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A litchi automatic and orderly feeding device, characterized in that: include: A frame, wherein an upper hopper is arranged on the frame; A plurality of material distribution conduits are arranged at the outlet of the upper hopper, one end of each of the material distribution conduits is connected to the outlet of the upper hopper, and the other end opposite thereto is connected to a receiving mechanism, a plurality of receiving positions are arranged on the receiving mechanism, and each receiving position is respectively opposite to one of the material distribution conduits; The receiving mechanism is covered with a thermoforming film.

2. The automatic and orderly litchi feeding device according to claim 1, characterized in that: The frame is provided with a swing mechanism, and the swing mechanism is arranged on one side of the upper hopper; The swing mechanism comprises a swing drive motor and a swing arm, wherein the swing drive motor is fixed on the frame, the swing arm is arranged on one side of the upper hopper, the output end of the swing drive motor is fixedly connected to one end of the swing arm, and the other end of the swing arm is fixedly connected to the upper hopper; The upper hopper is hinged to the frame.

3. The automatic and orderly litchi feeding device according to claim 2, characterized in that: Two swing mechanisms are provided, and the two swing mechanisms are symmetrical about the axis center of the upper hopper.

4. The automatic and orderly litchi feeding device according to claim 1, characterized in that: A detachable adapter is provided at the outlet of the upper hopper, and a plurality of discharge ports are provided on the adapter, and the plurality of discharge ports are arranged in an array of m rows and n columns, wherein m and n are both natural numbers greater than 1; One end of the material distribution conduit is communicated with the material discharge port.

5. The automatic and orderly litchi feeding device according to claim 4, characterized in that: A telescopic tube is arranged between the material distribution conduit and the material discharge port.

6. The automatic and orderly litchi feeding device according to any one of claims 1 to 5, characterized in that: The machine also includes a separation rotating shaft, which is hinged to the frame and arranged between the receiving mechanism and the material distribution conduit; a separation motor for driving the separation rotating shaft to rotate is also arranged on the frame; The separation rotating shaft is provided with a separation feed port and a separation discharge port, the separation feed port is communicated with the material distribution conduit, and the separation discharge port corresponds to the receiving position of the separation discharge port.

7. The automatic and orderly litchi feeding device according to any one of claims 1 to 5, characterized in that: The frame is also provided with a driving device, which includes a cross guide rail and a slider. The slider is slidably arranged on the cross guide rail, and the receiving mechanism is arranged on the slider.

8. The automatic and orderly litchi feeding device according to any one of claims 1 to 7, characterized in that: It also includes an image acquisition device, which is arranged on the frame and faces the receiving mechanism; The image acquisition device is used to acquire the litchi pattern in the receiving mechanism and extract litchi features based on a preset algorithm model.

9. The automatic and orderly litchi feeding device according to claim 8, characterized in that: The preset algorithm model includes a YoloV8 litchi recognition model improved based on a Gaussian filtering algorithm; This model introduces an improved Gaussian filtering algorithm for image processing, realizes the processing of abnormal eigenvalues ​​and suppresses speckle noise; The improvement process of Gaussian filtering algorithm is as follows: The robust Gaussian filter expression is shown in formula (1): In formula (1), ε(φ) refers to the surface profile of litchi; φ(α) refers to the low-frequency reference signal; γ(α) refers to the introduced vertical weight function; η(α-φ) refers to a convolution operation of the Gaussian weight function; D(φ) refers to the frequency response function; α1 and α2 represent the integration limits, and the optimal γ9α) is found through continuous iterative operations; Differentiate {φ(α)} and calculate the robust Gaussian filter centerline, as shown in formula (2): In formula (2), Refers to a convolution operation of the surface contour of the litchi; Refers to the frequency response function; Then Discrete calculation is performed, and the calculation formula is shown in formula (3): In formula (3), η(α) refers to the Gaussian weight function; In each iteration When , the Gaussian filter is used to implement γ(α) and The residual function is introduced into the filter, and the residual function formula is shown in formula (4): In formula (4), mid refers to the median, and λ(α) refers to the integral function; By continuously iterating γ(α+1), the iterative calculation formula is shown in formula (5): After iteration, γ(α) and Find the optimal solution, the calculation formula is shown in formula (6): Repeat multiple iterations to eliminate Gaussian noise and interference caused by outliers; The edge of the image frame is detected using the Prewitt edge detection operator, the image is binarized, the Boolean value of the smooth, non-edge pixel blocks is set to 0; the value of the pixel blocks with more complex textures and in the edge area is set to 1; Calculate the percentage of pixels with a value of "1" in each block, sort the result data, and take the median as the set threshold; judge the image, and regard the blocks with a percentage greater than the set threshold as "edge blocks", and the blocks with a percentage less than the set threshold as "non-edge blocks"; The attention mechanism SimAM module is added to the improved YoloV8 litchi recognition model. The SimAM module directly calculates the three-dimensional global weights for the litchi feature map, speeding up the calculation process of the attention weights.

10. A litchi automatic feeding method, characterized in that: The feeding method is implemented based on the automatic and orderly litchi feeding device as described in any one of claims 1-9.

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