Water jet cutter path automatic planning method and system suitable for vegetable processing

Abstract

The invention discloses a water jet cutter path automatic planning method and system suitable for vegetable processing, and belongs to the technical field of food processing. The method comprises the following steps: firstly, carrying out image acquisition and analysis on vegetable slices, and identifying a vegetable slice area and a wood area of each vegetable slice from an image; in each vegetable slice, performing expansion treatment on the vegetable slice area and the wooden area, and subtracting the wooden area from the vegetable slice area to obtain a meat quality area; then discrete nodes are extracted from the contour line of the meat quality area, the number of the discrete nodes is reduced through fitting, and the fitted discrete nodes are recorded in a clockwise or anticlockwise sequence; and finally, generating a water jet cutter path of each vegetable slice according to the record sequence of the discrete nodes. The water jet cutter path automatic planning scheme is based on image recognition, planning time consumption is short, computing resource consumption is extremely low, and the efficient requirement of the vegetable processing industry can be met.

Description

Technical Field

[0001] The present application belongs to the field of food processing technology, and more specifically, relates to a method and system for automatic water jet path planning suitable for vegetable processing. Background Art

[0002] The picked vegetables are divided into inedible woody parts and edible fleshy parts. Deep processing of vegetables requires the removal of inedible woody parts. Manual removal is very inefficient. Therefore, the use of automated water jets to remove the woody parts of vegetables is the focus of the current vegetable processing industry upgrade.

[0003] The path planning of water jet is one of the key difficulties in technology upgrading. At present, the ant colony algorithm, simulated annealing algorithm, A algorithm and other path planning methods are mostly used to convert the cutting path problem into a traveling salesman (TSP) model, extract the starting point, end point and intermediate nodes on the cutting line, and then search for the optimal cutting sequence according to the shortest path principle. However, in the field of food processing, due to the huge number of vegetables to be processed and their different shapes without rules, the existing path planning algorithms have modeling difficulties and long planning time when facing large-scale vegetable processing. It cannot meet the high efficiency requirements of the vegetable processing industry. Summary of the invention

[0004] In response to the above defects or improvement needs of the prior art, the present application provides a water jet path automatic planning method and system suitable for vegetable processing, which aims to solve the technical problem that the existing water jet path planning method cannot meet the high efficiency requirements of the vegetable processing industry.

[0005] To achieve the above objectives, in a first aspect, the present application provides a method for automatic water jet path planning suitable for vegetable processing, comprising:

[0006] S1, collecting and analyzing images of vegetable slices, and identifying the vegetable slice area and the woody area of ​​each vegetable slice from the image;

[0007] S2, in each vegetable slice, dilate the vegetable slice area and the wooden area, and then subtract the wooden area from the vegetable slice area to obtain the meaty area;

[0008] S3, extracting discrete nodes from the contour line of the fleshy area, reducing the number of discrete nodes by fitting, and recording the fitted discrete nodes in a clockwise or counterclockwise order;

[0009] S4. Generate the water jet path for each vegetable slice according to the record order of the discrete nodes.

[0010] Preferably, the step S1 further includes the following sub-steps:

[0011] S11, using the threshold segmentation method to remove noise in the image;

[0012] S12, removing vegetable slice regions whose area is smaller than a first threshold in the image;

[0013] S13, removing the wood regions in the image whose area is smaller than the second threshold.

[0014] Preferably, the step S1 further includes the following sub-steps:

[0015] S14. Calculate the area ratio of the sum of the wood area and the sum of the vegetable slice area in each vegetable slice. If the area ratio is greater than a third threshold, the vegetable slice with the area ratio is marked as a discarded vegetable slice, and the water jet path is planned as a grid path on the discarded vegetable slice, and then the water jet path planning of the discarded vegetable slice is stopped.

[0016] Preferably, the step S1 further includes the following sub-steps:

[0017] S15. Determine whether the sum of the areas of the woody regions in each vegetable slice is less than a fourth threshold value. If so, the vegetable slice where the woody region is located is marked as a high-quality vegetable slice, and the water jet path planning of the high-quality vegetable slice is stopped.

[0018] Preferably, the step S2 further includes the following sub-steps:

[0019] S21. Determine whether there is a meaty area with an area smaller than a fifth threshold in each vegetable slice, and if so, remove the meaty area.

[0020] Preferably, the number of discrete nodes is reduced by fitting in S3, specifically, all adjacent discrete nodes are connected, each discrete node is judged, and if the angle of the discrete node as a vertex is less than a threshold, the discrete node is removed.

[0021] Preferably, the step S3 further includes the following sub-steps:

[0022] S31, finding multiple discrete nodes located inside the vegetable slice area from the recorded discrete nodes;

[0023] S32: among the plurality of discrete nodes, if the distance d between adjacent discrete nodes A and B is greater than a sixth threshold TH6, then discrete nodes C and D are sequentially added between discrete nodes A and B;

[0024] The position coordinates of discrete node C are (xc, yc), xc = xa + (xb-xa) × TH6 / d, yc = ya + (yb-ya) × TH6 / d, (xa, ya) are the position coordinates of discrete node A, and (xb, yb) are the position coordinates of discrete node B;

[0025] The position of discrete node D is the position on the contour line of the vegetable slice area, which is closest to discrete node C.

[0026] Preferably, the water jet path automatic planning method further comprises the following steps:

[0027] S5, each water knife cuts the multiple vegetable slices within the moving range of the water knife in sequence according to the same rotation order.

[0028] Preferably, step S5 includes the following sub-steps:

[0029] S51, dividing the water jet moving range into an upper half area and a lower half area;

[0030] S52, if the water jet cuts all the vegetable slices in the moving range in a clockwise rotation order, the discrete points of each vegetable slice in the upper half are recorded in a counterclockwise order, and the discrete points of each vegetable slice in the lower half are recorded in a clockwise order;

[0031] S53. If the water jet cuts all the vegetable slices within the moving range in a counterclockwise rotation order, the discrete points of each vegetable slice in the upper half are recorded in a clockwise order, and the discrete points of each vegetable slice in the lower half are recorded in a counterclockwise order.

[0032] In a second aspect, the present application provides a water jet path automatic planning system suitable for vegetable processing, comprising:

[0033] An image acquisition and analysis module is used to acquire and analyze images of vegetable slices, and identify the vegetable slice area and the woody area of ​​each vegetable slice from the image;

[0034] A meat quality area calculation module is used to expand the vegetable slice area and the wooden area in each vegetable slice, and then subtract the wooden area from the vegetable slice area to obtain the meat quality area;

[0035] A contour fitting module is used to extract discrete nodes from the contour of the fleshy area, reduce the number of discrete nodes by fitting, and record the fitted discrete nodes in a clockwise or counterclockwise order;

[0036] The path generation module is used to generate the water jet path of each vegetable slice according to the record order of discrete nodes.

[0037] In a third aspect, the present application provides an electronic device, comprising: a memory for storing programs; a processor for executing the programs stored in the memory, when the program stored in the memory is executed, the processor is used to execute the method described in the first aspect or any possible implementation of the first aspect.

[0038] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0039] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0040] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art:

[0041] (1) The technology of the present application plans the water jet path based on image recognition of vegetables, which can greatly reduce the computing requirements, has a fast planning speed, has low requirements for computing hardware resources, and can meet the work efficiency requirements of the food processing production line.

[0042] (2) A large number of decision-making functions are added to the technology of this application to solve abnormal situations and add special functions, such as: water jet path planning for identifying and chopping waste vegetable slices; water jet path planning for identifying and skipping high-quality vegetable slices; adding interruption nodes when the water jet cutting line is too long; planning the water jet paths of multiple vegetable slices within a certain range together, etc. This allows the system of this application to meet complex and changeable working conditions, and can easily and quickly add or delete independent functional modules in the algorithm according to the adjustment of production line requirements.

[0043] (3) The technology of the present application incorporates the mechanical limitations of the water jet into the water jet path planning, thereby avoiding the mutual influence of the water jets during the operation of multiple water jets and ensuring the orderly operation of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a flow chart of the automatic water jet path planning method of the present application.

[0045] Figure 2 It is an overall flow chart of a method for automatic water jet path planning suitable for vegetable processing provided in an embodiment of the present application.

[0046] Figure 3 This is an image of vegetable slices obtained by a front-end camera device provided in an embodiment of the present application.

[0047] Figure 4 It is a three-value image of the vegetable slice image provided in the embodiment of the present application.

[0048] Figure 5 This is a vegetable slice graphic that has been preprocessed by filtering and filling, as provided in an embodiment of the present application.

[0049] Figure 6 It is the old rib pattern after filtering and filling preprocessing provided in the embodiment of the present application.

[0050] Figure 7 It is the meat texture pattern obtained by subtracting the old tendon pattern from the vegetable slice pattern provided in the embodiment of the present application.

[0051] Figure 8 This is the planned water jet path provided in the embodiment of the present application.

[0052] Fig. 9 It is a framework diagram of the water jet path automatic planning system of this application. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] The terms "first" and "second" in the specification and claims herein are used to distinguish different objects rather than to describe a specific order of objects. For example, a first threshold and a second threshold are used to distinguish different thresholds rather than to describe a specific order of thresholds.

[0055] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0056] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more than two. For example, multiple water knives refer to two or more water knives, etc.; multiple vegetable slices refer to two or more vegetable slices, etc.

[0057] like Figure 1 As shown, the technical solution of this application includes the following steps:

[0058] S1, collecting and analyzing images of vegetable slices, and identifying the vegetable slice area and the woody area of ​​each vegetable slice from the image;

[0059] S2, in each vegetable slice, dilate the vegetable slice area and the wooden area, and then subtract the wooden area from the vegetable slice area to obtain the meaty area;

[0060] S3, extracting discrete nodes from the contour line of the fleshy area, reducing the number of discrete nodes by fitting, and recording the fitted discrete nodes in a clockwise or counterclockwise order;

[0061] S4. Generate the water jet path for each vegetable slice according to the record order of the discrete nodes.

[0062] Next, the technical solution of the present application is further introduced in conjunction with embodiments.

[0063] like Figure 2 As shown, the embodiment of the present application provides a method for automatic water jet path planning suitable for vegetable processing, wherein the vegetable processing is processing pickled vegetable slices and removing the old tendon parts in the pickled vegetable slices, specifically comprising the following steps:

[0064] Step 1: Collect pickled vegetable images, analyze each pickled vegetable graphic on the image, and divide the graphic area into the pickled vegetable slice area, the pickled vegetable wood area, and the background area.

[0065] Among them, an image acquisition device, such as a digital camera, is used to take pictures of the production line to obtain Figure 3 The real-object image shown is processed by the old rib recognition algorithm to obtain a raw format image, which is then converted into a jpg format image as the input for waterjet path planning, as shown in Figure 4 As shown, the black part is the background area, the white part is the old tendon area, and the gray part is the meaty area.

[0066] Step 2: Preprocess the parsed image.

[0067] Specifically, step 2 includes the following steps:

[0068] Step 2.1: Use the cv2 library based on python-opencv and the threshold segmentation function cv2.threshold() to filter out the dark noise in the jpg format input image.

[0069] Step 2.2: Use the threshold segmentation function cv2.threshold(), use the cv2.findContours() function to obtain the outer contour of the pickled vegetable slice area pixel block and save it to the pickle[] array, call the cv2.contourArea() function to traverse and retrieve the vegetable slice area in the pickle[] array that is less than a certain number of pixels, and use cv2.fillPoly() to fill these areas with the background color, such as Figure 5 As shown; this step is to remove the parts of the vegetable slices that are too small.

[0070] Step 2.3: Use the threshold segmentation function cv2.threshold(), use the cv2.findContours() function to obtain the outer contour of the pixel block in the old rib area and save it to the stem[] array, call the cv2.contourArea() function to traverse and retrieve the old rib area with an area less than 50 pixels in the stem[] array, and use cv2.fillPoly() to fill these areas with the background color, such as Figure 6 As shown; this step is to remove the parts of the wood area that are too small.

[0071] Step 3: Establish a Cartesian coordinate system with the center of the image as the origin, calculate the quadrant position of the vegetable slice, and select the target vegetable slice cutting order according to the quadrant.

[0072] Specifically, according to the process design of the production line, the pickled vegetables are spread in a way that four slices of vegetables are distributed in the four corners of the image at a time, and the cv2.moments() function is used to obtain the centroid position of each vegetable slice element group in the pickle[] array, and the pixel to which it belongs is determined. The corresponding vegetable slice array is recorded in the order of the first, second, third and fourth quadrants into pickle_order[p1,p2,p3,p4].

[0073] Since there are two working conditions in the production process, clockwise cutting and counterclockwise cutting, when cutting clockwise, the cutting target is selected in the order of p2, p1, p4, p3; when cutting counterclockwise, the cutting target is selected in the order of p1, p2, p3, p4.

[0074] Step 4: Perform image dilation processing on the wooden area, and then subtract the area overlapping with the wooden area from the vegetable area to obtain the pickled vegetable meat area that needs to be retained, where the boundary between the meat area and the wooden area is the water jet cutting line.

[0075] Step 4.1: Use cv2.dilate() function to get the old tendon expansion area dilate_stem.

[0076] Step 4.2: Use cv2.dilate() function to get the dilated area of ​​the vegetable slice dilate_pickle.

[0077] Step 4.3: Subtract the expansion area of ​​the old tendon from the expansion area of ​​the pickled vegetable slices to obtain the meat area to be retained pi_st = dilate_pickle-dilate_stem.

[0078] Step 4.4: Use the cv2.findContours() function to obtain the outer contour of the meat area pixel block and save it to the pi_st[] array. Call the cv2.contourArea() function to traverse and retrieve the vegetable slice areas in the pi_st[] array that are less than a certain number of pixels, and use cv2.fillPoly() to fill these areas with the background color. The processing result shows that the remaining meat area is as follows Figure 7 The purpose of this step is to remove the small part of the fleshy area.

[0079] Step 4.5: Use the cv2.moments() function to obtain the centroid position of each remaining fleshy area element group in the pi_st[] array, determine the pixel to which it belongs, and record the corresponding array in the order of quadrants 1, 2, 3, and 4 into pi_st_order[s1, s2, s3, s4].

[0080] Step 5: Extract the discrete nodes of the contour of the pickled vegetable meat area graph, reduce the number of single-piece meat contour nodes according to the characteristics of node spacing, node angle change amplitude, and record the node coordinates in a clockwise or counterclockwise arrangement according to the contour.

[0081] Specifically, step 5 includes the following steps:

[0082] Step 5.1: Use the cv2.approxPolyDP() function to calculate the fitting contour nodes of the fleshy area contour in each quadrant of the pi_st_order[] array, and save them in approx_order[a1,a2,a3,a4] in quadrant order.

[0083] Step 5.2: The default arrangement order of the fitting nodes is counterclockwise around the vegetable slices. When the vegetable slices are cut into quadrants of "one, two, three, and four", the nodes recorded in a1 and a2 are respectively re-recorded in reverse order as b1 and b2; when the vegetable slices are cut into quadrants of "two, one, four, and three", the nodes recorded in a3 and a4 are respectively re-recorded in reverse order as b3 and b4.

[0084] Step 5.3: Record all cutting nodes in order, where the node array of the “one, two, three, four” quadrant cutting order is recorded as b1→b2→a3→a4, and the node array of the “two, one, four, three” quadrant cutting order is recorded as a2→a1→b4→b3.

[0085] Step 6: Add special function modules according to process requirements.

[0086] Specifically, in the current invention example, two special function modules are added according to process requirements.

[0087] The first function module is the bypass function for high-quality vegetable slices. When the vegetable slice does not contain the old tendons that need to be cut, the path in this quadrant bypasses the vegetable slice in a straight line, such as Figure 8 The path is shown in the upper right corner.

[0088] The second function module is the old rib breaking function, which is to insert breaking nodes that meet the requirements on the water jet cutting lines in the four quadrants. This function module includes the following steps:

[0089] S31, finding multiple discrete nodes located inside the vegetable slice area from the recorded discrete nodes;

[0090] S32: among the plurality of discrete nodes, if the distance d between adjacent discrete nodes A and B is greater than a sixth threshold TH6, then discrete nodes C and D are sequentially added between discrete nodes A and B;

[0091] The position coordinates of discrete node C are (xc, yc), xc = xa + (xb-xa) × TH6 / d, yc = ya + (yb-ya) × TH6 / d, (xa, ya) are the position coordinates of discrete node A, and (xb, yb) are the position coordinates of discrete node B;

[0092] The position of discrete node D is the position on the contour line of the vegetable slice area, which is closest to discrete node C.

[0093] Step 7 generates a plane cutting path according to the vegetable slice cutting order and the corresponding vegetable slice output node coordinates. Specifically, the node coordinates in the b1→b2→a3→a4 or a2→a1→b4→b3 array after the above inserted interruption nodes are sequentially integrated into the out[] array and converted into machining G code to complete the plane cutting path planning and output, such as Figure 8 As shown, the line segments around the vegetable slices represent the planned paths.

[0094] This application also implements a water jet path automatic planning system suitable for vegetable processing. Fig. 9 As shown, it includes an image acquisition and analysis module, a meat area calculation module, a contour fitting module and a path generation module. It should be understood that the above system is used to execute the method in the above embodiment, and the corresponding modules in the system have similar implementation principles and technical effects as those described in the above method. The working process of the system can refer to the corresponding process in the above method, which will not be repeated here.

[0095] Based on the method in the above embodiment, an embodiment of the present application provides an electronic device, which may include: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus. The processor may call the logic instructions in the memory to execute the method in the above embodiment.

[0096] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0097] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0098] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0099] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0100] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0101] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a storage medium or transmitted through the storage medium. The computer instructions may be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0102] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0103] The above content is easily understood by those skilled in the art. The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A water jet path automatic planning method suitable for vegetable processing, characterized in that: include: S1, collecting and analyzing images of vegetable slices, and identifying the vegetable slice area and the woody area of ​​each vegetable slice from the image; S2, in each vegetable slice, dilate the vegetable slice area and the wooden area, and then subtract the wooden area from the vegetable slice area to obtain the meaty area; S3, extracting discrete nodes from the contour line of the fleshy area, reducing the number of discrete nodes by fitting, and recording the fitted discrete nodes in a clockwise or counterclockwise order; S4. Generate the water jet path for each vegetable slice according to the record order of the discrete nodes.

2. The water jet path automatic planning method according to claim 1, characterized in that: The step S1 also includes the following sub-steps: S11, using the threshold segmentation method to remove noise in the image; S12, removing vegetable slice regions whose areas in the image are smaller than a first threshold; S13, removing the wood regions in the image whose area is smaller than the second threshold.

3. The water jet path automatic planning method according to claim 1, characterized in that: The step S1 further comprises the following sub-steps: S14. Calculate the area ratio of the sum of the wood area and the sum of the vegetable slice area in each vegetable slice. If the area ratio is greater than a third threshold, the vegetable slice with the area ratio is marked as a discarded vegetable slice, and the water jet path is planned as a grid path on the discarded vegetable slice, and then the water jet path planning of the discarded vegetable slice is stopped.

4. The water jet path automatic planning method according to claim 1, characterized in that: The step S1 further comprises the following sub-steps: S15. Determine whether the sum of the areas of the woody regions in each vegetable slice is less than a fourth threshold value. If so, the vegetable slice where the woody region is located is marked as a high-quality vegetable slice, and the water jet path planning of the high-quality vegetable slice is stopped.

5. The water jet path automatic planning method according to claim 1, characterized in that: The step S2 further comprises the following sub-steps: S21. Determine whether there is a meaty area with an area smaller than a fifth threshold in each vegetable slice, and if so, remove the meaty area.

6. The water jet path automatic planning method according to claim 1, characterized in that: In S3, the number of discrete nodes is reduced by fitting, specifically: all adjacent discrete nodes are connected, each discrete node is judged, and if the angle of the discrete node as a vertex is less than a threshold, the discrete node is removed.

7. The water jet path automatic planning method according to claim 1, characterized in that: The step S3 also includes the following sub-steps: S31, finding multiple discrete nodes located inside the vegetable slice area from the recorded discrete nodes; S32: among the plurality of discrete nodes, if the distance d between adjacent discrete nodes A and B is greater than a sixth threshold TH6, then discrete nodes C and D are sequentially added between discrete nodes A and B; The position coordinates of discrete node C are (xc, yc), xc = xa + (xb-xa) × TH6 / d, yc = ya + (yb-ya) × TH6 / d, (xa, ya) are the position coordinates of discrete node A, and (xb, yb) are the position coordinates of discrete node B; The position of discrete node D is the position on the contour line of the vegetable slice area, which is closest to discrete node C.

8. The water jet path automatic planning method according to claim 1, characterized in that: The water jet path automatic planning method further comprises the following steps: S5, each water knife cuts the multiple vegetable slices within the moving range of the water knife in sequence according to the same rotation order.

9. The water jet path automatic planning method according to claim 8, characterized in that: The step S5 comprises the following sub-steps: S51, dividing the water jet moving range into an upper half area and a lower half area; S52, if the water jet cuts all the vegetable slices in the moving range in a clockwise rotation order, the discrete points of each vegetable slice in the upper half are recorded in a counterclockwise order, and the discrete points of each vegetable slice in the lower half are recorded in a clockwise order; S53. If the water jet cuts all the vegetable slices within the moving range in a counterclockwise rotation order, the discrete points of each vegetable slice in the upper half are recorded in a clockwise order, and the discrete points of each vegetable slice in the lower half are recorded in a counterclockwise order.

10. An automatic water jet path planning system suitable for vegetable processing, characterized in that: include: An image acquisition and analysis module is used to acquire and analyze images of vegetable slices, and identify the vegetable slice area and the woody area of ​​each vegetable slice from the image; A meat quality area calculation module is used to expand the vegetable slice area and the wooden area in each vegetable slice, and then subtract the wooden area from the vegetable slice area to obtain the meat quality area; A contour fitting module is used to extract discrete nodes from the contour of the fleshy area, reduce the number of discrete nodes by fitting, and record the fitted discrete nodes in a clockwise or counterclockwise order; The path generation module is used to generate the water jet path of each vegetable slice according to the record order of discrete nodes.

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