An intelligent control system for separating pomegranate peel and seeds

Abstract

The present invention relates to the technical field of food processing process control, and proposes an intelligent control system for separating pomegranate peel and seeds. The specific implementation steps of the present invention include: extracting key parameters such as the maximum diameter, side length and sepal diameter of mature pomegranates, calculating the estimated value of peel thickness, and determining the cutting depth and cutting position of the top and side; by analyzing the damage of pomegranate seeds after cutting, constructing a cutting parameter controller, and dynamically adjusting the cutting depth control parameter; controlling the pomegranate knocking force according to parameters such as pomegranate weight, peel thickness, and maximum diameter, and controlling the pomegranate rotation speed according to the seed weight change rate; real-time monitoring of the relevant indicators of knocking off pomegranate seeds, constructing a separation parameter controller, and adaptively adjusting the control parameters of knocking force and rotation speed. The system effectively improves the precision of pomegranate cutting and separation through precise adaptive control and intelligent parameter adjustment, and significantly reduces the breakage rate of pomegranate seeds.

Description

Technical Field

[0001] The invention relates to the technical field of food processing control, in particular to an intelligent control system for separating pomegranate peel and seeds. Background Art

[0002] Pomegranate is widely used in the production and processing of foods such as juice and functional drinks because it is rich in various bioactive ingredients (such as polyphenols, anthocyanins and vitamin C). In the production process of pomegranate drinks, the separation of pomegranate peel and seeds is a key pre-treatment link, which directly affects the flavor, nutritional content and processing efficiency of the product. However, since the pomegranate peel is tough and rich in tannins, and the seed structure is compact, the use of mechanical crushing methods often has problems such as incomplete separation, high seed breakage rate and impurity residue, which affects the quality of the final product. Therefore, the internal structure of the pomegranate can be detected in real time through an intelligent control method, thereby optimizing the pomegranate peel and seed separation process.

[0003] The pomegranate peeling machine used in the prior art can simulate the manual beating of the pomegranate peel after cutting, separate the pomegranate peel from the seeds, and reduce the seed breakage rate. However, the pomegranate peeling machine can neither control the seed breakage during the pomegranate cutting process nor ignore the differences in the internal structure of different pomegranates, which may cause the beating force to be too heavy or too light, thereby causing the internal white diaphragm to penetrate or the pomegranate peel and seeds to be incompletely separated, further affecting the flavor and processing efficiency of the pomegranate drink.

[0004] Therefore, an intelligent control system for separating pomegranate peel and seeds is proposed. Summary of the invention

[0005] The object of the present invention is to provide an intelligent control system for separating pomegranate peel from seeds, extract key parameters such as the maximum diameter, side length and sepal diameter of mature pomegranate, calculate the estimated value of peel thickness, determine the cutting depth and cutting position of the top and side; by analyzing the damage of pomegranate seeds after cutting, construct a cutting parameter controller, and dynamically adjust the cutting depth control parameter; control the pomegranate knocking force according to parameters such as pomegranate weight, peel thickness, and maximum diameter, and control the pomegranate rotation speed according to the change rate of seed weight; monitor the relevant indicators of knocking off pomegranate seeds in real time, construct a separation parameter controller, and adaptively adjust the control parameters of knocking force and rotation speed. The system effectively improves the precision of pomegranate cutting and separation through precise adaptive control and intelligent parameter adjustment, and significantly reduces the breakage rate of pomegranate seeds.

[0006] An intelligent control system for separating pomegranate peel and seeds, comprising:

[0007] The pomegranate basic parameter acquisition module collects the top and side images of the mature pomegranate, and obtains the maximum diameter, side length and sepal diameter of the mature pomegranate through image processing methods;

[0008] The pomegranate cutting control module calculates the estimated value of the peel thickness according to the maximum diameter, side length and sepal diameter of the pomegranate, and controls the top cutting position and top cutting depth; obtains non-pomegranate seed images, extracts the peel thickness, diaphragm position and diaphragm length through image analysis algorithms, and controls the side cutting position and side cutting depth;

[0009] A cutting parameter adaptive control module is used to obtain a pomegranate cutting diagram, identify the total number, the number of damaged pomegranate seeds, and the damaged area, and calculate the pomegranate seed damage index; a cutting parameter controller is constructed to adaptively control the top depth cutting control parameter and the side depth cutting control parameter in combination with the pomegranate seed damage index;

[0010] The pomegranate separation control module obtains the weight of the mature pomegranate, calculates the compressive hardness in combination with the peel thickness and the maximum diameter, and fits the pomegranate knocking force through a nonlinear function; calculates the pomegranate seed weight change rate according to the obtained pomegranate seed weight and knocking frequency, and controls the pomegranate rotation speed in combination with the maximum diameter;

[0011] The separation parameter adaptive control module obtains the number of broken pomegranate seeds, the membrane drop area and the remaining number of pomegranate seeds, calculates the seed breakage rate, the membrane drop index and the degree of seed knocking off, builds a separation parameter controller, and adaptively adjusts the knocking force control parameters and the rotation speed control parameters.

[0012] Preferably, the specific implementation process of obtaining the maximum diameter, the side length and the sepal diameter of a mature pomegranate includes:

[0013] The top image and the side image are preprocessed by image denoising, image enhancement, image segmentation and image standardization operations to obtain a pomegranate top segmentation map and a pomegranate side segmentation map; the pomegranate top contour in the pomegranate top segmentation map is obtained according to an edge detection algorithm, and the maximum diameter and the sepal diameter are calculated by a morphological processing method; the pomegranate side image in the pomegranate side segmentation map is extracted, and the side length is calculated in combination with a minimum circumscribed rectangle algorithm.

[0014] Preferably, the implementation process of the pomegranate cutting control module includes:

[0015] Calculate the estimated value of the pericarp thickness based on the maximum diameter, the side length and the sepal diameter; combine the side length and top position cutting control parameters ,pass Control the top cutting position ; According to the estimated value of the peel thickness and top depth cutting control parameters , combined with Control the top cutting depth ;

[0016] The top image of the ripe pomegranate after top cutting is collected to obtain the internal structure diagram of the pomegranate; the non-pomegranate seed area in the pomegranate internal structure diagram is extracted by an image segmentation algorithm to generate the non-pomegranate seed image; the peel thickness in the non-pomegranate seed image is obtained by an image analysis algorithm. , the diaphragm position and the diaphragm length According to The diaphragm position of the diaphragm , the peel thickness , No. The diaphragm length of the diaphragm and Cutting control parameters of the lateral position of the diaphragm , combined with Control The side cutting position ; Combined with the peel thickness, The diaphragm length and the Side cutting depth control parameters at the side cutting position ,pass Control The side cutting depth at the side cutting position .

[0017] Preferably, the specific implementation process of the cutting parameter adaptive control module includes:

[0018] The top image of the mature pomegranate after side cutting is collected to obtain the pomegranate cutting diagram; the total number, the number of damaged pomegranate seeds and the damaged area in the pomegranate cutting diagram are identified, and the pomegranate seed damage index is calculated, and the specific formula is expressed as follows:

[0019] ;

[0020] in, represents the pomegranate seed damage index; Indicates the number of broken pomegranate seeds; Indicates the total number of pomegranate seeds; Indicates broken pomegranate seeds The damaged area; represents the total area of ​​the pomegranate seeds in the pomegranate cut diagram;

[0021] The cutting parameter controller is constructed, and the top depth cutting control parameter and the side depth cutting control parameter are adaptively controlled by the pomegranate seed damage index. The specific calculation formula is:

[0022] ;

[0023] in, Indicates the top depth cutting control parameter in the next ripe pomegranate cutting process; Indicates the current top depth cutting control parameter; express The adjustment coefficient of Indicates the side depth cutting control parameter in the next ripe pomegranate cutting process; Indicates the current ripe pomegranate The side depth cutting control parameter of the diaphragm; express The adjustment coefficient.

[0024] Preferably, the specific implementation process of fitting the pomegranate knocking force by a nonlinear function includes:

[0025] Get the weight of a ripe pomegranate , combined with the peel thickness , the maximum diameter , factors affecting basic parameters of pomegranate and the exponential adjustment coefficient of the peel thickness ,pass Calculation of the compressive hardness of ripe pomegranates According to the compressive hardness, the maximum diameter and the number of side cuts, the pomegranate knocking force is obtained by fitting a nonlinear mapping function, and the specific formula is:

[0026] ;

[0027] in, Indicates the intensity of striking the pomegranate; represents the control parameter of the knocking force; Represents an exponential function with a natural constant as base; Indicates the number of side cuts; An exponential adjustment factor representing the amount of side cuts.

[0028] Preferably, the specific implementation process of calculating the rotation speed of the pomegranate includes:

[0029] The weight of the knocked-off pomegranate seeds is collected in real time to obtain the weight of the pomegranate seeds; combined with the knocking frequency and the weight of the pomegranate seeds ,pass , calculate the weight change rate of the pomegranate seeds ;in, Indicates The weight of the pomegranate seeds after the knock; combining the weight change rate of the pomegranate seeds and the maximum diameter, controlling the pomegranate rotation speed of the mature pomegranate; the specific calculation formula is:

[0030] ;

[0031] in, represents the rotation speed of the pomegranate; represents the influence factor of the maximum diameter; represents the maximum diameter; Represents an exponential function with a natural constant as base; represents the rotation speed control parameter; Indicates the predetermined weight change threshold.

[0032] Preferably, the specific implementation process of the separation parameter adaptive control module includes:

[0033] The image of knocked-off pomegranate seeds is collected to identify the number of broken pomegranate seeds and the area where the diaphragm falls off; the seed breakage rate is calculated according to the number of broken pomegranate seeds and the total number of knocked-off pomegranate seeds; the diaphragm fall index is calculated by the diaphragm fall area and the area of ​​knocked-off pomegranate seeds; the internal image of the pomegranate peel is obtained to determine the remaining number of pomegranate seeds, and the degree of seed knocking off is calculated in combination with the total number of knocked-off pomegranate seeds; the separation parameter controller is constructed in combination with the seed breakage rate, the diaphragm fall index and the degree of seed knocking off, and the knocking force control parameter and the rotation speed control parameter are adaptively controlled.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The present invention can accurately obtain various geometric parameters of pomegranates, such as maximum diameter, side length and sepal diameter, by accurately processing the image data of pomegranates. Combined with these data, the top cutting position and depth and the side cutting position and depth can be accurately controlled to avoid over-cutting or under-cutting, and reduce the damage and loss between the pomegranate peel and the seeds.

[0036] 2. The present invention dynamically adjusts the cutting parameters, such as the top depth cutting control parameters and the side depth cutting control parameters, according to the damage of the pomegranate seeds, through the cutting parameter controller, and can flexibly adjust the cutting strategy between pomegranates of different maturity or different varieties. This adaptive control mechanism enables the system to automatically adapt to the characteristics of different pomegranate fruits, ensuring the optimal cutting effect of each pomegranate during the separation process, and improving the stability and flexibility of the production line.

[0037] 3. The present invention achieves an efficient separation effect by accurately controlling the pomegranate knocking force and rotation speed. The knocking force and rotation speed are dynamically adjusted according to parameters such as pomegranate weight, peel thickness, and maximum diameter, thereby ensuring the optimal separation state of peel and seeds, reducing seed damage and peel residue. By collecting the weight of pomegranate seeds in real time and adjusting the rotation speed according to the weight change rate, the problem of excessive or insufficient rotation is effectively avoided, and the separation effect of pomegranate peel and seeds is further improved.

[0038] 4. The separation parameter adaptive control module proposed in the present invention can comprehensively evaluate various factors in the separation process by calculating the seed breakage rate, the membrane drop index and the degree of seed knocking off, and adaptively adjust the control parameters of the knocking force and the rotation speed according to these data, so as to achieve accurate pomegranate seed separation. This module can not only reduce the seed breakage rate, but also effectively control the drop of the membrane, thereby improving the quality of subsequent products. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A flowchart of the steps of an intelligent control system for separating pomegranate peel and seeds provided by an embodiment of the present invention;

[0040] Figure 2 A system structure diagram of an intelligent control system for separating pomegranate peel and seeds provided by an embodiment of the present invention;

[0041] Figure 3 Schematic diagram of top cutting and side cutting of a pomegranate provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] In order to effectively separate the pomegranate peel and seeds to improve the quality of subsequent pomegranate food, a food production plant introduced an intelligent control system for separating the pomegranate peel and seeds, and adaptively controlled the cutting parameters and separation parameters of the pomegranate peel and seed separation process. In order to illustrate the effectiveness of the intelligent control system proposed by the present invention, it will be specifically described in conjunction with the accompanying drawings and the following two embodiments. Embodiment 1

[0044] The embodiment of the present application discloses an intelligent control system for separating pomegranate peel and seeds, which is used to control the cutting parameters and separation parameters of a food production plant A during the separation process of pomegranate peel and seeds, thereby improving the integrity of seed separation and reducing the breakage rate of seeds. Figure 1 and Figure 2 , which are respectively a step flow chart and a system structure diagram of an intelligent control system for separating pomegranate peel and seeds; the specific implementation steps of the system include: collecting top and side images of mature pomegranates, obtaining the maximum diameter, side length and sepal diameter of mature pomegranates; calculating the estimated value of peel thickness, controlling the top cutting position and top cutting depth, extracting peel thickness, diaphragm position and diaphragm length, and controlling the side cutting position and side cutting depth; calculating the pomegranate seed breakage index, constructing a cutting parameter controller, and adaptively controlling the top depth cutting control parameters and the side depth cutting control parameters; calculating the compressive hardness, fitting the pomegranate knocking force through a nonlinear function, calculating the pomegranate seed weight change rate, and controlling the pomegranate rotation speed in combination with the maximum diameter; calculating the seed breakage rate, diaphragm drop index and seed knocking degree, constructing a separation parameter controller, and adaptively adjusting the knocking force control parameters and the rotation speed control parameters.

[0045] Furthermore, the pomegranate basic parameter acquisition module acquires the top image and the side image of the mature pomegranate, and obtains the maximum diameter, the side length and the sepal diameter of the mature pomegranate through the image processing method; the specific implementation process includes:

[0046] The top image and the side image were preprocessed through image denoising, image enhancement, image segmentation and image standardization operations to obtain the pomegranate top segmentation map and the pomegranate side segmentation map; the pomegranate top contour in the pomegranate top segmentation map was obtained according to the edge detection algorithm, and the maximum diameter and sepal diameter were calculated through the morphological processing method; the pomegranate side image in the pomegranate side segmentation map was extracted, and the side length was calculated using the minimum circumscribed rectangle algorithm.

[0047] Table 1 lists some examples of basic parameters for ripening pomegranates.

[0048] Table 1. Some examples of basic parameters of mature pomegranates

[0049]

[0050] The embodiment of the present application can accurately obtain multiple key dimensions of the pomegranate, including the maximum diameter, side length and sepal diameter, by combining image processing technology with geometric algorithms to collect parameters of mature pomegranates. By denoising, enhancing, segmenting and standardizing the top and side images, not only the image quality is improved, but also the influence of noise is reduced. By using edge detection and morphological processing methods, the outline of the pomegranate can be effectively extracted and the maximum diameter, sepal diameter and side length can be calculated, providing data support for subsequent pomegranate peel cutting.

[0051] Furthermore, the pomegranate cutting control module calculates the estimated value of the peel thickness according to the maximum diameter, side length and sepal diameter of the pomegranate, controls the top cutting position and the top cutting depth; obtains the non-pomegranate seed image, extracts the peel thickness, diaphragm position and diaphragm length through the image analysis algorithm, and controls the side cutting position and the side cutting depth; the specific implementation process includes:

[0052] According to the maximum diameter, side length and sepal diameter, the estimated value of pericarp thickness is calculated, and the calculation formula is expressed as:

[0053] ;

[0054] in, represents the estimated value of pericarp thickness; Indicates the maximum diameter; and Indicates the adjustment factor of the maximum diameter; Indicates the side length; Indicates the adjustment factor of the side length; represents the sepal diameter, which is the diameter of the top of the pomegranate where the sepal connects to the pomegranate; represents the adjustment coefficient of sepal diameter; represents the bias adjustment coefficient; , , , and The parameters are obtained by fitting a large number of experiments and the values ​​are all in the range Inside;

[0055] Combine side length and top position cutting control parameters ,pass Controlling the top cutting position ; Cutting control parameters based on estimated peel thickness and top depth , combined with Controlling top cutting depth ;

[0056] The top image of the ripe pomegranate after top cutting is collected to obtain the internal structure of the pomegranate; the non-pomegranate seed area in the pomegranate internal structure is extracted through the image segmentation algorithm to generate the non-pomegranate seed image; the image analysis algorithm is used to obtain the peel thickness in the non-pomegranate seed image , Diaphragm position and diaphragm length According to Diaphragm position at the diaphragm , Peel thickness , No. Diaphragm length at diaphragm and Cutting control parameters of the lateral position of the diaphragm , combined with Control Side cutting position ; Combined with the peel thickness, The diaphragm length and the Side cutting depth control parameters at the side cutting position ,pass Control Side cutting depth at side cutting position .

[0057] Refer to Table 2 for exemplary side cutting positions of pomegranates of different maturity.

[0058] Table 2. Side cutting positions of pomegranates of different maturity

[0059]

[0060] Specifically, see Figure 3 , is a schematic diagram of the top and side cuts of a pomegranate. The top cut position indicates the distance from the bottom of the sepal at the top of the pomegranate The diaphragm position and the side cutting position are coordinate vectors. The side cutting position indicates the starting point of the side cutting, and the number of the side cutting positions is the same as the number of diaphragms. In the side cutting process, a number of side cutting positions are used as starting points, and the side cutting depth is combined to perform side cutting along the side curve of the mature pomegranate; wherein the end point of the side cutting is a point on the side curve that is at a predetermined position threshold from the bottom of the pomegranate.

[0061] The pomegranate cutting control module calculates the estimated value of the peel thickness by combining the maximum diameter, side length and sepal diameter of the pomegranate, and combines image analysis technology to accurately obtain the peel thickness, diaphragm position and diaphragm length of the non-pomegranate seed area. It can intelligently control the top and side cutting position and depth, thereby achieving more precise cutting control. This module not only improves the cutting accuracy and avoids damage to the internal structure, but also ensures that pomegranates of different varieties and sizes can match the corresponding cutting position and depth through adaptive adjustment coefficients.

[0062] Furthermore, the cutting parameter adaptive control module obtains the pomegranate cutting diagram, identifies the total number, the number of damaged pomegranate seeds and the damaged area, and calculates the pomegranate seed damage index; constructs a cutting parameter controller, and adaptively controls the top depth cutting control parameter and the side depth cutting control parameter in combination with the pomegranate seed damage index; the specific implementation process includes:

[0063] The top image of the ripe pomegranate after side cutting is collected to obtain the pomegranate cutting diagram; the total number, damaged number and damaged area of ​​the pomegranate seeds in the pomegranate cutting diagram are identified, and the pomegranate seed damage index is calculated. The specific formula is expressed as follows:

[0064] ;

[0065] in, It indicates the pomegranate seed damage index; Indicates the number of broken pomegranate seeds; Indicates the total number of pomegranate seeds; Indicates broken pomegranate seeds The damaged area; represents the total area of ​​the pomegranate seeds in the pomegranate cut diagram;

[0066] A cutting parameter controller was constructed to adaptively control the top depth cutting control parameters and the side depth cutting control parameters according to the pomegranate seed damage index. The specific calculation formula is:

[0067] ;

[0068] in, It represents the top depth cutting control parameter in the next ripe pomegranate cutting process; Indicates the current top depth cutting control parameters; express The adjustment coefficient and ; Indicates the side depth cutting control parameter during the cutting process of the next ripe pomegranate; Indicates the current ripe pomegranate The side depth cutting control parameters of the diaphragm; express The adjustment coefficient and .

[0069] By adaptively controlling the cutting parameters, the damage of pomegranate seeds during cutting can be effectively reduced, and the cutting accuracy and efficiency can be improved. By analyzing the pomegranate cutting diagram, the total number, number of broken seeds, and broken area of ​​pomegranate seeds can be accurately identified, and the damage index of pomegranate seeds can be calculated. Based on this, the cutting parameters can be automatically adjusted, especially in the top and side depth cutting control, to avoid over-cutting or incomplete cutting. Through the real-time feedback mechanism, this method can dynamically adjust the parameters according to the cutting conditions of different pomegranates, ensure the precise control of cutting depth and force, and improve the quality and efficiency of cutting.

[0070] Furthermore, the pomegranate separation control module obtains the weight of the mature pomegranate, calculates the compressive hardness based on the peel thickness and the maximum diameter, and fits the pomegranate knocking force through a nonlinear function; the specific implementation process includes:

[0071] Get the weight of a ripe pomegranate , combined with the peel thickness , Maximum diameter Influencing factors of basic parameters of pomegranate and the exponential adjustment coefficient of the peel thickness ,pass Calculating the compressive hardness of a ripe pomegranate ; According to the compressive hardness, maximum diameter and number of side cuts, the pomegranate knocking force is obtained by fitting the nonlinear mapping function. The specific formula is:

[0072] ;

[0073] in, Indicates the intensity of the pomegranate strike; Indicates the control parameters of the tapping force; Represents an exponential function with a natural constant as base; Indicates the number of side cuts; The exponential adjustment coefficient representing the number of side cuts is an expert experience parameter.

[0074] Through comprehensive analysis of multiple parameters such as the weight, peel thickness, and maximum diameter of mature pomegranates, and by using a nonlinear function to fit the pomegranate knocking force, the optimal pomegranate knocking force can be accurately calculated, thereby effectively improving the integrity of the pomegranate seeds during the pomegranate separation process. This method can not only adjust the knocking force according to the characteristics of different pomegranate varieties, but also avoid excessive knocking that causes seed damage, and further improve the separation effect.

[0075] Furthermore, the pomegranate separation control module calculates the weight change rate of the pomegranate seeds according to the obtained pomegranate seed weight and knocking frequency, and controls the pomegranate rotation speed in combination with the maximum diameter; the specific implementation process includes:

[0076] The weight of the pomegranate seeds knocked off is collected in real time to obtain the weight of the pomegranate seeds; combined with the knocking frequency and pomegranate seed weight ,pass , calculate the weight change rate of pomegranate seeds ;in, Indicates The weight of the pomegranate seeds after the knocking; combining the weight change rate and the maximum diameter of the pomegranate seeds, controlling the pomegranate rotation speed of the mature pomegranate; the specific calculation formula is:

[0077] ;

[0078] in, Indicates the pomegranate rotation speed; Indicates the influencing factor of the maximum diameter, which is an expert experience parameter; Indicates the maximum diameter; Represents an exponential function with a natural constant as base; Indicates the rotation speed control parameter; Indicates the predetermined weight change threshold.

[0079] Combining the weight change rate and maximum diameter of the pomegranate seeds, the rotation speed of the pomegranate is controlled in real time, which can effectively improve the accuracy of pomegranate separation. By collecting the weight of the pomegranate seeds in real time and calculating it in combination with the knocking frequency, the changes in the pomegranate separation process can be accurately grasped to reduce seed damage. This method can automatically adjust the rotation speed to ensure the integrity and quality of the pomegranate seeds during the separation process.

[0080] Furthermore, the separation parameter adaptive control module obtains the number of broken pomegranate seeds, the membrane drop area and the number of remaining pomegranate seeds, calculates the seed breakage rate, the membrane drop index and the degree of seed knocking, constructs a separation parameter controller, and adaptively adjusts the knocking force control parameter and the rotation speed control parameter; the specific implementation process includes:

[0081] Collect images of knocked-off pomegranate seeds, identify the number of broken pomegranate seeds and the area of ​​membrane drop; and the total number of pomegranate seeds knocked off ,pass Calculation of kernel breakage rate ; Drop area through the diaphragm and knocking off the pomegranate seeds , combined with Calculating the Diaphragm Drop Index ; Get the internal image of the pomegranate peel and determine the number of pomegranate seeds remaining ; Combined with the total number of knocked-off pomegranate seeds, Calculation of kernel knock-off ; Combined with the grain breakage rate, diaphragm drop index and grain knock-off degree, a separation parameter controller is constructed to adaptively control the knocking force control parameters and the rotation speed control parameters. The specific formula is expressed as:

[0082] ;

[0083] in, Indicates the control parameter of the knocking force during the separation process of the next ripe pomegranate; Indicates the control parameters of the tapping force; , and Indicates the adjustment parameter of the tapping force control parameter; Represents a logarithmic function with a natural constant as base; represents the rotation speed control parameter during the separation process of the next ripe pomegranate; Indicates the rotation speed control parameter; , and Indicates the adjustment parameter of the rotation speed control parameter.

[0084] The separation parameter adaptive control module monitors and calculates the pomegranate seed breakage rate, diaphragm drop index, and seed knock-off degree in real time, thereby achieving precise regulation of the knocking force control parameters and the rotation speed control parameters, significantly improving the accuracy of the pomegranate separation process. By collecting and analyzing the images of the knocked-off pomegranate seeds, the number of broken pomegranate seeds and the diaphragm drop area can be accurately identified, and the seed breakage rate and diaphragm drop index can be further calculated, so as to accurately adjust the control parameters and avoid excessive damage to the pomegranate seeds. The module can automatically adjust the separation parameters according to the actual situation, effectively improving the product quality while ensuring the separation effect. Embodiment 2

[0085] The embodiment of the present application applies an intelligent control system for separating pomegranate peel and seeds to the pomegranate drink production process of Food Production Plant A, so as to accurately separate the pomegranate peel and seeds to improve the quality of the pomegranate drink.

[0086] Specifically, the ripe pomegranate is input into the pomegranate cutting area through a conveyor belt, the top image and the side image of the ripe pomegranate are collected through the pomegranate basic parameter collection module, and the maximum diameter, side length and sepal diameter of the ripe pomegranate are obtained through the image processing method; the specific implementation process includes:

[0087] The top image and the side image were preprocessed through image denoising, image enhancement, image segmentation and image standardization operations to obtain the pomegranate top segmentation map and the pomegranate side segmentation map; the pomegranate top contour in the pomegranate top segmentation map was obtained according to the edge detection algorithm, and the maximum diameter and sepal diameter were calculated through the morphological processing method; the pomegranate side image in the pomegranate side segmentation map was extracted, and the side length was calculated using the minimum circumscribed rectangle algorithm.

[0088] Furthermore, the pomegranate cutting control module calculates the estimated value of the peel thickness according to the maximum diameter, side length and sepal diameter of the pomegranate, controls the top cutting position and the top cutting depth; obtains the non-pomegranate seed image, extracts the peel thickness, diaphragm position and diaphragm length through the image analysis algorithm, and controls the side cutting position and the side cutting depth; the specific implementation process includes:

[0089] Calculate the estimated pericarp thickness based on the maximum diameter, side length, and sepal diameter; combined with the side length and top position cutting control parameters ,pass Controlling the top cutting position ; Estimated value based on peel thickness and top depth cutting control parameters , combined with Controlling top cutting depth ;

[0090] The cutting device cuts according to the top cutting position and the top cutting depth, and collects the top image of the mature pomegranate after the top cutting to obtain the internal structure diagram of the pomegranate; the non-pomegranate seed area in the pomegranate internal structure diagram is extracted through the image segmentation algorithm to generate the non-pomegranate seed image; the image analysis algorithm is used to obtain the peel thickness in the non-pomegranate seed image , Diaphragm position and diaphragm length According to Diaphragm position at the diaphragm , Peel thickness , No. Diaphragm length at diaphragm and Cutting control parameters of the lateral position of the diaphragm , combined with Control Side cutting position ; Combined with the peel thickness, The diaphragm length and the Side cutting depth control parameters at the side cutting position ,pass Control Side cutting depth at side cutting position The cutting device performs cutting according to the top cutting position and the side cutting depth of the side cutting to obtain a ripe pomegranate after the side cutting.

[0091] Furthermore, the cutting parameter adaptive control module obtains the pomegranate cutting diagram, identifies the total number, the number of damaged pomegranate seeds and the damaged area, and calculates the pomegranate seed damage index; constructs a cutting parameter controller, and adaptively controls the top depth cutting control parameter and the side depth cutting control parameter in combination with the pomegranate seed damage index; the specific implementation process includes:

[0092] The top image of the ripe pomegranate after side cutting is collected to obtain the pomegranate cutting diagram; the total number, damaged number and damaged area of ​​the pomegranate seeds in the pomegranate cutting diagram are identified, and the pomegranate seed damage index is calculated. The specific formula is expressed as follows:

[0093] ;

[0094] in, It indicates the pomegranate seed damage index; Indicates the number of broken pomegranate seeds; Indicates the total number of pomegranate seeds; Indicates broken pomegranate seeds The damaged area; represents the total area of ​​the pomegranate seeds in the pomegranate cut diagram;

[0095] A cutting parameter controller was constructed to adaptively control the top depth cutting control parameters and the side depth cutting control parameters according to the pomegranate seed damage index. The specific calculation formula is:

[0096] ;

[0097] in, It represents the top depth cutting control parameter in the next ripe pomegranate cutting process; Indicates the current top depth cutting control parameters; express The adjustment coefficient of Indicates the side depth cutting control parameter during the cutting process of the next ripe pomegranate; Indicates the current ripe pomegranate The side depth cutting control parameters of the diaphragm; express The adjustment coefficient.

[0098] Specifically, the adjusted top depth cutting control parameter and side depth cutting control parameter are used to control the cutting parameters of the next ripe pomegranate.

[0099] Furthermore, the cut ripe pomegranates are sent to the pomegranate separation area, and the weight of the ripe pomegranates is obtained through the pomegranate separation control module. The compressive hardness is calculated by combining the peel thickness and the maximum diameter, and the pomegranate knocking force is fitted by a nonlinear function. The specific implementation process includes:

[0100] Get the weight of a ripe pomegranate , combined with the peel thickness , Maximum diameter , factors affecting basic parameters of pomegranate and the exponential adjustment coefficient of the peel thickness ,pass Calculating the compressive hardness of a ripe pomegranate ; According to the compressive hardness, maximum diameter and number of side cuts, the pomegranate knocking force is obtained by fitting the nonlinear mapping function. The specific formula is:

[0101] ;

[0102] in, Indicates the intensity of the pomegranate strike; Indicates the control parameters of the tapping force; Represents an exponential function with a natural constant as base; Indicates the number of side cuts; An exponential adjustment factor representing the amount of side cuts.

[0103] Furthermore, according to the obtained pomegranate seed weight and knocking frequency, the pomegranate seed weight change rate is calculated, and the pomegranate rotation speed is controlled in combination with the maximum diameter; the specific implementation process includes:

[0104] The weight of the pomegranate seeds knocked off is collected in real time to obtain the weight of the pomegranate seeds; combined with the knocking frequency and pomegranate seed weight ,pass , calculate the weight change rate of pomegranate seeds ;in, Indicates The weight of the pomegranate seeds after the knocking; combining the weight change rate and the maximum diameter of the pomegranate seeds, controlling the pomegranate rotation speed of the mature pomegranate; the specific calculation formula is:

[0105] ;

[0106] in, Indicates the pomegranate rotation speed; represents the influence factor of the maximum diameter; Indicates the maximum diameter; Represents an exponential function with a natural constant as base; Indicates the rotation speed control parameter; Indicates the predetermined weight change threshold.

[0107] Specifically, the pomegranate peel is separated from the seeds by a pomegranate peeling machine according to the pomegranate knocking force and the pomegranate rotation speed.

[0108] See Table 3 for exemplary separation parameters of pomegranates of different maturity.

[0109] Table 3. Some examples of separation parameters for pomegranates of different maturity

[0110]

[0111] Furthermore, according to the separation parameter adaptive control module, the number of pomegranate seed damage, the membrane drop area and the number of pomegranate seed remaining are obtained, the seed damage rate, the membrane drop index and the degree of seed knocking are calculated, and a separation parameter controller is constructed to adaptively adjust the knocking force control parameter and the rotation speed control parameter; the specific implementation process includes:

[0112] The image of knocked-off pomegranate seeds is collected to identify the number of broken pomegranate seeds and the area of ​​diaphragm drop. The seed breakage rate is calculated according to the number of broken pomegranate seeds and the total number of knocked-off pomegranate seeds. The diaphragm drop index is calculated by the diaphragm drop area and the area of ​​knocked-off pomegranate seeds. The internal image of the pomegranate peel is obtained to determine the remaining number of pomegranate seeds, and the degree of seed knocking is calculated based on the total number of knocked-off pomegranate seeds. A separation parameter controller is constructed based on the seed breakage rate, diaphragm drop index and degree of seed knocking, and the knocking force control parameters and the rotation speed control parameters are adaptively controlled.

[0113] Specifically, the adjusted knocking force control parameter and rotation speed control parameter are used to control the next ripe pomegranate separation parameter.

[0114] The intelligent control system proposed in the present invention can accurately obtain the geometric parameters of the pomegranate and finely control the cutting position and depth by accurately processing the pomegranate image data, avoiding the situation of excessive or insufficient cutting, and significantly reducing the damage and loss between the pomegranate peel and the seeds. Through the adaptive control mechanism, the cutting parameters are flexibly adjusted according to the maturity or variety of different pomegranates, ensuring the optimal cutting effect of each pomegranate during the separation process, and improving the stability and flexibility of the production line. By dynamically adjusting the knocking force and rotation speed, efficient separation is achieved according to parameters such as the weight and peel thickness of the pomegranate, avoiding the problem of excessive or insufficient rotation, reducing seed damage and peel residue. The control parameters are automatically adjusted according to data such as the seed breakage rate to ensure accurate separation, reduce the seed breakage rate and effectively control the diaphragm drop, and improve the quality of subsequent products.

[0115] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent control system for separating pomegranate peel and seeds, characterized in that: include: The pomegranate basic parameter acquisition module collects the top and side images of the mature pomegranate, and obtains the maximum diameter, side length and sepal diameter of the mature pomegranate through image processing methods; The pomegranate cutting control module calculates the estimated value of the peel thickness according to the maximum diameter, side length and sepal diameter of the pomegranate, and controls the top cutting position and top cutting depth; obtains non-pomegranate seed images, extracts the peel thickness, diaphragm position and diaphragm length through image analysis algorithms, and controls the side cutting position and side cutting depth; A cutting parameter adaptive control module is used to obtain a pomegranate cutting diagram, identify the total number, the number of damaged pomegranate seeds, and the damaged area, and calculate the pomegranate seed damage index; a cutting parameter controller is constructed to adaptively control the top depth cutting control parameter and the side depth cutting control parameter in combination with the pomegranate seed damage index; The pomegranate separation control module obtains the weight of the mature pomegranate, calculates the compressive hardness in combination with the peel thickness and the maximum diameter, and fits the pomegranate knocking force through a nonlinear function; calculates the pomegranate seed weight change rate according to the obtained pomegranate seed weight and knocking frequency, and controls the pomegranate rotation speed in combination with the maximum diameter; The separation parameter adaptive control module obtains the number of broken pomegranate seeds, the membrane drop area and the remaining number of pomegranate seeds, calculates the seed breakage rate, the membrane drop index and the degree of seed knocking off, builds a separation parameter controller, and adaptively adjusts the knocking force control parameters and the rotation speed control parameters.

2. An intelligent control system for separating pomegranate peel and seeds according to claim 1, characterized in that: The specific implementation process of obtaining the maximum diameter, the side length and the sepal diameter of a mature pomegranate includes: The top image and the side image are preprocessed by image denoising, image enhancement, image segmentation and image standardization operations to obtain a pomegranate top segmentation map and a pomegranate side segmentation map; the pomegranate top contour in the pomegranate top segmentation map is obtained according to an edge detection algorithm, and the maximum diameter and the sepal diameter are calculated by a morphological processing method; the pomegranate side image in the pomegranate side segmentation map is extracted, and the side length is calculated in combination with a minimum circumscribed rectangle algorithm.

3. The intelligent control system for separating pomegranate peel and seeds according to claim 1, characterized in that: The implementation process of the pomegranate cutting control module includes: Calculate the estimated value of the pericarp thickness based on the maximum diameter, the side length and the sepal diameter; combine the side length and top position cutting control parameters ,pass Control the top cutting position ; According to the estimated value of the peel thickness and top depth cutting control parameters , combined with Control the top cutting depth ; The top image of the ripe pomegranate after top cutting is collected to obtain the internal structure diagram of the pomegranate; the non-pomegranate seed area in the pomegranate internal structure diagram is extracted by an image segmentation algorithm to generate the non-pomegranate seed image; the peel thickness in the non-pomegranate seed image is obtained by an image analysis algorithm. , the diaphragm position and the diaphragm length According to The diaphragm position of the diaphragm , the peel thickness , No. The diaphragm length of the diaphragm and Cutting control parameters of the lateral position of the diaphragm , combined with Control The side cutting position ; Combined with the peel thickness, The diaphragm length and the Side cutting depth control parameters at the side cutting position ,pass Control The side cutting depth at the side cutting position .

4. The intelligent control system for separating pomegranate peel and seeds according to claim 1, characterized in that: The specific implementation process of the cutting parameter adaptive control module includes: The top image of the mature pomegranate after side cutting is collected to obtain the pomegranate cutting diagram; the total number, the number of damaged pomegranate seeds and the damaged area in the pomegranate cutting diagram are identified, and the pomegranate seed damage index is calculated, and the specific formula is expressed as follows: ； in, represents the pomegranate seed damage index; Indicates the number of broken pomegranate seeds; Indicates the total number of pomegranate seeds; Indicates broken pomegranate seeds The damaged area; represents the total area of ​​the pomegranate seeds in the pomegranate cut diagram; The cutting parameter controller is constructed, and the top depth cutting control parameter and the side depth cutting control parameter are adaptively controlled by the pomegranate seed damage index. The specific calculation formula is: ； in, Indicates the top depth cutting control parameter in the next ripe pomegranate cutting process; Indicates the current top depth cutting control parameter; express The adjustment coefficient of Indicates the side depth cutting control parameter in the next ripe pomegranate cutting process; Indicates the current ripe pomegranate The side depth cutting control parameter of the diaphragm; express The adjustment coefficient.

5. The intelligent control system for separating pomegranate peel and seeds according to claim 1, characterized in that: The specific implementation process of fitting the pomegranate knocking force by a nonlinear function includes: Get the weight of a ripe pomegranate , combined with the peel thickness , the maximum diameter , factors affecting basic parameters of pomegranate and the exponential adjustment coefficient of the peel thickness ,pass Calculation of the compressive hardness of ripe pomegranates According to the compressive hardness, the maximum diameter and the number of side cuts, the pomegranate knocking force is obtained by fitting a nonlinear mapping function, and the specific formula is: ； in, Indicates the intensity of striking the pomegranate; represents the control parameter of the knocking force; Represents an exponential function with a natural constant as base; Indicates the number of side cuts; An exponential adjustment factor representing the amount of side cuts.

6. The intelligent control system for separating pomegranate peel and seeds according to claim 1, characterized in that: The specific implementation process of calculating the rotation speed of the pomegranate includes: The weight of the knocked-off pomegranate seeds is collected in real time to obtain the weight of the pomegranate seeds; combined with the knocking frequency and the weight of the pomegranate seeds ,pass , calculate the weight change rate of the pomegranate seeds ;in, Indicates The weight of the pomegranate seeds after the knock; combining the weight change rate of the pomegranate seeds and the maximum diameter, controlling the pomegranate rotation speed of the mature pomegranate; the specific calculation formula is: ； in, represents the rotation speed of the pomegranate; represents the influence factor of the maximum diameter; represents the maximum diameter; Represents an exponential function with a natural constant as base; represents the rotation speed control parameter; Indicates the predetermined weight change threshold.

7. The intelligent control system for separating pomegranate peel and seeds according to claim 1, characterized in that: The specific implementation process of the separation parameter adaptive control module includes: The image of knocked-off pomegranate seeds is collected to identify the number of broken pomegranate seeds and the area where the diaphragm falls off; the seed breakage rate is calculated according to the number of broken pomegranate seeds and the total number of knocked-off pomegranate seeds; the diaphragm fall index is calculated by the diaphragm fall area and the area of ​​knocked-off pomegranate seeds; the internal image of the pomegranate peel is obtained to determine the remaining number of pomegranate seeds, and the degree of seed knocking off is calculated in combination with the total number of knocked-off pomegranate seeds; the separation parameter controller is constructed in combination with the seed breakage rate, the diaphragm fall index and the degree of seed knocking off, and the knocking force control parameter and the rotation speed control parameter are adaptively controlled.

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