Intelligent detection system and method based on automated production of ice cream

Abstract

The present invention relates to the technical field of ice cream production monitoring, specifically to an intelligent detection system and method based on the automated production of ice cream, the system comprising: an image acquisition module, used to collect the inserted stick image of the ice cream after the stick is inserted and the ice cream image of the ice cream after solidification; a stick insertion detection module, used to calculate the central axis of the stick and the central axis of the ice cream according to the inserted stick image, calculate the angle between the central axis of the stick and the central axis of the ice cream, and judge whether the angle is greater than a preset angle threshold; and also used to judge whether the stick is skewed according to the ice cream image; a stick adjustment module, used to adjust the stick of the corresponding ice cream when the angle is greater than a preset angle threshold; a clamping auxiliary module, used to locate the root of the stick when it is determined that the stick is skewed; an ice cream clamping module, used to clamp the stick and move the ice cream after the clamping auxiliary module locates the root of the stick. The adoption of this scheme can reduce the situation of unqualified finished products caused by skewed stick insertion.

Description

Technical Field

[0001] The present invention relates to the technical field of ice cream production monitoring, and in particular to an intelligent detection system and method based on automated ice cream production. Background Art

[0002] In the production of ice cream, ice cream needs to be cooled and formed. There are three main ways to form ice cream: first, cool the ice cream raw materials and slice them through a slicing line; second, use a filling machine to fill, and the shape of the ice cream is determined by the filling nozzle of the filling machine; third, use a colored line to transport the ice cream raw materials to the mold for cooling and forming, and the shape of the mold is the shape of the ice cream. For stick-shaped ice cream, the way of inserting sticks is different under different ice cream forming methods. When the first ice cream forming method is used, the sticks are clamped and inserted into the micro-molded ice cream one by one, and then the ice cream after the sticks are inserted is sliced. When the second ice cream forming method is used, the sticks are clamped and inserted into the ice cream after filling through the filling nozzle of the filling machine. When the third ice cream forming method is used, the sticks are clamped and inserted into the mold. There is already micro-molded ice cream in the mold. After subsequent freezing, the sticks are directly pulled out from the mold to take out the molded ice cream.

[0003] The rapid development of modern society has led to an increasing demand for various foods. For example, people are no longer satisfied with ice cream patterns of a single shape, but prefer ice cream with unique shapes or a variety of colors. This type of ice cream is often produced using the first method. In the actual production process, the skewers may be inserted crookedly or reversely. Once the skewers are crooked, it is easy to fail to clamp the crooked skewers in the subsequent production process, resulting in ice cream leakage, inability to carry out subsequent processing steps, and even empty packages during packaging. Even if the skewers are clamped, the ice cream may be crooked. When wrapping the ice cream with a crispy layer or other processing, the crispy layer cannot cover the specified position of the ice cream. At the same time, it is difficult for other processes to accurately process the ice cream. It may even interfere with the production of other ice creams with normal skewers during the production process, affecting the quality and yield of the final ice cream product. Summary of the invention

[0004] One of the purposes of the present invention is to provide an intelligent detection system based on automated production of ice cream, which can reduce the situation of unqualified finished products caused by skewed sticks.

[0005] The first basic solution provided by the present invention is an intelligent detection system based on the automated production of ice cream, comprising: An image acquisition module, used to acquire an image of the ice cream after the ice cream stick is inserted and an image of the ice cream after the ice cream is solidified; The skewer insertion detection module is used to calculate the central axis of the skewer and the central axis of the ice cream according to the skewer insertion image, calculate the angle between the central axis of the skewer and the central axis of the ice cream, and determine whether the angle is greater than a preset angle threshold; and is also used to determine whether the skewer is skewed according to the ice cream image; A skewer adjustment module, used to adjust the skewer of the corresponding ice cream when the angle is greater than a preset angle threshold; A clamping auxiliary module is used to locate the root of the stick when the stick is determined to be skewed; The ice cream clamping module is used to clamp the skewer and move the ice cream after the clamping auxiliary module locates the root of the skewer.

[0006] Furthermore, the image acquisition module is also used to acquire the stick image of the stick inserting machine, and also includes: The stick insertion detection module is used to determine whether the stick is placed upside down based on the stick image. When it is determined that the stick is placed upside down, a stick rejection signal is generated to reject the stick.

[0007] Furthermore, when the skewer detection module determines whether the skewer is skewed based on the ice cream image, it is used to calculate the central axis of the skewer and the central axis of the ice cream based on the ice cream image, and calculate the angle between the central axis of the skewer and the central axis of the ice cream. When the angle is greater than a preset angle threshold, the skewer is determined to be skewed.

[0008] Furthermore, the ice cream clamping module includes a mounting plate, a plurality of clamping assemblies slidably connected to the mounting plate, and a driving member driving the clamping assemblies to slide on the mounting plate; the driving member is used to control the movement of the clamping assemblies on the mounting plate and change the spacing between adjacent clamping assemblies.

[0009] Furthermore, the clamping auxiliary module is used to locate the root of the stick and generate the stick position information; The clamping assembly includes a positioning assistant and a clamp. The positioning assistant is used to clamp the root of the skewer according to the position information of the skewer. The clamp is used to clamp the skewer after the positioning assistant clamps the root of the skewer.

[0010] Furthermore, when the skewer detection module determines whether the skewer is skewed based on the ice cream image, it is also used to calculate the overlap of the ice cream before and after the positioning aid clamps the skewer based on the ice cream image. When the overlap of the ice cream is less than a preset overlap threshold, the skewer is determined to be skewed again.

[0011] Furthermore, the ice cream clamping module is used to control the clamping assembly to increase the spacing between adjacent clamping assemblies when the skewer insertion detection module determines that the skewer is skewed.

[0012] Beneficial effects of basic solution 1: In this solution, the setting of the stick insertion detection module detects whether the stick is placed upside down, so as to remove the sticks placed upside down and avoid interfering with the subsequent production process. The setting of the stick insertion detection module detects whether the ice cream stick is skewed after the stick is inserted into the ice cream, so as to timely discover the skewness of the ice cream, and adjust the ice cream stick through the stick adjustment module. Since the ice cream is not completely solidified at this time, the stick adjustment module moves the ice cream stick in a small range to adjust its position in the ice cream, thereby reducing the product failure rate caused by the skewed ice cream stick. The setting of the stick insertion detection module determines whether the ice cream stick is skewed again after the ice cream is solidified, because during the solidification process of the ice cream, the ice cream will expand and the volume of the ice cream will increase. At the same time, during the solidification process of the ice cream, the ice cream may change the position of the stick. For example, due to uneven temperature distribution, the solidification progress of each side wall of the ice cream is different, resulting in a slight skew of the stick. Combined with the skewness of the stick when it is inserted, the inclination of the stick insertion may be unqualified. Therefore, when the ice cream is clamped for subsequent processing, the skewness of the ice cream stick is judged, so that the stick inserted into the unqualified ice cream can be removed in time to avoid occupying the resources of the subsequent process and reduce the waste of resources of the subsequent process.

[0013] When determining that the skewer is skewed, the setting of the clamping auxiliary module positions the root of the skewer and controls the ice cream clamping module to clamp the root of the skewer first and then clamp the skewer. Before clamping, the spacing between adjacent clamping components is adjusted to increase the spacing between adjacent components, thereby preventing the ice cream with crooked skew from interfering with the clamping and subsequent processing of adjacent ice creams. After clamping, the setting of the skewer detection module re-determines the skewness of the skewer, and through multiple determinations, confirms whether the ice cream skewer is crooked. This solution improves the accuracy of the determination result through multiple determinations, thereby promptly identifying ice cream with crooked skews and reducing the waste of ice cream resources due to misjudgment, thereby reducing production costs.

[0014] A second object of the present invention is to provide an intelligent detection method based on automated production of ice cream.

[0015] The present invention provides basic solution 2: An intelligent detection method based on automated production of ice cream uses the above-mentioned intelligent detection system based on automated production of ice cream.

[0016] Further, the following are included: Collecting the inserted stick image of the ice cream after the stick is inserted; Calculate the central axis of the skewer and the central axis of the ice cream according to the skewer insertion image, then calculate the angle between the central axis of the skewer and the central axis of the ice cream, and determine whether the angle is greater than a preset angle threshold; When the angle is greater than a preset angle threshold, the stick of the ice cream is adjusted; Collecting ice cream images of the solidified ice cream; Determine whether the stick is skewed based on the ice cream image; When the skewer is skewed, the root of the skewer is positioned, and after the root of the skewer is positioned, the skewer is clamped and moved.

[0017] Further, judging whether the stick is skewed according to the ice cream image includes the following steps: The central axis of the skewer and the central axis of the ice cream are calculated according to the ice cream image, and the angle between the central axis of the skewer and the central axis of the ice cream is calculated. When the angle is greater than a preset angle threshold, it is determined that the skewer is skewed.

[0018] Beneficial effects of basic solution 2: During use, the ice cream sticks are inspected after being inserted to determine whether the sticks are skewed. If they are skewed, the sticks in the ice cream are slightly adjusted to reduce unqualified products caused by the insertion of the sticks. The ice cream sticks are further inspected after solidification and before clamping to determine whether the sticks are skewed and unqualified due to the solidification of the ice cream, further improving the ice cream yield and reducing the waste of subsequent resources. After determining that the sticks are skewed, when clamping, the root of the stick is clamped first, and then the sticks are clamped, so as to avoid missing the sticks. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention is a logic block diagram of an intelligent detection system based on automated ice cream production. DETAILED DESCRIPTION

[0020] The following is further described in detail through specific implementation methods: Example Intelligent detection system based on ice cream automated production, as shown in the attached Figure 1 As shown, it includes an image acquisition module, a skewer insertion detection module, a skewer adjustment module, a clamping auxiliary module, and an ice cream clamping module.

[0021] The image acquisition module is used to acquire the image of the sticks of the stick inserting machine, and the stick inserting machine is used to sort the sticks and insert the sorted sticks into the ice cream in sequence. The sticks are stacked or placed side by side in the stick inserting machine, and the number of image acquisition modules is multiple. The image acquisition module uses a camera, and the image acquisition module faces the stacked or side by side sticks. The image acquisition module acquires the image of the sticks, that is, the end of multiple arranged sticks is included in the stick image.

[0022] The stick insertion detection module is used to determine whether the stick is reversed according to the stick image. When it is determined that the stick is reversed, a stick rejection signal is generated to reject the stick. Specifically: the stick insertion detection module includes a reverse detection submodule, which is used to mark the end of each stick according to the stick image, and calculate the number of pixels at the end of each stick according to the marked stick end; it is also used to determine whether the number of pixels at the end of each stick is less than a preset pixel threshold. When the number of pixels is less than the pixel threshold, the corresponding stick is determined to be reversed, and the corresponding stick is marked as a reversed stick and a stick rejection signal is generated. In this embodiment, the stick rejection signal is sent to the client or reminder light of the staff to remind the staff, so as to reject the reversed sticks and reduce the impact on the subsequent stick insertion process of the ice cream. In other embodiments, a mechanical gripper can also be provided, and the mechanical gripper clamps and rejects the reversed stick according to the stick rejection signal. Through the marking of the reversed stick, it is easy to know the location of the corresponding stick, quickly locate the stick, and reject it.

[0023] The image acquisition module is also used to collect the skewer insertion image of the ice cream after the skewer is inserted. The skewer insertion detection module is also used to calculate the central axis of the skewer and the central axis of the ice cream according to the skewer insertion image, calculate the angle between the central axis of the skewer and the central axis of the ice cream, and determine whether the angle is greater than a preset angle threshold. When it is determined that the angle is greater than the preset angle threshold, a skewer adjustment signal is generated. The skewer adjustment module is used to adjust the skewer of the corresponding ice cream when the angle is greater than the preset angle threshold.

[0024] Specifically: the ice cream after the stick is inserted is transported by a conveyor belt, and the image acquisition module is set above the conveyor belt. The stick insertion image is collected by the image acquisition module. The stick insertion image contains the ice cream body and the stick inserted into the ice cream. The stick insertion detection module also includes an ice cream central axis calculation submodule, a stick central axis calculation submodule and an angle determination submodule. The ice cream central axis calculation submodule is used to mark the shape of each ice cream body according to the stick insertion image, locate the four vertices of the ice cream according to the shape of the body, connect the relative vertices to generate two vertex lines, obtain the intersection of the two vertex lines, and generate the ice cream central axis passing through the intersection and perpendicular to the bottom of the body shape according to the intersection calculation. The stick central axis calculation submodule is used to mark the stick shape corresponding to each ice cream according to the stick insertion image, randomly generate two parallel lines, the parallel lines are perpendicular to the length direction of the stick shape, obtain the intersection of the two parallel lines and the stick shape, connect the relative vertices to generate two vertex lines, and obtain the first intersection of the two vertex lines; similarly obtain the second intersection; and is also used to generate the stick central axis according to the line connecting the first intersection and the second intersection.

[0025] The angle determination submodule is preset with an angle threshold. The angle determination submodule is used to calculate the angle between the center axis of the skewer and the center axis of the ice cream based on the center axis of the skewer and the center axis of the ice cream, and determine whether the angle is greater than the angle threshold. When it is determined that the angle is greater than the angle threshold, a skewer adjustment signal is generated and sent to the skewer adjustment module.

[0026] The skewer adjustment module uses pneumatic fingers, and the clamping ends of the pneumatic fingers are connected to parallel clamping plates. The skewer adjustment module is used to control the pneumatic fingers to move above the skewer according to the skewer insertion image when the angle is greater than the preset angle threshold, that is, when the skewer adjustment signal is received. The skewer adjustment module is used to control the pneumatic fingers to clamp the skewer, that is, the clamping plate contacts and closes the skewer, and when the clamping plate is completely closed, the symmetry planes of the two clamping plates pass through the center axis of the ice cream. In this solution, the skewer corresponding to the ice cream is adjusted by the pneumatic fingers so that the skewer is straightened and re-located in the middle of the ice cream. The setting of the clamping plate increases the contact area with the ice cream skewer, so that the skewer is parallel to the ice cream body and located in the middle of the ice cream. Since the ice cream is not completely hard when it is just sliced, the skewer inserted into the ice cream is adjusted at this time to reduce the skew of the skewer.

[0027] The image acquisition module is also used to collect the ice cream image after solidification. The stick detection module is also used to determine whether the stick is skewed according to the ice cream image, and generate a clamping control signal when the stick is determined to be skewed. The clamping auxiliary module is used to locate the root of the stick when the stick is determined to be skewed. The ice cream clamping module is used to clamp the stick and move the ice cream after the clamping auxiliary module locates the root of the stick.

[0028] Specifically: the ice cream is solidified after the skewers are inserted, and the solidified ice cream can be moved to other processes for further processing by clamping, such as making a crispy layer to increase the taste; or making a pure water layer to prevent the surface of the ice cream from sticking to the packaging bag. The solidified ice cream is transported by a conveyor belt, and the image acquisition module is arranged above the conveyor belt. The ice cream image is acquired by the image acquisition module, and the ice cream image includes the ice cream body and the skewers inserted into the ice cream. The ice cream center axis calculation submodule is also used to calculate the ice cream center axis according to the ice cream image, the stick skewer center axis calculation submodule is also used to calculate the stick skewer center axis according to the ice cream image, and the angle determination submodule is also used to calculate the angle between the stick skewer center axis and the ice cream center axis, and determine whether the angle is greater than the angle threshold. The angle determination submodule is also used to determine that the stick skewer is skewed when the angle generated according to the ice cream image is greater than the angle threshold, generate a clamping control signal, and send it to the clamping auxiliary module and the ice cream clamping module.

[0029] The clamping auxiliary module is used to locate the root of the skewer and generate the skewer position information. Specifically, after receiving the clamping control signal, the clamping auxiliary module is used to mark the shape of the skewer according to the ice cream image, locate the root of the skewer according to the shape of the skewer, and generate the skewer position information of the root of the skewer, where the root of the skewer is the end of the skewer close to the ice cream body.

[0030] The ice cream clamping module includes a mounting plate, a plurality of clamping assemblies slidably connected to the mounting plate, and a driving member driving the clamping assemblies to slide on the mounting plate, the driving member is used to control the movement of the clamping assemblies on the mounting plate to change the spacing between adjacent clamping assemblies. The clamping assembly includes a positioning assistant and a clamp, the positioning assistant is used to clamp the root of the stick according to the position information of the stick, and the clamp is used to clamp the stick after the positioning assistant clamps the root of the stick.

[0031] In this embodiment, the mounting plate is horizontally arranged, an upper movable seat is provided on the top of the mounting plate, a lower movable seat is provided on the bottom of the mounting plate, a guide rod is provided between the upper movable seat and the lower movable seat, the guide rod is vertically arranged, and a limit plate capable of moving along the axial direction of the guide rod is sleeved on the guide rod.

[0032] It also includes a connecting plate that can move in the horizontal direction. The connecting plate is slidably connected to the mounting plate through a guide rail. The guide rail is arranged horizontally. The connecting plates are respectively located on both sides of the guide rod. The sliding directions of the connecting plates on both sides on the mounting plate are opposite. Limiting columns are arranged on the connecting plates. Limiting holes are provided on the limiting plates. The limiting holes are respectively located on both sides of the guide rod. The limiting holes are arranged obliquely. The limiting holes are inclined toward the guide rod from high to low in the direction away from the guide rod. The end of the limiting column away from the connecting plate is located in the limiting hole, and the limiting column contacts the hole wall of the limiting hole. The bottom of the connecting plate and the lower movable seat are both provided with a mounting seat, and the positioning assistant and the clamp are installed at the bottom of the mounting seat.

[0033] In the initial state, the limit plate is located at the top, the limit column is located below the limit hole, and the clamping components are close to each other. The driving member drives the limit plate to move, for example, the driving member is a cylinder, the free end of the cylinder is connected to the limit plate, the telescopic direction of the free end of the cylinder is parallel to the axial direction of the guide rod, the driving member controls the limit plate to move downward along the axial direction of the guide rod, the limit column is limited by the limit hole, and the connecting plate is limited by the guide rail, and the connecting plates are close to each other along the length direction of the guide rail, that is, the clamping components move on the mounting plate until the limit column is located above the limit hole, at which time the clamping components are separated from each other, thereby changing the distance between adjacent clamping components.

[0034] The positioning aid and the clamp adopt pneumatic fingers. When a clamping control signal is generated, the positioning aid and the clamp clamp the stick skewer successively. The positioning aid clamps the root of the stick skewer according to the position information of the stick skewer, and then the clamp clamps the stick skewer.

[0035] The ice cream clamping module is used to control the clamping assembly to increase the spacing between adjacent clamping assemblies when the stick detection module determines that the stick is skewed, that is, when the angle determination submodule generates a clamping control signal. Specifically, the driving member controls the connecting plate to move on the mounting plate, thereby changing the spacing between adjacent clamping assemblies.

[0036] The ice cream image is an image continuously collected from the time when the ice cream is transported to the designated position by the conveyor belt until the ice cream clamping module clamps the ice cream. The stick insertion detection module also includes an overlap determination submodule, which is preset with an overlap threshold. The overlap determination submodule is used to calculate the ice cream area before and after the positioning aid clamps the stick stick according to the ice cream image, calculate the ice cream overlap according to the ice cream area before and after the positioning aid clamps the stick stick, and judge whether the stick stick is skewed according to the ice cream overlap, and generate threshold adjustment information. The overlap determination submodule also determines that the stick stick is skewed again when the ice cream overlap is less than the overlap threshold, and generates an ice cream rejection signal, otherwise it generates a misjudgment signal. The ice cream rejection signal is sent to the client or reminder light of the staff to remind the staff, so as to reject the corresponding ice cream and avoid unqualified products from entering the next process. First, it reduces the waste of subsequent processing costs, and second, it avoids occupying subsequent production resources and improves resource utilization.

[0037] It also includes a threshold adjustment module, which is used to reduce the angle threshold by 2% each time when the overlap determination submodule generates an ice cream rejection signal; it is also used to increase the angle threshold by 3% each time when the overlap determination submodule generates a false judgment signal. By dynamically adjusting the angle threshold and optimizing the judgment conditions, the accuracy of the system judgment is improved, while reducing the occupied system resources and maximizing resource utilization.

[0038] The intelligent detection method based on the automated production of ice cream uses the above-mentioned intelligent detection system based on the automated production of ice cream, including the following contents: The stick image of the stick inserting machine is collected, and the stick image includes the ends of a plurality of arranged sticks.

[0039] Determine whether the stick is inverted according to the stick image, and when it is determined that the stick is inverted, generate a stick rejection signal to reject the stick. Specifically: mark the end of each stick according to the stick image, calculate the number of pixels at the end of each stick according to the marked stick end; determine one by one whether the number of pixels at the end of each stick is less than a preset pixel quantity threshold, and when the number of pixels is less than the pixel quantity threshold, determine that the corresponding stick is inverted, mark the corresponding stick as an inverted stick, and generate a stick rejection signal.

[0040] The stick-insertion image of the ice cream after the stick is inserted is collected; the stick-insertion image includes the ice cream body and the stick inserted into the ice cream.

[0041] Calculate the central axis of the skewer and the central axis of the ice cream according to the skewer image, then calculate the angle between the central axis of the skewer and the central axis of the ice cream, and determine whether the angle is greater than the preset angle threshold. The angle threshold is preset in advance by the staff. Specifically: mark the shape of each ice cream according to the skewer image, locate the four vertices of the ice cream according to the shape of the cake, connect the opposite vertices to generate two vertex lines, obtain the intersection of the two vertex lines, and calculate the central axis of the ice cream that passes through the intersection and is perpendicular to the bottom of the cake shape according to the intersection. Mark the shape of the skewer corresponding to each ice cream according to the skewer image, randomly generate two parallel lines that are perpendicular to the length direction of the skewer shape, obtain the intersection of the two parallel lines and the shape of the skewer, connect the opposite vertices to generate two vertex lines, and obtain the first intersection of the two vertex lines; similarly obtain the second intersection; generate the central axis of the skewer according to the line connecting the first intersection and the second intersection. According to the central axis of the skewer and the central axis of the ice cream, the angle between the central axis of the skewer and the central axis of the ice cream is calculated to determine whether the angle is greater than an angle threshold. When it is determined that the angle is greater than the angle threshold, a skewer adjustment signal is generated.

[0042] When the angle is greater than the preset angle threshold, the skewers of the ice cream are adjusted. Specifically: the skewers are adjusted by pneumatic fingers, and the clamping ends of the pneumatic fingers are connected to parallel clamping plates. The pneumatic fingers are controlled to move above the skewers according to the skewer insertion image, and the pneumatic fingers are controlled to clamp the skewers, that is, the clamping plates contact and close the skewers. When the clamping plates are completely closed, the symmetry planes of the two clamping plates pass through the center axis of the ice cream. In this solution, the skewers of the corresponding ice cream are adjusted by pneumatic fingers so that the skewers are straightened and re-located in the middle of the ice cream. The setting of the clamping plate increases the contact area with the ice cream skewers, so that the skewers are parallel to the ice cream body and located in the middle of the ice cream. Since the ice cream is not completely hard when it is just sliced, the skewers inserted into the ice cream are adjusted at this time to reduce the skew of the skewers.

[0043] An ice cream image of the solidified ice cream is collected; the ice cream image includes the ice cream body and the stick inserted into the ice cream.

[0044] Determine whether the skewer is skewed based on the ice cream image. Specifically: calculate the center axis of the skewer and the center axis of the ice cream based on the ice cream image, calculate the angle between the center axis of the skewer and the center axis of the ice cream. When the angle is greater than a preset angle threshold, determine that the skewer is skewed and generate a clamping control signal.

[0045] When the skewer is crooked, the root of the skewer is positioned, and after the root of the skewer is positioned, the skewer is clamped and moved. Specifically: the shape of the skewer is marked according to the ice cream image, the root of the skewer is positioned according to the shape of the skewer, and the position information of the root of the skewer is generated. The root of the skewer is the end of the skewer that is close to the ice cream body. The skewer is clamped and moved by the positioning aid and the clamp. The positioning aid clamps the root of the skewer according to the position information of the skewer. After the positioning aid clamps the root of the skewer, the clamp clamps and moves the skewer.

[0046] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Intelligent detection system based on automated production of ice cream, characterized in that: include: An image acquisition module, used to acquire an image of the ice cream after the ice cream stick is inserted and an image of the ice cream after the ice cream is solidified; The skewer insertion detection module is used to calculate the central axis of the skewer and the central axis of the ice cream according to the skewer insertion image, calculate the angle between the central axis of the skewer and the central axis of the ice cream, and determine whether the angle is greater than a preset angle threshold; and is also used to determine whether the skewer is skewed according to the ice cream image; A skewer adjustment module, used to adjust the skewer of the corresponding ice cream when the angle is greater than a preset angle threshold; A clamping auxiliary module is used to locate the root of the stick when the stick is determined to be skewed; The ice cream clamping module is used to clamp the skewer and move the ice cream after the clamping auxiliary module locates the root of the skewer.

2. The intelligent detection system based on automated production of ice cream according to claim 1, characterized in that: The image acquisition module is also used to collect the stick image of the stick inserting machine, and also includes: The stick insertion detection module is used to determine whether the stick is placed upside down based on the stick image. When it is determined that the stick is placed upside down, a stick rejection signal is generated to reject the stick.

3. The intelligent detection system based on automated production of ice cream according to claim 2, characterized in that: When the skewer detection module determines whether the skewer is skewed based on the ice cream image, it is used to calculate the central axis of the skewer and the central axis of the ice cream based on the ice cream image, and calculate the angle between the central axis of the skewer and the central axis of the ice cream. When the angle is greater than a preset angle threshold, the skewer is determined to be skewed.

4. The intelligent detection system based on automated production of ice cream according to claim 3, characterized in that: The ice cream clamping module includes a mounting plate, a plurality of clamping assemblies slidably connected to the mounting plate, and a driving member driving the clamping assemblies to slide on the mounting plate; the driving member is used to control the movement of the clamping assemblies on the mounting plate and change the spacing between adjacent clamping assemblies.

5. The intelligent detection system based on automated production of ice cream according to claim 4, characterized in that: The clamping auxiliary module is used to locate the root of the stick and generate the stick position information; The clamping assembly includes a positioning assistant and a clamp. The positioning assistant is used to clamp the root of the skewer according to the position information of the skewer. The clamp is used to clamp the skewer after the positioning assistant clamps the root of the skewer.

6. The intelligent detection system based on automated production of ice cream according to claim 5, characterized in that: When the skewer detection module determines whether the skewer is skewed based on the ice cream image, it is also used to calculate the overlap of the ice cream before and after the positioning aid clamps the skewer based on the ice cream image. When the overlap of the ice cream is less than the preset overlap threshold, the skewer is determined to be skewed again.

7. The intelligent detection system based on automated production of ice cream according to claim 6, characterized in that: The ice cream clamping module is used to control the clamping components to increase the distance between adjacent clamping components when the skewer detection module determines that the skewer is skewed.

8. An intelligent detection method based on automated production of ice cream, characterized in that: An intelligent detection system based on automated production of ice cream is used as described in any one of claims 1 to 7.

9. The intelligent detection method based on automated production of ice cream according to claim 8, characterized in that: Includes the following: Collecting the inserted stick image of the ice cream after the stick is inserted; Calculate the central axis of the skewer and the central axis of the ice cream according to the skewer insertion image, then calculate the angle between the central axis of the skewer and the central axis of the ice cream, and determine whether the angle is greater than a preset angle threshold; When the angle is greater than a preset angle threshold, the stick of the ice cream is adjusted; Collecting ice cream images of the solidified ice cream; Determine whether the stick is skewed based on the ice cream image; When the skewer is skewed, the root of the skewer is positioned, and after the root of the skewer is positioned, the skewer is clamped and moved.

10. The intelligent detection method based on automated production of ice cream according to claim 9, characterized in that: Judging whether the skewer is skewed according to the ice cream image specifically includes the following contents: calculating the central axis of the skewer and the central axis of the ice cream according to the ice cream image, calculating the angle between the central axis of the skewer and the central axis of the ice cream, and determining that the skewer is skewed when the angle is greater than a preset angle threshold.

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