Apple pie processing system and method

Abstract

The invention provides an apple pie processing system and method, and the system comprises a raw material processing unit, a batching unit, a stirring unit, a forming unit, a baking unit, an image collection unit, and a control unit which is used for carrying out the gray processing of image data to obtain a gray image, comparing the gray value of the gray image with the gray value of a reference image, and obtaining a gray value difference value; the control unit is further used for setting a preset gray value difference value and adjusting the baking temperature of the baking unit according to the comparison result of the gray value difference value and the preset gray value difference value. According to the method, image monitoring can be effectively carried out on the apple pie finished product, the baking condition can be adjusted in time according to the monitoring result, the consistency of apple pie processing is ensured, and the attractiveness of the apple pie finished product is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of food processing, and more specifically, to a processing system and method for apple pies. Background Art

[0002] Apple pies are foods made mainly from flour, butter, and apples.

[0003] In the existing apple pie processing technology, processing and production are all carried out through an assembly line. Due to the low degree of intelligence of the existing apple pie processing equipment, the baking effect of apple pies cannot be effectively monitored, resulting in uneven processing of apple pies and affecting the aesthetics. Summary of the Invention

[0004] In view of this, the present invention proposes a processing system and method for apple pies, aiming to solve the problem of how to effectively monitor the baking effect of apple pies.

[0005] On the one hand, the present invention proposes a processing system for apple pies, including:

[0006] A raw material processing unit for peeling, pitting, and slicing apples to obtain processed apple slices;

[0007] A batching unit for proportioning and distributing the ingredients required for making apple pies;

[0008] A stirring unit for stirring the apple slices and ingredients to obtain a filling;

[0009] A forming unit for laying the pie crust for making apple pies, filling the filling, and sealing the edges to finally obtain a formed apple pie;

[0010] A baking unit for baking the formed apple pies to obtain finished apple pies;

[0011] An image acquisition unit for real-time acquisition of image data of the finished apple pies;

[0012] A control unit for performing gray-scale processing on the image data to obtain a gray-scale image, comparing the gray-scale values of the gray-scale image with the gray-scale values of a reference image, and obtaining a gray-scale value difference;

[0013] The control unit is further configured to set a preset gray-scale value difference, and adjust the baking temperature of the baking unit according to the comparison result between the gray-scale value difference and the preset gray-scale value difference.

[0014] Further, when the control unit performs gray-scale processing on the image data to obtain a gray-scale image, compares the gray-scale values of the gray-scale image with the gray-scale values of a reference image, and obtains a gray-scale value difference, it includes:

[0015] The control unit is further configured to evenly divide the grayscale image into four image blocks, and respectively obtain the grayscale values of the four image blocks, denoted as the grayscale value f01 of the first image block, the grayscale value f02 of the second image block, the grayscale value f03 of the third image block, and the grayscale value f04 of the fourth image block;

[0016] The control unit is further configured to divide the reference image into four image blocks, and respectively obtain the grayscale values of the four reference image blocks, denoted as the grayscale value fa1 of the first reference image block, the grayscale value fa2 of the second reference image block, the grayscale value fa3 of the third reference image block, and the grayscale value fa4 of the fourth reference image block;

[0017] The control unit is further configured to respectively compare the four image blocks with the four reference image blocks one by one to obtain four grayscale value differences, namely the first grayscale difference f1, the second grayscale difference f2, the third grayscale difference f3, and the fourth grayscale difference f4, where f1 = |f01 - fa1|, f2 = |f02 - fa2|, f3 = |f03 - fa3|, and f4 = |f04 - fa4|.

[0018] Further, when the control unit is further configured to set a preset grayscale value difference and adjust the baking temperature of the baking unit according to the comparison result between the grayscale value difference and the preset grayscale value difference, it includes:

[0019] The control unit is further configured to set a preset grayscale value difference b0;

[0020] The control unit is further configured to obtain the initial baking temperature T0 of the baking unit, and set a first preset adjustment coefficient c1, a second preset adjustment coefficient c2, a third preset adjustment coefficient c3, and a fourth preset adjustment coefficient c4, and 1 < c1 < c2 < c3 < c4 < 1.2;

[0021] The control unit is further configured to compare f1 to f4 with b0 respectively, and adjust the initial baking temperature T0 of the baking unit according to the comparison result:

[0022] When f1 to f4 are all less than b0, the initial baking temperature T0 is not adjusted;

[0023] When one of f1 to f4 is greater than b0, the first preset adjustment coefficient c1 is selected to adjust the initial baking temperature T0 of the baking unit, and T0 * c1 is used as the baking temperature of the baking unit;

[0024] When two of f1 to f4 are greater than b0, the second preset adjustment coefficient c2 is selected to adjust the initial baking temperature T0 of the baking unit, and T0 * c2 is used as the baking temperature of the baking unit;

[0025] When three of f1 to f4 are greater than b0, the third preset adjustment coefficient c3 is selected to adjust the initial baking temperature T0 of the baking unit, and T0*c3 is used as the baking temperature of the baking unit;

[0026] When all of f1 to f4 are greater than b0, the fourth preset adjustment coefficient c4 is selected to adjust the initial baking temperature T0 of the baking unit, and T0*c4 is used as the baking temperature of the baking unit.

[0027] Further, the control unit is further configured to, after selecting the i-th preset adjustment coefficient ci to adjust the initial baking temperature T0 of the baking unit, where i = 1, 2, 3, 4, and using T0*ci as the baking temperature of the baking unit, include:

[0028] The control unit is further configured to, after an interval of a preset duration, acquire again the image data of the finished apple pie collected in real time by the image acquisition unit, perform gray processing on the acquired image data again to obtain a second gray image, evenly divide the second gray image into four image blocks, respectively obtain the gray values of the four image blocks, denoted as the gray value f05 of the fifth image block, the gray value f06 of the sixth image block, the gray value f07 of the seventh image block, and the gray value f08 of the eighth image block;

[0029] The control unit is further configured to compare the four image blocks of the second gray image with four reference image blocks one by one to obtain four gray value differences, namely the first secondary gray difference f21, the second secondary gray difference f22, the third secondary gray difference f23, and the fourth secondary gray difference f24, where f21 = |f05 - fa1|, f22 = |f06 - fa2|, f23 = |f07 - fa3|, f24 = |f08 - fa4|;

[0030] The control unit is further configured to obtain the initial baking duration S0 of the baking unit, compare f5 to f8 with b0 respectively, and adjust the initial baking duration S0 of the baking unit according to the comparison results:

[0031] When all of f5 to f8 are less than b0, the initial baking duration S0 is not adjusted;

[0032] When one of f5 to f8 is greater than b0, the first preset adjustment coefficient c1 is selected to adjust the initial baking duration S0 of the baking unit, and S0*c1 is used as the baking duration of the baking unit;

[0033] When two of f5 to f8 are greater than b0, the second preset adjustment coefficient c2 is selected to adjust the initial baking duration S0 of the baking unit, and S0 * c2 is used as the baking duration of the baking unit;

[0034] When three of f5 to f8 are greater than b0, the third preset adjustment coefficient c3 is selected to adjust the initial baking duration S0 of the baking unit, and S0 * c3 is used as the baking duration of the baking unit;

[0035] When all of f5 to f8 are greater than b0, the fourth preset adjustment coefficient c4 is selected to adjust the initial baking duration S0 of the baking unit, and S0 * c4 is used as the baking duration of the baking unit.

[0036] Further, the control unit is further configured to, after using T0 * ci as the baking temperature of the baking unit and obtaining the image data of the finished apple pie collected in real time by the image acquisition unit again after a preset duration, include:

[0037] The control unit is further configured to preset a first preset gray mean value d1, a second preset gray mean value d2, a third preset gray mean value d3, and a fourth preset gray mean value d4;

[0038] The control unit is further configured to preset a first preset duration t1, a second preset duration t2, a third preset duration t3, and a fourth preset duration t4, and t1 > t2 > t3 > t4;

[0039] The control unit is further configured to determine the gray mean value of the first image block gray value f01, the second image block gray value f02, the third image block gray value f03, and the fourth image block gray value f04, and compare the gray mean value with each preset gray mean value, and determine the interval duration for obtaining the image data of the finished apple pie collected by the image acquisition unit again according to the comparison result:

[0040] When d1 ≤ (f01 + f02 + f03 + f04) / 4 < d2, the first preset duration t1 is selected as the interval duration for obtaining the image data of the finished apple pie collected by the image acquisition unit again;

[0041] When d2 ≤ (f01 + f02 + f03 + f04) / 4 < d3, the second preset duration t2 is selected as the interval duration for obtaining the image data of the finished apple pie collected by the image acquisition unit again;

[0042] When d3 ≤ (f01 + f02 + f03 + f04) / 4 < d4, the third preset duration t3 is selected as the interval duration for obtaining the image data of the finished apple pie collected by the image acquisition unit again;

[0043] When d4 ≤ (f01 + f02 + f03 + f04) / 4, the fourth preset duration t4 is selected as the interval duration for acquiring the image data of the finished apple pie collected by the image acquisition unit again.

[0044] On the other hand, the present invention also provides a processing method for apple pie, including:

[0045] Peeling, pitting and slicing apples to obtain processed apple slices;

[0046] Proportioning and distributing the ingredients required for making apple pie;

[0047] Stirring the apple slices and ingredients to obtain the filling;

[0048] Laying the pie crust for making apple pie, filling the filling, and sealing the edge to finally obtain the formed apple pie;

[0049] Baking the formed apple pie to obtain the finished apple pie;

[0050] Real-time collecting the image data of the finished apple pie;

[0051] Performing gray-scale processing on the image data to obtain a gray-scale image, comparing the gray-scale values of the gray-scale image with the gray-scale values of a reference image, and obtaining the gray-scale value difference;

[0052] Setting a preset gray-scale value difference, and adjusting the baking temperature according to the comparison result between the gray-scale value difference and the preset gray-scale value difference.

[0053] Further, when performing gray-scale processing on the image data to obtain a gray-scale image, comparing the gray-scale values of the gray-scale image with the gray-scale values of a reference image, and obtaining the gray-scale value difference, it includes:

[0054] Evenly dividing the gray-scale image into four image blocks, respectively obtaining the gray-scale values of the four image blocks, denoted as the gray-scale value f01 of the first image block, the gray-scale value f02 of the second image block, the gray-scale value f03 of the third image block, and the gray-scale value f04 of the fourth image block;

[0055] Dividing the reference image into four image blocks, respectively obtaining the gray-scale values of the four reference image blocks, denoted as the gray-scale value fa1 of the first reference image block, the gray-scale value fa2 of the second reference image block, the gray-scale value fa3 of the third reference image block, and the gray-scale value fa4 of the fourth reference image block;

[0056] Compare the four image blocks with four reference image blocks one by one to obtain four gray value differences, namely the first gray difference f1, the second gray difference f2, the third gray difference f3, and the fourth gray difference f4, where f1 = |f01 - fa1|, f2 = |f02 - fa2|, f3 = |f03 - fa3|, and f4 = |f04 - fa4|.

[0057] Further, when setting a preset gray value difference and adjusting the baking temperature according to the comparison result between the gray value difference and the preset gray value difference, it includes:

[0058] Set a preset gray value difference b0;

[0059] Obtain the initial baking temperature T0 of the baking unit, and set a first preset adjustment coefficient c1, a second preset adjustment coefficient c2, a third preset adjustment coefficient c3, and a fourth preset adjustment coefficient c4, and 1 < c1 < c2 < c3 < c4 < 1.2;

[0060] Compare f1 to f4 with b0 respectively, and adjust the initial baking temperature T0 according to the comparison result:

[0061] When f1 to f4 are all less than b0, the initial baking temperature T0 is not adjusted;

[0062] When one of f1 to f4 is greater than b0, select the first preset adjustment coefficient c1 to adjust the initial baking temperature T0, and use T0 * c1 as the baking temperature;

[0063] When two of f1 to f4 are greater than b0, select the second preset adjustment coefficient c2 to adjust the initial baking temperature T0, and use T0 * c2 as the baking temperature;

[0064] When three of f1 to f4 are greater than b0, select the third preset adjustment coefficient c3 to adjust the initial baking temperature T0, and use T0 * c3 as the baking temperature;

[0065] When all of f1 to f4 are greater than b0, select the fourth preset adjustment coefficient c4 to adjust the initial baking temperature T0, and use T0 * c4 as the baking temperature.

[0066] Further, after selecting the i-th preset adjustment coefficient ci to adjust the initial baking temperature T0, i = 1, 2, 3, 4, and using T0 * ci as the baking temperature, it includes:

[0067] After a preset time interval, obtain the image data of the finished apple pie collected in real time again, perform grayscale processing on the obtained image data again to obtain a second grayscale image, and evenly divide the second grayscale image into four image blocks, and obtain the grayscale values of the four image blocks respectively, denoted as the grayscale value f05 of the fifth image block, the grayscale value f06 of the sixth image block, the grayscale value f07 of the seventh image block, and the grayscale value f08 of the eighth image block;

[0068] Compare the four image blocks of the second grayscale image with four reference image blocks one by one to obtain four grayscale value differences, namely the first second grayscale difference f21, the second second grayscale difference f22, the third second grayscale difference f23, and the fourth second grayscale difference f24. Among them, f21 = |f05 - fa1|, f22 = |f06 - fa2|, f23 = |f07 - fa3|, f24 = |f08 - fa4|;

[0069] Obtain the initial baking duration S0, compare f5 to f8 with b0 respectively, and adjust the initial baking duration S0 according to the comparison results:

[0070] When f5 to f8 are all less than b0, the initial baking duration S0 is not adjusted;

[0071] When one of f5 to f8 is greater than b0, select the first preset adjustment coefficient c1 to adjust the initial baking duration S0, and take S0 * c1 as the baking duration;

[0072] When two of f5 to f8 are greater than b0, select the second preset adjustment coefficient c2 to adjust the initial baking duration S0, and take S0 * c2 as the baking duration;

[0073] When three of f5 to f8 are greater than b0, select the third preset adjustment coefficient c3 to adjust the initial baking duration S0, and take S0 * c3 as the baking duration;

[0074] When all of f5 to f8 are greater than b0, select the fourth preset adjustment coefficient c4 to adjust the initial baking duration S0, and take S0 * c4 as the baking duration.

[0075] Further, after taking T0 * ci as the baking temperature and obtaining the image data of the finished apple pie collected in real time again after a preset time interval, it includes:

[0076] Preset a first preset grayscale mean value d1, a second preset grayscale mean value d2, a third preset grayscale mean value d3, and a fourth preset grayscale mean value d4, and d1 < d2 < d3 < d4;

[0077] Preset a first preset duration t1, a second preset duration t2, a third preset duration t3, and a fourth preset duration t4, and t1 > t2 > t3 > t4;

[0078] Determine the gray-scale mean value of the gray-scale values f01, f02, f03, and f04 of the first image block, the second image block, the third image block, and the fourth image block, and compare the gray-scale mean value with each preset gray-scale mean value. According to the comparison result, determine the interval duration when acquiring the image data of the finished apple pie by the image acquisition unit again:

[0079] When d1 ≤ (f01 + f02 + f03 + f04) / 4 < d2, select the first preset duration t1 as the interval duration when acquiring the image data of the finished apple pie again;

[0080] When d2 ≤ (f01 + f02 + f03 + f04) / 4 < d3, select the second preset duration t2 as the interval duration when acquiring the image data of the finished apple pie again;

[0081] When d3 ≤ (f01 + f02 + f03 + f04) / 4 < d4, select the third preset duration t3 as the interval duration when acquiring the image data of the finished apple pie again;

[0082] When d4 ≤ (f01 + f02 + f03 + f04) / 4, select the fourth preset duration t4 as the interval duration when acquiring the image data of the finished apple pie again.

[0083] Compared with the prior art, the beneficial effect of the present invention is that the present invention performs real-time image acquisition on the baked finished apple pie, performs gray-scale processing on the image data to obtain a gray-scale image, compares the gray-scale value of the gray-scale image with the gray-scale value of the reference image, and obtains the gray-scale value difference. According to the comparison result of the gray-scale value difference and the preset gray-scale value difference, the baking temperature of the baking unit is adjusted. The present invention can effectively monitor the apple pie finished product through image monitoring, and timely adjust the baking conditions according to the monitoring results, ensure the consistency of apple pie processing, and effectively improve the aesthetics of the apple pie finished product.

[0084] Furthermore, the present invention performs gray-scale processing on the image data and compares the gray-scale values of the finished product and the reference image, which can accurately judge whether the baking degree meets the expectation, thereby improving the consistency and quality stability of the product. Dynamically adjust the baking temperature according to the comparison result of the gray-scale value difference to ensure that the product can still reach the ideal state under different production conditions, avoid waste caused by over-baking or under-baking, and further improve the qualified rate and production efficiency of the product.

[0085] Furthermore, through the organic cooperation of each unit, the present invention realizes the automation, standardization, and intelligentization of the apple pie processing process, greatly improving the production efficiency, reducing the labor cost, and significantly enhancing the product quality consistency and production reliability through the intelligent quality inspection and control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered as limiting the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0087] Figure 1 is a functional block diagram of the apple pie processing system provided by an embodiment of the present invention;

[0088] Figure 2 is a flowchart of the apple pie processing system provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0089] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0090] Referring to Figure 1 as shown, an embodiment of the present invention provides an apple pie processing system, including:

[0091] A raw material processing unit for peeling, pitting, and slicing apples to obtain processed apple slices;

[0092] A batching unit for proportioning and distributing the ingredients required for making apple pies;

[0093] A stirring unit for stirring the apple slices and ingredients to obtain a filling;

[0094] A forming unit for laying the pie crust for making apple pies, filling the filling, and sealing the edges to finally obtain the formed apple pies;

[0095] A baking unit for baking the formed apple pies to obtain finished apple pies;

[0096] An image acquisition unit for real-time acquisition of image data of the finished apple pie product;

[0097] A control unit for performing gray-scale processing on the image data to obtain a gray-scale image, comparing the gray-scale values of the gray-scale image with those of a reference image, and obtaining a gray-scale value difference;

[0098] The control unit is further configured to set a preset gray-scale value difference, and adjust the baking temperature of the baking unit according to the comparison result between the gray-scale value difference and the preset gray-scale value difference.

[0099] In the above embodiment, real-time image acquisition is performed on the baked finished apple pie product, and the image data is subjected to gray-scale processing to obtain a gray-scale image. The gray-scale values of the gray-scale image are compared with those of the reference image, and a gray-scale value difference is obtained. The baking temperature of the baking unit is adjusted according to the comparison result between the gray-scale value difference and the preset gray-scale value difference. The present invention can effectively monitor the image of the finished apple pie product, timely adjust the baking conditions according to the monitoring results, ensure the consistency of apple pie processing, and effectively improve the aesthetics of the finished apple pie product.

[0100] Specifically, when the control unit performs gray-scale processing on the image data to obtain a gray-scale image, compares the gray-scale values of the gray-scale image with those of a reference image, and obtains a gray-scale value difference, it includes:

[0101] The control unit is further configured to evenly divide the gray-scale image into four image blocks, respectively obtain the gray-scale values of the four image blocks, denoted as the first image block gray-scale value f01, the second image block gray-scale value f02, the third image block gray-scale value f03, and the fourth image block gray-scale value f04;

[0102] The control unit is further configured to divide the reference image into four image blocks, respectively obtain the gray-scale values of the four reference image blocks, denoted as the first reference image block gray-scale value fa1, the second reference image block gray-scale value fa2, the third reference image block gray-scale value fa3, and the fourth reference image block gray-scale value fa4;

[0103] The control unit is further configured to respectively compare the four image blocks with the four reference image blocks one by one to obtain four gray-scale value differences, namely the first gray-scale difference f1, the second gray-scale difference f2, the third gray-scale difference f3, and the fourth gray-scale difference f4, where f1 = |f01 - fa1|, f2 = |f02 - fa2|, f3 = |f03 - fa3|, and f4 = |f04 - fa4|.

[0104] Specifically, when the control unit is further configured to set a preset gray value difference and adjust the baking temperature of the baking unit according to the comparison result between the gray value difference and the preset gray value difference, it includes:

[0105] The control unit is further configured to set a preset gray value difference b0;

[0106] The control unit is further configured to obtain the initial baking temperature T0 of the baking unit, and set a first preset adjustment coefficient c1, a second preset adjustment coefficient c2, a third preset adjustment coefficient c3, and a fourth preset adjustment coefficient c4, and 1 < c1 < c2 < c3 < c4 < 1.2;

[0107] The control unit is further configured to compare f1 to f4 with b0 respectively, and adjust the initial baking temperature T0 of the baking unit according to the comparison result:

[0108] When f1 to f4 are all less than b0, the initial baking temperature T0 is not adjusted;

[0109] When one of f1 to f4 is greater than b0, the first preset adjustment coefficient c1 is selected to adjust the initial baking temperature T0 of the baking unit, and T0 * c1 is used as the baking temperature of the baking unit;

[0110] When two of f1 to f4 are greater than b0, the second preset adjustment coefficient c2 is selected to adjust the initial baking temperature T0 of the baking unit, and T0 * c2 is used as the baking temperature of the baking unit;

[0111] When three of f1 to f4 are greater than b0, the third preset adjustment coefficient c3 is selected to adjust the initial baking temperature T0 of the baking unit, and T0 * c3 is used as the baking temperature of the baking unit;

[0112] When all of f1 to f4 are greater than b0, the fourth preset adjustment coefficient c4 is selected to adjust the initial baking temperature T0 of the baking unit, and T0 * c4 is used as the baking temperature of the baking unit.

[0113] Specifically, after the control unit selects the i-th preset adjustment coefficient ci to adjust the initial baking temperature T0 of the baking unit, where i = 1, 2, 3, 4, and uses T0 * ci as the baking temperature of the baking unit, it includes:

[0114] The control unit is further configured to, after a preset time interval, acquire again the image data of the finished apple pie collected in real time by the image acquisition unit, perform grayscale processing on the acquired image data again to obtain a second grayscale image, evenly divide the second grayscale image into four image blocks, and respectively obtain the grayscale values of the four image blocks, denoted as the grayscale value f05 of the fifth image block, the grayscale value f06 of the sixth image block, the grayscale value f07 of the seventh image block, and the grayscale value f08 of the eighth image block;

[0115] The control unit is further configured to respectively compare the four image blocks of the second grayscale image with four reference image blocks one by one to obtain four grayscale value differences, namely the first secondary grayscale difference f21, the second secondary grayscale difference f22, the third secondary grayscale difference f23, and the fourth secondary grayscale difference f24, where f21 = |f05 - fa1|, f22 = |f06 - fa2|, f23 = |f07 - fa3|, f24 = |f08 - fa4|;

[0116] The control unit is further configured to obtain the initial baking duration S0 of the baking unit, compare f5 to f8 with b0 respectively, and adjust the initial baking duration S0 of the baking unit according to the comparison results:

[0117] When f5 to f8 are all less than b0, the initial baking duration S0 is not adjusted;

[0118] When one of f5 to f8 is greater than b0, the first preset adjustment coefficient c1 is selected to adjust the initial baking duration S0 of the baking unit, and S0 * c1 is used as the baking duration of the baking unit;

[0119] When two of f5 to f8 are greater than b0, the second preset adjustment coefficient c2 is selected to adjust the initial baking duration S0 of the baking unit, and S0 * c2 is used as the baking duration of the baking unit;

[0120] When three of f5 to f8 are greater than b0, the third preset adjustment coefficient c3 is selected to adjust the initial baking duration S0 of the baking unit, and S0 * c3 is used as the baking duration of the baking unit;

[0121] When all of f5 to f8 are greater than b0, the fourth preset adjustment coefficient c4 is selected to adjust the initial baking duration S0 of the baking unit, and S0 * c4 is used as the baking duration of the baking unit.

[0122] Specifically, when the control unit uses T0 * ci as the baking temperature of the baking unit and acquires again the image data of the finished apple pie collected in real time by the image acquisition unit after a preset time interval, it includes:

[0123] The control unit is further configured to preset a first preset gray mean value d1, a second preset gray mean value d2, a third preset gray mean value d3, and a fourth preset gray mean value d4;

[0124] The control unit is further configured to preset a first preset duration t1, a second preset duration t2, a third preset duration t3, and a fourth preset duration t4, and t1 > t2 > t3 > t4;

[0125] The control unit is further configured to determine the gray mean values of the first image block gray value f01, the second image block gray value f02, the third image block gray value f03, and the fourth image block gray value f04, compare the gray mean values with the respective preset gray mean values, and determine the interval duration for acquiring the image data of the finished apple pie collected by the image acquisition unit again according to the comparison result:

[0126] When d1 ≤ (f01 + f02 + f03 + f04) / 4 < d2, the first preset duration t1 is selected as the interval duration for acquiring the image data of the finished apple pie collected by the image acquisition unit again;

[0127] When d2 ≤ (f01 + f02 + f03 + f04) / 4 < d3, the second preset duration t2 is selected as the interval duration for acquiring the image data of the finished apple pie collected by the image acquisition unit again;

[0128] When d3 ≤ (f01 + f02 + f03 + f04) / 4 < d4, the third preset duration t3 is selected as the interval duration for acquiring the image data of the finished apple pie collected by the image acquisition unit again;

[0129] When d4 ≤ (f01 + f02 + f03 + f04) / 4, the fourth preset duration t4 is selected as the interval duration for acquiring the image data of the finished apple pie collected by the image acquisition unit again.

[0130] Refer to Figure 2 As shown, in another preferred implementation manner based on the above embodiment, this implementation manner provides a processing method for apple pie, which is implemented based on the above apple pie processing system, and includes the following steps:

[0131] Step S100: Peel, core, and slice the apples to obtain processed apple slices;

[0132] Step S200: Proportion and distribute the ingredients required for making apple pie, and stir the apple slices and the ingredients to obtain the filling;

[0133] Step S300: Lay the pie crust for making the apple pie, fill it with the filling, and seal the edge, finally obtaining the formed apple pie, and bake the formed apple pie to obtain the finished apple pie;

[0134] Step S400: Collect the image data of the finished apple pie in real time, perform gray-scale processing on the image data to obtain a gray-scale image, compare the gray-scale values of the gray-scale image with those of a reference image, and obtain the gray-scale value difference; set a preset gray-scale value difference, and adjust the baking temperature according to the comparison result between the gray-scale value difference and the preset gray-scale value difference.

[0135] Specifically, when performing gray-scale processing on the image data to obtain a gray-scale image, comparing the gray-scale values of the gray-scale image with those of a reference image, and obtaining the gray-scale value difference, it includes:

[0136] Divide the gray-scale image evenly into four image blocks, and obtain the gray-scale values of the four image blocks respectively, denoted as the gray-scale value f01 of the first image block, the gray-scale value f02 of the second image block, the gray-scale value f03 of the third image block, and the gray-scale value f04 of the fourth image block;

[0137] Divide the reference image into four image blocks, and obtain the gray-scale values of the four reference image blocks respectively, denoted as the gray-scale value fa1 of the first reference image block, the gray-scale value fa2 of the second reference image block, the gray-scale value fa3 of the third reference image block, and the gray-scale value fa4 of the fourth reference image block;

[0138] Compare the four image blocks with the four reference image blocks one by one to obtain four gray-scale value differences, namely the first gray-scale difference f1, the second gray-scale difference f2, the third gray-scale difference f3, and the fourth gray-scale difference f4, where f1 = |f01 - fa1|, f2 = |f02 - fa2|, f3 = |f03 - fa3|, f4 = |f04 - fa4|.

[0139] Specifically, when setting the preset gray-scale value difference and adjusting the baking temperature according to the comparison result between the gray-scale value difference and the preset gray-scale value difference, it includes:

[0140] Set the preset gray-scale value difference b0;

[0141] Obtain the initial baking temperature T0 of the baking unit, and set the first preset adjustment coefficient c1, the second preset adjustment coefficient c2, the third preset adjustment coefficient c3, and the fourth preset adjustment coefficient c4, and 1 < c1 < c2 < c3 < c4 < 1.2;

[0142] Compare f1 to f4 with b0 respectively, and adjust the initial baking temperature T0 according to the comparison result:

[0143] When f1 to f4 are all less than b0, the initial baking temperature T0 is not adjusted;

[0144] When one of f1 to f4 is greater than b0, the first preset adjustment coefficient c1 is selected to adjust the initial baking temperature T0, and T0 * c1 is used as the baking temperature;

[0145] When two of f1 to f4 are greater than b0, the second preset adjustment coefficient c2 is selected to adjust the initial baking temperature T0, and T0 * c2 is used as the baking temperature;

[0146] When three of f1 to f4 are greater than b0, the third preset adjustment coefficient c3 is selected to adjust the initial baking temperature T0, and T0 * c3 is used as the baking temperature;

[0147] When all of f1 to f4 are greater than b0, the fourth preset adjustment coefficient c4 is selected to adjust the initial baking temperature T0, and T0 * c4 is used as the baking temperature.

[0148] Specifically, after selecting the i-th preset adjustment coefficient ci to adjust the initial baking temperature T0, where i = 1, 2, 3, 4, and using T0 * ci as the baking temperature, it includes:

[0149] After an interval of a preset duration, the image data of the finished apple pie collected in real time is obtained again, and the image data obtained again is subjected to grayscale processing to obtain a second grayscale image. The second grayscale image is evenly divided into four image blocks, and the grayscale values of the four image blocks are obtained respectively, denoted as the grayscale value f05 of the fifth image block, the grayscale value f06 of the sixth image block, the grayscale value f07 of the seventh image block, and the grayscale value f08 of the eighth image block;

[0150] The four image blocks of the second grayscale image are compared with four reference image blocks one by one to obtain four grayscale value differences, namely the first second grayscale difference f21, the second second grayscale difference f22, the third second grayscale difference f23, and the fourth second grayscale difference f24. Among them, f21 = |f05 - fa1|, f22 = |f06 - fa2|, f23 = |f07 - fa3|, f24 = |f08 - fa4|;

[0151] The initial baking duration S0 is obtained, f5 to f8 are compared with b0 respectively, and the initial baking duration S0 is adjusted according to the comparison results:

[0152] When f5 to f8 are all less than b0, the initial baking duration S0 is not adjusted;

[0153] When one of f5 to f8 is greater than b0, the first preset adjustment coefficient c1 is selected to adjust the initial baking duration S0, and S0 * c1 is used as the baking duration;

[0154] When two of f5 to f8 are greater than b0, the second preset adjustment coefficient c2 is selected to adjust the initial baking duration S0, and S0 * c2 is used as the baking duration;

[0155] When three of f5 to f8 are greater than b0, the third preset adjustment coefficient c3 is selected to adjust the initial baking duration S0, and S0 * c3 is used as the baking duration;

[0156] When all of f5 to f8 are greater than b0, the fourth preset adjustment coefficient c4 is selected to adjust the initial baking duration S0, and S0 * c4 is used as the baking duration.

[0157] Specifically, after using T0 * ci as the baking temperature and obtaining the image data of the finished apple pie collected in real time again after a preset duration, it includes:

[0158] The first preset gray mean value d1, the second preset gray mean value d2, the third preset gray mean value d3, and the fourth preset gray mean value d4 are preset, and d1 < d2 < d3 < d4;

[0159] The first preset duration t1, the second preset duration t2, the third preset duration t3, and the fourth preset duration t4 are preset, and t1 > t2 > t3 > t4;

[0160] Determine the gray mean value of the first image block gray value f01, the second image block gray value f02, the third image block gray value f03, and the fourth image block gray value f04, and compare the gray mean value with each preset gray mean value. According to the comparison result, determine the interval duration for obtaining the image data of the finished apple pie collected by the image acquisition unit again:

[0161] When d1 ≤ (f01 + f02 + f03 + f04) / 4 < d2, the first preset duration t1 is selected as the interval duration for obtaining the image data of the finished apple pie again;

[0162] When d2 ≤ (f01 + f02 + f03 + f04) / 4 < d3, the second preset duration t2 is selected as the interval duration for obtaining the image data of the finished apple pie again;

[0163] When d3 ≤ (f01 + f02 + f03 + f04) / 4 < d4, the third preset duration t3 is selected as the interval duration for obtaining the image data of the finished apple pie again;

[0164] When d4 ≤ (f01 + f02 + f03 + f04) / 4, the fourth preset duration t4 is selected as the interval duration for acquiring the image data of the apple pie finished product again.

[0165] It can be understood that in the above embodiments, by performing real-time image acquisition on the baked apple pie finished product, performing gray-scale processing on the image data to obtain a gray-scale image, comparing the gray-scale value of the gray-scale image with the gray-scale value of the reference image, obtaining the gray-scale value difference, and adjusting the baking temperature of the baking unit according to the comparison result between the gray-scale value difference and the preset gray-scale value difference. The present invention can effectively monitor the apple pie finished product through image monitoring, and timely adjust the baking conditions according to the monitoring results, ensure the consistency of apple pie processing, and effectively improve the aesthetics of the apple pie finished product.

[0166] In the above embodiments, by performing gray-scale processing on the image data and comparing the gray-scale values of the finished product and the reference image, it is possible to accurately judge whether the baking degree meets the expectation, thereby improving the consistency and quality stability of the product. Dynamically adjusting the baking temperature according to the comparison result of the gray-scale value difference ensures that the product can still reach the ideal state under different production conditions, avoids waste caused by over-baking or under-baking, and further improves the qualified rate and production efficiency of the product.

[0167] In the above embodiments, through the organic cooperation of each unit, the automation, standardization, and intelligence of the apple pie processing process are realized, the production efficiency is greatly improved, the labor cost is reduced, and the quality consistency and production reliability of the product are significantly improved through the intelligent quality detection and control system.

[0168] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0169] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate for realizing in the process Figure 1means for the functions specified in one or more processes and / or boxes Figure 1 or in one or more boxes.

[0170] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction means which implements the functions specified in one process Figure 1 or in one or more processes and / or boxes Figure 1 or in one or more boxes.

[0171] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus, such that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one process Figure 1 or in one or more processes and / or boxes Figure 1 or in one or more boxes.

[0172] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the specific implementation manners of the present invention or make equivalent replacements, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. An apple pie processing system, characterized in that: include: A raw material processing unit, used for peeling, core removal and slicing apples to obtain processed apple slices; a batching unit for proportioning and dispensing the ingredients needed to make apple pie; A stirring unit, used for stirring the apple slices and ingredients to obtain fillings; A forming unit, used for laying out the dough for making apple pie, filling the dough with the filling, and sealing the edges, and finally obtaining the formed apple pie; A baking unit, used for baking the formed apple pie to obtain a finished apple pie; An image acquisition unit, used for acquiring image data of the finished apple pie in real time; A control unit, configured to perform grayscale processing on the image data to obtain a grayscale image, compare the grayscale value of the grayscale image with the grayscale value of a reference image, and obtain a grayscale value difference; The control unit is further used to set a preset gray value difference, and adjust the baking temperature of the baking unit according to a comparison result between the gray value difference and the preset gray value difference.

2. The apple pie processing system according to claim 1, characterized in that: The control unit is used to perform grayscale processing on the image data to obtain a grayscale image, compare the grayscale value of the grayscale image with the grayscale value of the reference image, and obtain the grayscale value difference, including: The control unit is further used to evenly divide the grayscale image into four image blocks, and obtain grayscale values ​​of the four image blocks respectively, which are recorded as a first image block grayscale value f01, a second image block grayscale value f02, a third image block grayscale value f03 and a fourth image block grayscale value f04; The control unit is further used to divide the reference image into four image blocks, and obtain grayscale values ​​of the four reference image blocks respectively, which are recorded as a first reference image block grayscale value fa1, a second reference image block grayscale value fa2, a third reference image block grayscale value fa3 and a fourth reference image block grayscale value fa4; The control unit is also used to compare the four image blocks with the four reference image blocks one by one to obtain four grayscale value differences, namely the first grayscale difference f1, the second grayscale difference f2, the third grayscale difference f3 and the fourth grayscale difference f4, wherein f1 = |f01-fa1|, f2 = |f02-fa2|, f3 = |f03-fa3|, f4 = |f04-fa4|.

3. The apple pie processing system according to claim 2, characterized in that: The control unit is also used to set a preset gray value difference, and when adjusting the baking temperature of the baking unit according to a comparison result between the gray value difference and the preset gray value difference, the control unit includes: The control unit is also used to set a preset gray value difference b0; The control unit is further used to obtain an initial baking temperature T0 of the baking unit, and set a first preset adjustment coefficient c1, a second preset adjustment coefficient c2, a third preset adjustment coefficient c3 and a fourth preset adjustment coefficient c4, and 1<c1<c2<c3<c4<1.2; The control unit is also used to compare f1-f4 with b0 respectively, and adjust the initial baking temperature T0 of the baking unit according to the comparison results: When f1-f4 are all less than b0, the initial baking temperature T0 is not adjusted; When one of f1 to f4 is greater than b0, the first preset adjustment coefficient c1 is selected to adjust the initial baking temperature T0 of the baking unit, and T0*c1 is used as the baking temperature of the baking unit; When two of f1 to f4 are greater than b0, the second preset adjustment coefficient c2 is selected to adjust the initial baking temperature T0 of the baking unit, and T0*c2 is used as the baking temperature of the baking unit; When three of f1 to f4 are greater than b0, the third preset adjustment coefficient c3 is selected to adjust the initial baking temperature T0 of the baking unit, and T0*c3 is used as the baking temperature of the baking unit; When all of f1 to f4 are greater than b0, the fourth preset adjustment coefficient c4 is selected to adjust the initial baking temperature T0 of the baking unit, and T0*c4 is used as the baking temperature of the baking unit.

4. The apple pie processing system according to claim 3, characterized in that: The control unit is further used to adjust the initial baking temperature T0 of the baking unit after selecting the i-th preset adjustment coefficient ci, i=1, 2, 3, 4, and taking T0*ci as the baking temperature of the baking unit, comprising: The control unit is further used to obtain image data of the finished apple pie collected by the image acquisition unit in real time again after a preset time interval, and perform grayscale processing on the image data obtained again to obtain a second grayscale image, and evenly divide the second grayscale image into four image blocks, and obtain grayscale values ​​of the four image blocks respectively, which are recorded as the fifth image block grayscale value f05, the sixth image block grayscale value f06, the seventh image block grayscale value f07 and the eighth image block grayscale value f08; The control unit is further used to compare the four image blocks of the second grayscale image with the four reference image blocks one by one to obtain four grayscale value differences, namely a first secondary grayscale difference f21, a second secondary grayscale difference f22, a third secondary grayscale difference f23 and a fourth secondary grayscale difference f24, wherein f21 = |f05-fa1|, f22 = |f06-fa2|, f23 = |f07-fa3|, and f24 = |f08-fa4|; The control unit is further used to obtain the initial baking time S0 of the baking unit, compare f5 to f8 with b0 respectively, and adjust the initial baking time S0 of the baking unit according to the comparison result: When f5-f8 are all smaller than b0, the initial baking time S0 is not adjusted; When one of f5 to f8 is greater than b0, the first preset adjustment coefficient c1 is selected to adjust the initial baking time S0 of the baking unit, and S0*c1 is used as the baking time of the baking unit; When two of f5 to f8 are greater than b0, the second preset adjustment coefficient c2 is selected to adjust the initial baking time S0 of the baking unit, and S0*c2 is used as the baking time of the baking unit; When three of f5 to f8 are greater than b0, the third preset adjustment coefficient c3 is selected to adjust the initial baking time S0 of the baking unit, and S0*c3 is used as the baking time of the baking unit; When all of f5 to f8 are greater than b0, the fourth preset adjustment coefficient c4 is selected to adjust the initial baking time S0 of the baking unit, and S0*c4 is used as the baking time of the baking unit.

5. The apple pie processing system according to claim 4, characterized in that: The control unit is also used to obtain the image data of the finished apple pie product acquired in real time by the image acquisition unit again after taking T0*ci as the baking temperature of the baking unit at a preset time interval, including: The control unit is further used to preset a first preset grayscale mean value d1, a second preset grayscale mean value d2, a third preset grayscale mean value d3 and a fourth preset grayscale mean value d4; The control unit is further used to preset a first preset time length t1, a second preset time length t2, a third preset time length t3 and a fourth preset time length t4, and t1>t2>t3>t4; The control unit is further used to determine the grayscale mean of the grayscale value f01 of the first image block, the grayscale value f02 of the second image block, the grayscale value f03 of the third image block, and the grayscale value f04 of the fourth image block, and compare the grayscale mean with each preset grayscale mean, and determine the interval time for acquiring the image data of the finished apple pie by the image acquisition unit again according to the comparison result: When d1≤(f01+f02+f03+f04) / 4<d2, the first preset time length t1 is selected as the interval time length for acquiring the image data of the finished apple pie by the image acquisition unit again; When d2≤(f01+f02+f03+f04) / 4<d3, the second preset time length t2 is selected as the interval time length for acquiring the image data of the finished apple pie by the image acquisition unit again; When d3≤(f01+f02+f03+f04) / 4<d4, the third preset time length t3 is selected as the interval time length for acquiring the image data of the finished apple pie by the image acquisition unit again; When d4≤(f01+f02+f03+f04) / 4, the fourth preset time length t4 is selected as the interval time length for acquiring the image data of the finished apple pie product by the image acquisition unit again.

6. A method for processing apple pie, characterized in that: include: peeling, core-removing and slicing the apples to obtain processed apple slices; Proportion and portion ingredients needed to make apple pie; The apple slices and ingredients are mixed to obtain a filling; Laying out the dough for making apple pie, filling it with the stuffing, and sealing the edges, and finally obtaining the formed apple pie; Baking the formed apple pie to obtain a finished apple pie; Collecting image data of the finished apple pie in real time; Performing grayscale processing on the image data to obtain a grayscale image, comparing the grayscale value of the grayscale image with the grayscale value of a reference image, and obtaining a grayscale value difference; A preset gray value difference is set, and the baking temperature is adjusted according to a comparison result between the gray value difference and the preset gray value difference.

7. The method for processing apple pie according to claim 6, characterized in that: When grayscale processing is performed on the image data to obtain a grayscale image, the grayscale value of the grayscale image is compared with the grayscale value of the reference image, and a grayscale value difference is obtained, the method includes: The grayscale image is evenly divided into four image blocks, and grayscale values ​​of the four image blocks are respectively obtained, which are recorded as a grayscale value f01 of a first image block, a grayscale value f02 of a second image block, a grayscale value f03 of a third image block, and a grayscale value f04 of a fourth image block; Divide the reference image into four image blocks, and obtain grayscale values ​​of the four reference image blocks respectively, which are recorded as a first reference image block grayscale value fa1, a second reference image block grayscale value fa2, a third reference image block grayscale value fa3, and a fourth reference image block grayscale value fa4; The four image blocks are respectively compared with the four reference image blocks one by one to obtain four grayscale value differences, namely a first grayscale difference f1, a second grayscale difference f2, a third grayscale difference f3 and a fourth grayscale difference f4, wherein f1 = |f01-fa1|, f2 = |f02-fa2|, f3 = |f03-fa3|, and f4 = |f04-fa4|.

8. The method for processing apple pie according to claim 7, characterized in that: When a preset gray value difference is set and the baking temperature is adjusted according to a comparison result between the gray value difference and the preset gray value difference, the method includes: Set the preset gray value difference b0; Obtaining an initial baking temperature T0 of the baking unit, and setting a first preset adjustment coefficient c1, a second preset adjustment coefficient c2, a third preset adjustment coefficient c3, and a fourth preset adjustment coefficient c4, wherein 1<c1<c2<c3<c4<1.2; Compare f1~f4 with b0 respectively, and adjust the initial baking temperature T0 according to the comparison results: When f1-f4 are all less than b0, the initial baking temperature T0 is not adjusted; When one of f1 to f4 is greater than b0, the first preset adjustment coefficient c1 is selected to adjust the initial baking temperature T0, and T0*c1 is used as the baking temperature; When two of f1 to f4 are greater than b0, the second preset adjustment coefficient c2 is selected to adjust the initial baking temperature T0, and T0*c2 is used as the baking temperature; When three of f1 to f4 are greater than b0, the third preset adjustment coefficient c3 is selected to adjust the initial baking temperature T0, and T0*c3 is used as the baking temperature; When all of f1 to f4 are greater than b0, the fourth preset adjustment coefficient c4 is selected to adjust the initial baking temperature T0, and T0*c4 is used as the baking temperature.

9. The method for processing apple pie according to claim 8, characterized in that: After selecting the i-th preset adjustment coefficient ci to adjust the initial baking temperature T0, i=1, 2, 3, 4, and taking T0*ci as the baking temperature, the method includes: After a preset time interval, the image data of the finished apple pie product acquired in real time is acquired again, and grayscale processing is performed on the image data acquired again to acquire a second grayscale image, and the second grayscale image is evenly divided into four image blocks, and grayscale values ​​of the four image blocks are acquired respectively, which are recorded as the grayscale value f05 of the fifth image block, the grayscale value f06 of the sixth image block, the grayscale value f07 of the seventh image block, and the grayscale value f08 of the eighth image block; Compare the four image blocks of the second grayscale image with the four reference image blocks one by one to obtain four grayscale value differences, namely, a first secondary grayscale difference f21, a second secondary grayscale difference f22, a third secondary grayscale difference f23 and a fourth secondary grayscale difference f24, wherein f21=|f05-fa1|, f22=|f06-fa2|, f23=|f07-fa3|, f24=|f08-fa4|; Get the initial baking time S0, compare f5 to f8 with b0 respectively, and adjust the initial baking time S0 according to the comparison results: When f5-f8 are all smaller than b0, the initial baking time S0 is not adjusted; When one of f5 to f8 is greater than b0, the first preset adjustment coefficient c1 is selected to adjust the initial baking time S0, and S0*c1 is used as the baking time; When two of f5 to f8 are greater than b0, the second preset adjustment coefficient c2 is selected to adjust the initial baking time S0, and S0*c2 is used as the baking time; When three of f5 to f8 are greater than b0, the third preset adjustment coefficient c3 is selected to adjust the initial baking time S0, and S0*c3 is used as the baking time; When all of f5 to f8 are greater than b0, the fourth preset adjustment coefficient c4 is selected to adjust the initial baking time S0, and S0*c4 is used as the baking time.

10. The method for processing apple pie according to claim 9, characterized in that: After T0*ci is used as the baking temperature, the image data of the finished apple pie collected in real time is obtained again after a preset time interval, including: A first preset grayscale mean value d1, a second preset grayscale mean value d2, a third preset grayscale mean value d3 and a fourth preset grayscale mean value d4 are preset in advance, and d1<d2<d3<d4; A first preset time length t1, a second preset time length t2, a third preset time length t3 and a fourth preset time length t4 are preset in advance, and t1>t2>t3>t4; Determine the grayscale mean of the grayscale value f01 of the first image block, the grayscale value f02 of the second image block, the grayscale value f03 of the third image block, and the grayscale value f04 of the fourth image block, and compare the grayscale mean with each preset grayscale mean, and determine the interval time for acquiring the image data of the finished apple pie by the image acquisition unit again according to the comparison result: When d1≤(f01+f02+f03+f04) / 4<d2, the first preset time length t1 is selected as the interval time length for obtaining the image data of the finished apple pie again; When d2≤(f01+f02+f03+f04) / 4<d3, the second preset time length t2 is selected as the interval time length for obtaining the image data of the finished apple pie again; When d3≤(f01+f02+f03+f04) / 4<d4, the third preset time length t3 is selected as the interval time length for obtaining the image data of the finished apple pie again; When d4≤(f01+f02+f03+f04) / 4, the fourth preset time length t4 is selected as the interval time length for acquiring the image data of the finished apple pie again.

Images