Automatic capping method for edible mushroom bags used in a bag capping machine

Abstract

The present invention relates to the technical field of mushroom bag capping, and in particular to an automatic capping method for edible fungus bags used in a mushroom bag capping machine, the method comprising: obtaining morphological feature information and quality of each edible fungus bag, identifying the relative position of the mushroom bag cap and the upper edge of the edible fungus bag, determining a clamping stability characterization parameter of the edible fungus bag, and determining a capping deformation category according to the clamping stability characterization parameter; determining a morphological stability level of the edible fungus bag according to point cloud data of the mushroom bag surface; determining a capping method for the edible fungus bag according to the capping deformation category and the morphological stability level, and determining a capping correction method for the edible fungus bag according to the relative position and the capping deformation category; determining the success rate of the current capping method and the capping correction method, and judging whether they meet the automatic capping requirements, and determining whether to adjust the capping method according to the judgment result. The capping method of the present invention is suitable for mushroom bags of different shapes and densities, and improves the automation level and success rate of capping of edible fungus bags.

Description

Technical Field

[0001] The invention relates to the technical field of mushroom bag capping, and in particular to an automatic capping method for edible mushroom bags used in a mushroom bag capping machine. Background Art

[0002] Existing technologies for automated lid removal from mushroom bags primarily rely on pneumatic peeling or mechanical pushing devices. Pneumatic peeling uses air-pressure-driven suction cups or clamps to grip the film seal, then uses tension to tear the seal (suitable for bags sealed with rings or films). Mechanical pushing, on the other hand, uses a pin or push plate to remove the plastic lid (such as a ring lid) from the inside or outside of the bag, relying on standardized bag design. Additionally, some devices utilize hot-melt peeling, softening the film seal through localized heating before separating the lid. However, this requires high temperature control precision.

[0003] The existing technology has the following problems:

[0004] The adaptability of the capping equipment is heavily dependent on the uniformity of the mushroom bag specifications. When the mushroom bag shape and filling fullness affect the position of the mushroom bag lid after the bag is subjected to force, the accuracy of the automatic capping is low, affecting the capping results. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic capping method for edible mushroom bags for a mushroom bag capping machine, which can detect the morphological information of the mushroom bags and timely adjust the capping method and correction method to ensure that the capping action is carried out smoothly, thereby solving the problem that the existing capping equipment has low adaptability to the mushroom bags, resulting in insufficient capping success rate.

[0006] To this end, the present invention provides an automatic capping method for edible mushroom bags used in a bag capping machine. The automatic capping method for edible mushroom bags comprises: step S1, obtaining morphological characteristic information and quality of each edible mushroom bag, and identifying the relative position of the bag cap and the upper edge of the edible mushroom bag, wherein the morphological characteristic information includes height, upper edge width, lower edge width, and point cloud data of the bag surface;

[0007] Step S2, determining a clamping stability characterization parameter of the edible mushroom bag according to the height, the upper edge width, the lower edge width, and the mass, and determining a lid removal deformation type according to the clamping stability characterization parameter;

[0008] Step S3, determining the morphological stability level of the edible mushroom bag based on the point cloud data of the mushroom bag surface;

[0009] Step S4, determining a lid removal method for the edible fungus bag according to the lid removal deformation type and the morphological stability level, and determining a lid clamping correction method for the edible fungus bag according to the relative position and the lid removal deformation type;

[0010] Step S5, obtaining the capping results of several times, determining the success rate of the current capping method and the cap clamping correction method, and judging whether it meets the automatic capping requirements, and determining whether to adjust the capping method according to the judgment result.

[0011] As a preferred technical solution for the automatic capping method of edible mushroom bags used in the bag capping machine, in step S2, the process of determining the capping deformation category includes:

[0012] If the clamping stability characterization parameter is greater than or equal to the preset clamping stability parameter, the current capping deformation category of the edible mushroom bag is a dominant deformation category;

[0013] If the clamping stability characterization parameter is less than the preset clamping stability parameter, the current lid removal deformation category of the edible fungus bag is a recessive deformation category.

[0014] As a preferred technical solution of the automatic capping method for edible mushroom bags used in a bag capping machine, in step S3, determining the morphological stability level of the edible mushroom bags based on the point cloud data of the bag surface and the relative position includes:

[0015] Determining the vertical offset angle of the edible mushroom bag according to the point cloud data of the mushroom bag surface;

[0016] Determining a side flatness characterization parameter of the edible mushroom bag based on the mushroom bag surface point cloud data;

[0017] The morphological stability level of the edible mushroom bag is determined according to the side flatness characterization parameter and the vertical offset angle.

[0018] As a preferred technical solution for the automatic capping method of edible mushroom bags used in a bag capping machine, the parameters characterizing the flatness of the side of the mushroom bag are determined as follows:

[0019] Determine the mushroom bag side simulation surface and the mushroom bag side reference surface according to the mushroom bag side point cloud data in the mushroom bag surface point cloud data;

[0020] Calculate the distance between the point cloud data contained in the simulated curved surface of the mushroom bag side and the reference plane of the mushroom bag side;

[0021] The flatness characterization parameter of the mushroom bag side is calculated according to the distance between each point cloud data and the reference plane of the mushroom bag side.

[0022] As an optimal technical solution for the automatic capping method of edible fungus bags used in a bag capping machine, in step S3, the morphological stability level includes four levels, namely: first morphological stability level, second morphological stability level, third morphological stability level, and fourth morphological stability level.

[0023] As a preferred technical solution of the method for automatically removing the caps from edible mushroom bags used in the bag-capping machine, in step S4, determining the method for removing the caps from the edible mushroom bags includes:

[0024] If the capping deformation category is the dominant deformation category, the capping method for the edible fungus bag of the first morphological stability level is direct capping, and the capping method for the edible fungus bag of the other three morphological stability levels is gradual capping;

[0025] If the lid removal deformation category is a recessive deformation category, the lid removal method for the edible fungus bag of the fourth morphological stability level is to remove the lid gradually by clamping the lid, and the lid removal method for the edible fungus bag of the other three morphological stability levels is to remove the lid directly by clamping the lid.

[0026] As a preferred technical solution of the automatic capping method for edible mushroom bags used in the bag capping machine, in step S4, the capping correction method includes horizontal correction and vertical correction;

[0027] The horizontal correction is to correct the vertical offset of the mushroom bag, and the vertical correction is to correct the vertical displacement of the mushroom bag during the process of removing the cover.

[0028] As a preferred technical solution of the automatic cap removal method for edible mushroom bags used in a bag cap removal machine, in step S4, the cap clamping correction method of the edible mushroom bag is determined according to the relative position and the cap removal deformation type, including:

[0029] If the relative position meets the horizontal correction condition, it is determined that the clamping cover correction method requires horizontal correction;

[0030] If the cover removal deformation category is a dominant deformation category, it is determined that the cover clamping correction method requires vertical correction;

[0031] Among them, the horizontal correction condition is that the distance that the mushroom bag lid deviates from the midpoint of the upper edge of the edible mushroom bag reaches the general width of the lid, or the height difference between the two sides of the mushroom bag lid and the upper edge of the mushroom bag reaches 1 / 2 of the clamping thickness of the lid removal device. The horizontal correction and the vertical correction can be used at the same time.

[0032] As a preferred technical solution of the automatic capping method for edible mushroom bags used in the bag capping machine, in step S5, judging whether the automatic capping requirements are met based on the success rate, and determining whether to adjust the capping method based on the judgment result includes:

[0033] If the success rate is lower than the preset success rate, it is determined that the automatic cap removal requirement is not met, and the cap removal method is adjusted to gradual cap removal under the condition that the direct cap removal method is used.

[0034] If the success rate is greater than or equal to the preset success rate, it is determined that the automatic cap removal requirement is met and the cap removal method is not adjusted.

[0035] On the other hand, the present invention also provides a capping device for automatically removing caps from edible mushroom bags, comprising:

[0036] A transport component is provided with a mushroom bag placement platform for transporting a number of edible mushroom bags at one time;

[0037] A clamping assembly, which is used to fix the mushroom bag cover by snapping it in place and remove the mushroom bag cover by moving it upwards;

[0038] a correction component, which is connected to the transport component and the clamping component respectively, and is used to correct the mushroom bag according to the determined clamping and capping correction method;

[0039] a detection component connected to the transport component, for detecting morphological characteristics and quality of the edible mushroom bag, and identifying the relative position of the bag cover and the upper edge of the edible mushroom bag;

[0040] The analysis and control component is respectively connected to the clamping component, the correction component and the detection component, calculates the clamping stability characterization parameters to determine the cover removal deformation category, determines the morphological stability level of the edible mushroom bag according to the point cloud data of the mushroom bag surface, and determines the cover removal method and clamping cover correction method of the mushroom bag, and controls the clamping component and the correction component to complete the corresponding actions.

[0041] The beneficial effects of the present invention are:

[0042] The present invention determines the clamping stability and morphological stability level of the mushroom bag by detecting the morphological characteristic information and quality of the mushroom bag, combining the point cloud data of the mushroom bag surface, thereby accurately judging the deformation category of the mushroom bag for removing the cap and the clamping correction method. Based on the stability level and deformation category of the mushroom bag, the device can flexibly choose the method of direct clamping and removing the cap or gradual clamping and removing the cap, and ensure the stability and accuracy of the capping process through the horizontal correction and vertical correction functions. In addition, the device also has a real-time feedback and adjustment mechanism, which dynamically optimizes the capping method according to the success rate of capping, further improving the reliability of automated capping. The present invention significantly improves the automation level and success rate of edible mushroom bag capping, reduces the cost of manual intervention, and improves the flexibility and adaptability of production. It is suitable for mushroom bags of different shapes and densities, and provides strong support for the automation upgrade of the edible mushroom production industry.

[0043] Furthermore, in the present invention, by introducing the clamping stability characterization parameter to determine the deformation category of the capping, the stability of the mushroom bag during the capping process can be accurately evaluated. Mushroom bags of the explicit deformation category are more likely to deform when subjected to force, while mushroom bags of the implicit deformation category are relatively stable. The classification method provides a basis for the capping device to select the appropriate correction method according to the specific characteristics of the mushroom bag, thereby effectively improving the success rate and reliability of capping. In addition, the preset clamping stability characterization parameter takes into account the requirements of different edible fungi species for the density of the mushroom bag, ensuring the versatility and adaptability of the device. It improves the accuracy of automated capping, reduces the failure of capping due to mushroom bag deformation, significantly improves production efficiency, reduces the cost of manual intervention, and provides strong support for the automated production of edible mushroom bags.

[0044] Furthermore, the present invention divides the morphological stability of edible mushroom bags into four levels by accurately calculating the parameters characterizing the flatness of the sides of the bags and the vertical offset angle, thereby providing a classification and judgment basis for the lid removal operation. The flat sides of the bags and the smaller vertical offset angle ensure that the bags are evenly stressed during the lid removal process, and the lids will not deform or slip due to uneven stress. In addition, according to different morphological stability levels and lid removal deformation categories, the device flexibly selects the method of directly clamping the lid or gradually clamping the lid to remove the lid, further optimizing the lid removal process. This graded processing and targeted lid removal method not only improves the adaptability and reliability of automated lid removal, but also reduces the failure rate of lid removal due to irregular bag morphology, significantly improving the automation level and production efficiency of edible mushroom bag production.

[0045] Furthermore, the present invention arranges vertical supporting baffles on both sides of the slide rail to adjust the vertical offset of the mushroom bag in real time, ensuring that the mushroom bag maintains a vertical posture during transportation, which is convenient for the clamp to accurately position and fix the lid. The vertical correction uses a pneumatic fixing device and a force sensor to monitor and offset the vertical pulling force on the mushroom bag during the lid removal process in real time, effectively preventing the mushroom bag from being pulled up, and is particularly suitable for mushroom bags with lower density. In addition, the correction method can be flexibly selected according to the relative position of the mushroom bag and the type of deformation when removing the lid. The horizontal correction and the vertical correction can be used separately or simultaneously, further enhancing the adaptability of the device. The correction mechanism of the present invention not only improves the accuracy and reliability of lid removal, but also reduces the failure of lid removal due to incorrect posture or uneven density of the mushroom bag, providing an efficient and stable solution for the automated production of edible mushroom bags. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Flowchart of an automatic capping method for edible mushroom bags used in a capping machine for mushroom bags according to an embodiment of the present invention;

[0047] Figure 2 This is a flow chart of determining the morphological stability level of edible mushroom bags in an embodiment of the present invention;

[0048] Figure 3 Schematic diagram of the structure of the automatic cover removal device for edible fungus bags in an embodiment of the present invention;

[0049] Figure 4 This is a structural diagram of an automatic capping device for edible mushroom bags according to an embodiment of the present invention;

[0050] In the figure: 1, mushroom bag placement platform; 2, edible mushroom bag; 3, snap-on clamp; 4, vertical lifting mechanism; 5, vertical support baffle; 6, vertical correction mechanism. DETAILED DESCRIPTION

[0051] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0052] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0053] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0054] See also Figure 1 As shown, it is a flow chart of an edible mushroom bag automatic capping method for a mushroom bag capping machine according to an embodiment of the invention. The present invention provides an edible mushroom bag automatic capping method for a mushroom bag capping machine, comprising:

[0055] Step S1, obtaining morphological characteristic information and quality of each edible mushroom bag, and identifying the relative position of the bag cover and the upper edge of the edible mushroom bag, wherein the morphological characteristic information includes height, upper edge width, lower edge width, and point cloud data of the bag surface;

[0056] Step S2, determining a clamping stability characterization parameter of the edible mushroom bag according to the height, the upper edge width, the lower edge width, and the mass, and determining a lid removal deformation type according to the clamping stability characterization parameter;

[0057] Step S3, determining the morphological stability level of the edible mushroom bag based on the point cloud data of the mushroom bag surface;

[0058] Step S4, determining a lid removal method for the edible fungus bag according to the lid removal deformation type and the morphological stability level, and determining a lid clamping correction method for the edible fungus bag according to the relative position and the lid removal deformation type;

[0059] Step S5, obtaining the capping results of several times, determining the success rate of the current capping method and the cap clamping correction method, and judging whether it meets the automatic capping requirements, and determining whether to adjust the capping method according to the judgment result.

[0060] In practice, the morphological characteristics of the edible mushroom bags are obtained by a number of scanning instruments. The scanning instruments can obtain point cloud data of the mushroom bag surface through laser scanning. This is an existing technology and will not be described in detail here.

[0061] The present invention determines the clamping stability and morphological stability level of the mushroom bag by detecting the morphological characteristic information and quality of the mushroom bag, combining the point cloud data of the mushroom bag surface, thereby accurately judging the deformation category of the mushroom bag for removing the cap and the clamping correction method. Based on the stability level and deformation category of the mushroom bag, the device can flexibly choose the method of direct clamping and removing the cap or gradual clamping and removing the cap, and ensure the stability and accuracy of the capping process through the horizontal correction and vertical correction functions. In addition, the device also has a real-time feedback and adjustment mechanism, which dynamically optimizes the capping method according to the success rate of capping, further improving the reliability of automated capping. The present invention significantly improves the automation level and success rate of edible mushroom bag capping, reduces the cost of manual intervention, and improves the flexibility and adaptability of production. It is suitable for mushroom bags of different shapes and densities, and provides strong support for the automation upgrade of the edible mushroom production industry.

[0062] Specifically, in step S2, the process of determining the cover removal deformation category includes:

[0063] If the clamping stability characterization parameter is greater than or equal to the preset clamping stability parameter, the current capping deformation category of the edible mushroom bag is a dominant deformation category;

[0064] If the clamping stability characterization parameter is less than the preset clamping stability parameter, the current lid removal deformation category of the edible fungus bag is a recessive deformation category.

[0065] In implementation, the preset clamping stability characterization parameters are selected within the range of [0.5g / cm³, 0.55g / cm³]. The volume of the edible fungus bag without the top is determined based on the height, upper edge width, and lower edge width. The clamping stability characterization parameters are determined based on the ratio of the volume of the edible fungus bag and the mass of the bag.

[0066] In practice, different edible fungi species have different requirements for the density of the mushroom bag. Generally, the density of the mushroom bag is 0.5-0.55g / cm³. This density indicates the balanced air permeability and nutrient supply of the mushroom bag. The higher the density of the mushroom bag, the higher the density inside the mushroom bag. At this time, the mushroom bag is a high-humidity environment, and the compacted culture medium has stronger water retention. It is mostly used for mushroom bags such as enoki mushrooms and shiitake mushrooms, while lower density is mostly used for edible fungi with larger caps such as oyster mushrooms and wood ear mushrooms.

[0067] It can be understood that the larger the ratio, the easier it is for the current edible mushroom bag to deform when subjected to force. When the lid is removed, the bag will deform significantly due to the force on the lid, making it impossible to accurately complete the lid removal action. For mushroom bags with obvious deformation, some correction methods need to be set for the mushroom bag when removing the lid to achieve the effect of automatic lid removal.

[0068] In the present invention, by introducing the clamping stability characterization parameter to determine the capping deformation category, the stability of the mushroom bag during the capping process can be accurately evaluated. Mushroom bags of the explicit deformation category are more likely to deform when subjected to force, while mushroom bags of the implicit deformation category are relatively stable. The classification method provides a basis for the capping device to select the appropriate correction method according to the specific characteristics of the mushroom bag, thereby effectively improving the success rate and reliability of capping. In addition, the preset clamping stability characterization parameter takes into account the requirements of different edible fungi species for the density of the mushroom bag, ensuring the versatility and adaptability of the device. It improves the accuracy of automated capping, reduces the failure of capping due to mushroom bag deformation, significantly improves production efficiency, reduces the cost of manual intervention, and provides strong support for the automated production of edible mushroom bags.

[0069] See also Figure 2 As shown, it is a flow chart of determining the morphological stability level of edible mushroom bags in an embodiment of the present invention. In the step S3, determining the morphological stability level of edible mushroom bags according to the surface point cloud data of the bags and the relative position includes:

[0070] Determining the vertical offset angle of the edible mushroom bag according to the point cloud data of the mushroom bag surface;

[0071] Determining a side flatness characterization parameter of the edible mushroom bag based on the mushroom bag surface point cloud data;

[0072] The morphological stability level of the edible mushroom bag is determined according to the side flatness characterization parameter and the vertical offset angle.

[0073] In practice, the process of determining the vertical offset angle involves selecting the point cloud data at the bottom of the mushroom bag from the preprocessed point cloud data and determining a reference plane by fitting a plane. Based on the point cloud data at the bottom of the mushroom bag, an algorithm such as the least squares method can be used to determine a plane that minimizes the sum of the squared distances between this plane and the point cloud data points at the bottom of the mushroom bag. This plane serves as the reference plane. Principal component analysis (PCA) is then performed on the point cloud data of the mushroom bag. PCA can identify the variance distribution of the data in various directions, with the direction with the largest variance typically being the axis of the mushroom bag.

[0074] Calculate the normal vectors of the reference plane and the axis of the mushroom bag respectively. According to the dot product formula of the vectors, calculate the angle between the normal vector of the reference plane and the normal vector of the axis of the mushroom bag, which is the vertical offset angle.

[0075] Specifically, determining the parameters characterizing the flatness of the side of the mushroom bag includes:

[0076] Determine the mushroom bag side simulation surface and the mushroom bag side reference surface according to the mushroom bag side point cloud data in the mushroom bag surface point cloud data;

[0077] Calculate the distance between the point cloud data contained in the simulated curved surface of the mushroom bag side and the reference plane of the mushroom bag side;

[0078] The flatness characterization parameter of the mushroom bag side is calculated according to the distance between each point cloud data and the reference plane of the mushroom bag side.

[0079] In implementation, the simulated surface of the mushroom bag side is also determined by fitting the plane. The extracted side point cloud data is processed, and the least squares method is used for surface fitting to obtain a fitting surface that is close to the actual shape of the mushroom bag side. The reference surface of the mushroom bag side is a flat surface with the minimum sum of squares of distances from the point cloud data points on the mushroom bag side, which is also obtained by surface fitting using the least squares method. In summary, the simulated surface of the mushroom bag side is an irregular surface, and the reference surface of the mushroom bag side is a flat surface.

[0080] The average deviation of the distance between all point cloud data contained in the simulated surface of the mushroom bag side and the reference plane of the mushroom bag side and the average distance between all point cloud data contained in the simulated surface of the mushroom bag side and the reference plane of the mushroom bag side are calculated respectively. The parameter characterizing the flatness of the mushroom bag side is equal to the ratio of the average deviation to the average distance.

[0081] Specifically, in step S3, the morphology stability level includes four levels, namely, a first morphology stability level, a second morphology stability level, a third morphology stability level, and a fourth morphology stability level.

[0082] The arrangement order from the first morphological stability level to the fourth morphological stability level corresponds to the morphological stability of the edible fungus bags from high to low.

[0083] In implementation, if the characterization parameter of the flatness of the side of the mushroom bag is within the interval [0.1, 0.2] and the vertical offset angle is less than or equal to 3°, the morphological stability level of the current edible mushroom bag is determined to be the first morphological stability level; if the characterization parameter of the flatness of the side of the mushroom bag is within the interval [0.1, 0.2] and the vertical offset angle is greater than 3° and less than or equal to 5°, or the characterization parameter of the flatness of the side of the mushroom bag is in the interval [0.2, 0.3] and the vertical offset angle is less than or equal to 3°, the morphological stability level of the current edible mushroom bag is determined to be the second morphological stability level.

[0084] If the parameter characterizing the flatness of the side of the mushroom bag is in the interval [0.2, 0.3], and the vertical offset angle is greater than 3° and less than or equal to 5°, the morphological stability level of the current edible mushroom bag is determined to be the third morphological stability level; if the parameter characterizing the flatness of the side of the mushroom bag exceeds the interval [0.2, 0.3], or the vertical offset angle is greater than 5°, the morphological stability level of the current edible mushroom bag is determined to be the fourth morphological stability level;

[0085] Generally, when the vertical offset angle of the mushroom bag is less than or equal to 3°, it is considered that the degree of deviation has basically no effect, the clamp can be accurately positioned, the success rate of lid removal is greater than 95%, and the conventional design does not require additional adjustment. When it is greater than 3° and less than or equal to 5°, the offset is slight, and the lid removal device can better complete the fixation and lid removal operations. The clamp adaptation or visual correction compensation can be increased. Within this angle range, the clamp or card of the lid removal device can accurately cooperate with the limit ring of the mushroom bag lid, thereby achieving stable fixation and lid removal.

[0086] Conversely, if the offset angle exceeds this range, the cap removal device may not be able to accurately position itself, affecting the cap's securement and even causing cap removal failure. Therefore, in actual production, it is necessary to adjust the placement or conveying system of the mushroom bag to ensure that the vertical offset angle of the mushroom bag is controlled within a smaller range to improve the success rate and efficiency of automated cap removal.

[0087] Regarding the flatness of the sides of the mushroom bag, generally, the flat sides of the mushroom bag can provide a stable positioning reference for the clamp. The clamp can accurately clamp according to the preset position and angle, ensuring that the clamping position is accurate and consistent each time. If the side of the mushroom bag is uneven, has bumps or tilts, the clamp will deviate during positioning, making it difficult to accurately align with the edge of the lid, resulting in inaccurate clamping position, which may clamp part of the lid, or the clamping position is too biased, affecting the subsequent lid removal action. In addition, the side of the mushroom bag is flat, and the force on the lid when the clamp is clamped will be evenly distributed. During the lid removal process, the lid is not easily tilted or deformed due to uneven force, which is conducive to maintaining the relative position relationship between the lid and the mushroom bag, making the lid removal action more stable and reliable. If the side of the mushroom bag is uneven, different parts of the lid will be subjected to different forces when the clamp is clamped.

[0088] For example, where there are bulges on the side, the clamp may first contact and apply greater pressure, while the concave parts are subjected to less force. This will cause the lid to deform unevenly after being subjected to force, and may even cause the lid to slip from the clamp, reducing the success rate of removing the lid.

[0089] Specifically, in step S4, determining the method for removing the lid of the edible mushroom bag includes:

[0090] If the capping deformation category is the dominant deformation category, the capping method for the edible fungus bag of the first morphological stability level is direct capping, and the capping method for the edible fungus bag of the other three morphological stability levels is gradual capping;

[0091] If the lid removal deformation category is a recessive deformation category, the lid removal method for the edible fungus bag of the fourth morphological stability level is to remove the lid gradually by clamping the lid, and the lid removal method for the edible fungus bag of the other three morphological stability levels is to remove the lid directly by clamping the lid.

[0092] In practice, direct capping and capping is to transport the edible mushroom bags forward through the slide rail. During the movement, the lids of the mushroom bags slide directly into the capping chute. All the mushroom bags transported in a single time move to the coverage range of the capping chute and stop moving. The capping chute moves upward to remove the lids, completing the direct capping and capping.

[0093] The gradual capping and capping process involves transporting the edible mushroom bags forward via the slide rails, moving until all the mushroom bags are within the coverage of the capping chute, and then stopping. The chute clamps the caps on one side and then pushes them horizontally until all the mushroom bag caps in the current row are clamped in the chute on that side. Then, the other chute clamps the other side of the caps, and the capping chute moves upward to remove the caps, completing the gradual capping and capping process.

[0094] The present invention divides the morphological stability of edible mushroom bags into four levels by accurately calculating the parameters characterizing the flatness of the sides of the bags and the vertical offset angle, thereby providing a classification and judgment basis for the lid removal operation. The flat sides of the bags and the smaller vertical offset angles ensure that the bags are evenly stressed during the lid removal process, and the lids will not deform or slip due to uneven stress. In addition, according to different morphological stability levels and lid removal deformation categories, the device flexibly selects the method of directly clamping the lid or gradually clamping the lid to remove the lid, further optimizing the lid removal process. This graded processing and targeted lid removal method not only improves the adaptability and reliability of automated lid removal, but also reduces the failure rate of lid removal due to irregular bag morphology, significantly improving the automation level and production efficiency of edible mushroom bag production.

[0095] Specifically, in the step S4, the clamping cover correction method includes horizontal correction and vertical correction;

[0096] The horizontal correction is to correct the vertical offset of the mushroom bag, and the vertical correction is to correct the vertical displacement of the mushroom bag during the process of removing the cover.

[0097] During implementation, horizontal correction is achieved by having vertical support baffles set on both sides of the slide rail that can move synchronously with the edible mushroom bags, allowing the tilted mushroom bag lids to return to a nearly horizontal state, while ensuring that the mushroom bags maintain a vertical posture during transportation, making it easier for the slide to fix the lids.

[0098] The vertical correction function is achieved by installing a pneumatic fixing device under the cap removal station. When the slide grabs the cap upward, the pneumatic device applies a reverse force to offset the pulling force when the cap is pulled up.

[0099] In practice, a force sensor monitors the upward force exerted on the pneumatic fixture in real time to prevent the mushroom bag from being pulled out. When the force sensor detects a force reaching one-third of the bag's mass, the pneumatic fixture activates to prevent the bag from being pulled out.

[0100] Specifically, in step S4, determining a cap clamping correction method of the edible mushroom bag according to the relative position and the cap removal deformation type includes:

[0101] If the relative position meets the horizontal correction condition, it is determined that the clamping cover correction method requires horizontal correction;

[0102] If the cover removal deformation category is a dominant deformation category, it is determined that the cover clamping correction method requires vertical correction;

[0103] Among them, the horizontal correction condition is that the distance that the mushroom bag lid deviates from the midpoint of the upper edge of the edible mushroom bag reaches the general width of the lid, or the height difference between the two sides of the mushroom bag lid and the upper edge of the mushroom bag reaches 1 / 2 of the clamping thickness of the lid removal device. The horizontal correction and the vertical correction can be used at the same time.

[0104] The present invention arranges vertical supporting baffles on both sides of the slide rail to adjust the vertical offset of the mushroom bag in real time, ensuring that the mushroom bag maintains a vertical posture during transportation, which is convenient for the clamp to accurately position and fix the lid. The vertical correction uses a pneumatic fixing device and a force sensor to monitor and offset the vertical pulling force on the mushroom bag during the lid removal process in real time, effectively preventing the mushroom bag from being pulled up, and is particularly suitable for mushroom bags with lower density. In addition, the correction method can be flexibly selected according to the relative position of the mushroom bag and the type of deformation when removing the lid. The horizontal correction and the vertical correction can be used separately or simultaneously, further enhancing the adaptability of the device. The correction mechanism of the present invention not only improves the accuracy and reliability of lid removal, but also reduces the failure of lid removal due to incorrect posture or uneven density of the mushroom bag, providing an efficient and stable solution for the automated production of edible mushroom bags.

[0105] Specifically, in step S5, judging whether the automatic cap removal requirement is met according to the success rate, and determining whether to adjust the cap removal method according to the judgment result includes:

[0106] If the success rate is lower than the preset success rate, it is determined that the automatic cap removal requirement is not met, and the cap removal method is adjusted to gradual cap removal under the condition that the direct cap removal method is used.

[0107] If the success rate is greater than or equal to the preset success rate, it is determined that the automatic cap removal requirement is met and the cap removal method is not adjusted.

[0108] During implementation, a success rate of 95% was pre-set. Generally, in large-scale production, a low capping success rate can result in numerous mushroom bags failing to be capped in time, impacting subsequent production processes, increasing manual intervention costs and time, and reducing overall production efficiency. A success rate of 95% or higher ensures a smoother production process, achieving production goals within a reasonable timeframe and cost.

[0109] See also Figure 3 As shown, it is a structural schematic diagram of an automatic capping device for edible fungus bags according to an embodiment of the present invention. The present invention also provides a capping device for an automatic capping method for edible fungus bags, comprising:

[0110] A transport component is provided with a mushroom bag placement platform for transporting a number of edible mushroom bags at one time;

[0111] A clamping assembly, which is used to fix the mushroom bag cover by snapping it in place and remove the mushroom bag cover by moving it upwards;

[0112] a correction component, which is connected to the transport component and the clamping component respectively, and is used to correct the mushroom bag according to the determined clamping and capping correction method;

[0113] a detection component connected to the transport component, for detecting morphological characteristics and quality of the edible mushroom bag, and identifying the relative position of the bag cover and the upper edge of the edible mushroom bag;

[0114] The analysis and control component is respectively connected to the clamping component, the correction component and the detection component, calculates the clamping stability characterization parameters to determine the cover removal deformation category, determines the morphological stability level of the edible mushroom bag according to the point cloud data of the mushroom bag surface, and determines the cover removal method and clamping cover correction method of the mushroom bag, and controls the clamping component and the correction component to complete the corresponding actions.

[0115] Combine Figure 4 As shown, it is a cross-sectional view of an automatic mushroom bag cover removal device according to an embodiment of the present invention, comprising: a mushroom bag placement platform 1, an edible mushroom bag 2, a snap-on clamp 3, a vertical lifting mechanism 4, a vertical support baffle 5, and a vertical correction mechanism 6;

[0116] The mushroom bag placement platform, consisting of a metal frame and removable partitions, is used to secure and arrange multiple edible mushroom bags. The two sides of the platform snap into slide rail adapter slots (located on both sides of the platform, not shown in the cross-sectional view) and engage with transport rails (conveyor belts or chain-type conveyor systems). A motor drives the platform for continuous or intermittent transport of the mushroom bags, ensuring they maintain a stable position during transport. Positioning sensors, located at each end of the platform, detect the bag's position and provide real-time coordinate feedback to the analysis and control components, ensuring precise docking at the cap removal station.

[0117] The clamping fixture consists of symmetrically distributed mechanical claws with a non-slip rubber coating on the inside. It opens and closes via air pressure or a motor. The end of the clamp mates with a stop ring on the edge of the mushroom bag lid, ensuring even force on the lid during clamping. The vertical lifting mechanism is connected to a vertical slide rail and driven by a servo motor or pneumatic cylinder to lift the lid vertically.

[0118] The vertical support baffles consist of two adjustable metal plates, symmetrically mounted on either side of the transport rails. Covered with a flexible material (such as silicone), the baffles dynamically adjust their spacing via pneumatic telescopic rods, applying lateral pressure to tilted mushroom bags and restoring them to an upright position. The vertical correction mechanism, located below the cap removal station, consists of a rubber-padded pressure plate and a pneumatic actuator. When the clamping assembly removes the cap, the pressure plate is driven by air pressure to press against the bottom of the bag, providing reverse support and offsetting the pull of the cap removal force.

[0119] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions and operations of the devices, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of the code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the boxes can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, as well as the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based device that performs the specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0120] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make other variations or modifications based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A method for automatically removing caps from edible mushroom bags used in a bag-removing machine, characterized in that: include; Step S1, obtaining morphological characteristic information and quality of each edible mushroom bag, and identifying the relative position of the bag cover and the upper edge of the edible mushroom bag, wherein the morphological characteristic information includes height, upper edge width, lower edge width, and point cloud data of the bag surface; Step S2, determining a clamping stability characterization parameter of the edible mushroom bag according to the height, the upper edge width, the lower edge width, and the mass, and determining a lid removal deformation type according to the clamping stability characterization parameter; Step S3, determining the morphological stability level of the edible mushroom bag based on the point cloud data of the mushroom bag surface; Step S4, determining a lid removal method for the edible fungus bag according to the lid removal deformation type and the morphological stability level, and determining a lid clamping correction method for the edible fungus bag according to the relative position and the lid removal deformation type; Step S5, obtaining the capping results of several times, determining the success rate of the current capping method and the cap clamping correction method, and judging whether it meets the automatic capping requirements, and determining whether to adjust the capping method according to the judgment result; In step S2, the process of determining the cover removal deformation category includes: If the clamping stability characterization parameter is greater than or equal to the preset clamping stability parameter, the current capping deformation category of the edible mushroom bag is a dominant deformation category; If the clamping stability characterization parameter is less than the preset clamping stability parameter, the current capping deformation category of the edible mushroom bag is a recessive deformation category; Among them, the edible fungi bags of the dominant deformation category are those that are easily deformed under stress, and the edible fungi bags of the recessive deformation category are those that are relatively stable in shape under stress. In the step S3, the morphological stability level includes four levels, including: a first morphological stability level, a second morphological stability level, a third morphological stability level, and a fourth morphological stability level; Among them, the order of the first morphological stability level to the fourth morphological stability level corresponds to the morphological stability of the edible mushroom bags from high to low; In step S4, determining the method for removing the lid of the edible mushroom bag includes: If the capping deformation category is the dominant deformation category, the capping method for the edible fungus bag of the first morphological stability level is direct capping, and the capping method for the edible fungus bag of the other three morphological stability levels is gradual capping; If the capping deformation type is the recessive deformation type, the capping method for the edible fungus bag of the fourth morphological stability level is to gradually remove the cap by clamping, and the capping method for the edible fungus bag of the other three morphological stability levels is to directly remove the cap by clamping; In the step S4, the clamping cover correction method includes horizontal correction and vertical correction; The horizontal correction is to correct the vertical deviation of the mushroom bag, and the vertical correction is to correct the vertical displacement of the mushroom bag during the process of removing the cover; In step S4, determining a cap clamping correction method for the edible mushroom bag according to the relative position and the cap removal deformation type includes: If the relative position meets the horizontal correction condition, it is determined that the clamping cover correction method requires horizontal correction; If the cover removal deformation category is a dominant deformation category, it is determined that the cover clamping correction method requires vertical correction; Among them, the horizontal correction condition is that the distance that the mushroom bag lid deviates from the midpoint of the upper edge of the edible mushroom bag reaches the general width of the lid, or the height difference between the two sides of the mushroom bag lid and the upper edge of the mushroom bag reaches 1 / 2 of the clamping thickness of the lid removing device, and the determined correction method is the horizontal correction and / or the vertical correction.

2. The automatic capping method for edible mushroom bags used in a mushroom bag capping machine according to claim 1, characterized in that: In step S3, determining the morphological stability level of the edible mushroom bag according to the mushroom bag surface point cloud data and the relative position includes: Determining the vertical offset angle of the edible mushroom bag according to the point cloud data of the mushroom bag surface; Determining a side flatness characterization parameter of the edible mushroom bag based on the mushroom bag surface point cloud data; The morphological stability level of the edible mushroom bag is determined according to the side flatness characterization parameter and the vertical offset angle.

3. The automatic capping method for edible mushroom bags used in a bag capping machine according to claim 2, characterized in that: Determining the parameters for characterizing the flatness of the side of the mushroom bag includes: Determine the mushroom bag side simulation surface and the mushroom bag side reference surface according to the mushroom bag side point cloud data in the mushroom bag surface point cloud data; Calculate the distance between the point cloud data contained in the simulated curved surface of the mushroom bag side and the reference plane of the mushroom bag side; The flatness characterization parameter of the mushroom bag side is calculated according to the distance between each point cloud data and the reference plane of the mushroom bag side.

4. The automatic capping method for edible mushroom bags used in a bag capping machine according to claim 3, characterized in that: In step S5, judging whether the automatic cap removal requirement is met according to the success rate, and determining whether to adjust the cap removal method according to the judgment result includes: If the success rate is lower than the preset success rate, it is determined that the automatic cap removal requirement is not met, and the cap removal method is adjusted to gradual cap removal under the condition that the direct cap removal method is used. If the success rate is greater than or equal to the preset success rate, it is determined that the automatic cap removal requirement is met and the cap removal method is not adjusted.

5. The capping device for the automatic capping method of edible mushroom bags used in the capping machine according to any one of claims 1 to 4, characterized in that: include: A transport component is provided with a mushroom bag placement platform for transporting a number of edible mushroom bags at one time; A clamping assembly, which is used to fix the mushroom bag cover by snapping it in place and remove the mushroom bag cover by moving it upwards; a correction component, which is connected to the transport component and the clamping component respectively, and is used to correct the mushroom bag according to the determined clamping and capping correction method; a detection component connected to the transport component, for detecting morphological characteristics and quality of the edible mushroom bag, and identifying the relative position of the bag cover and the upper edge of the edible mushroom bag; The analysis and control component is respectively connected to the clamping component, the correction component and the detection component, calculates the clamping stability characterization parameters to determine the cover removal deformation category, determines the morphological stability level of the edible mushroom bag according to the point cloud data of the mushroom bag surface, and determines the cover removal method and clamping cover correction method of the mushroom bag, and controls the clamping component and the correction component to complete the corresponding actions.

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