Instant kelp seedling cleaning and sorting integrated device and method

Abstract

According to the instant kelp seedling cleaning and sorting integrated device and method, a conveyor belt assembly is ingeniously arranged on a workbench of a rack, and a cleaning assembly, an arrangement assembly, a detection assembly and a sorting assembly are sequentially arranged in the conveying direction of the conveyor belt assembly; the controller is connected with the cleaning assembly, the detecting assembly, the sorting assembly and the like and controls the cleaning assembly, the detecting assembly, the sorting assembly and the like to start and stop working, the device achieves integration of cleaning and sorting of the instant kelp seedlings, the cleaned instant kelp seedlings can be discharged and fall onto the conveying face of the conveying belt assembly to directly enter the tidying, detecting and sorting stages, meanwhile, the sorting efficiency is improved, and the production cost is reduced. The detection assembly uses a hyperspectral technology, performs detection by using a detection algorithm after performing hyperspectral image data acquisition, and finally generates a sorting instruction of the sorting assembly according to a detection result, so that the ready-to-eat kelp seedlings which do not meet the requirements are moved out, and the mode is reliable in linkage and matching, flexible to implement and high in practicability. The method has excellent production and application prospects and value.

Description

Technical Field

[0001] The present invention relates to the field of kelp seedling processing devices, and in particular to an integrated device and method for cleaning and sorting instant kelp seedlings. Background Art

[0002] As one of the popular food ingredients at present, instant kelp seedlings are mostly cultivated in coastal areas. In addition, instant kelp seedlings themselves have a soft ribbon-like structure. Therefore, when harvested, they may carry some sundries or foreign objects, such as fishing nets, hair, miscellaneous algae, sand, etc. This makes it necessary for instant kelp seedlings to be cleaned, sorted and processed before they can be supplied to the table as food ingredients. However, most of the existing post-processing of instant kelp seedlings relies on manual cleaning and picking, which requires a large amount of manpower in the post-processing process. At the same time, the processing method with a large number of human interventions often has the problems that the implementation standards are difficult to unify and the work efficiency is unstable. This makes it easy for instant kelp seedlings to have unstable production capacity and inconsistent product quality during processing. Although some researchers have disclosed in the literature that stirring processing equipment is used to assist in cleaning harvested instant kelp seedlings, most of them are simple stirring cleaning devices, and it is difficult to better remove some attachments on the surface of kelp seedlings. Therefore, sorting the cleaned instant kelp seedlings is an important process in their post-processing. At present, most of them are manually used to distinguish defective instant kelp seedlings and some instant kelp seedlings that are not cleaned cleanly. There are still few related technical solutions disclosed about sorting the cleaned instant kelp seedlings by automated equipment. Therefore, it is a very meaningful research topic with positive practical significance to propose a solution that can efficiently and reliably clean instant kelp seedlings and at the same time can use automated equipment to quickly sort the unqualified instant kelp seedlings after cleaning. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to propose an integrated device and method for cleaning and sorting instant kelp seedlings with reliable implementation, flexible application and good cleaning and sorting efficiency.

[0004] In order to achieve the above technical objectives, the technical solutions adopted by the present invention are as follows: An integrated device for cleaning and sorting instant kelp seedlings, which includes a frame and a conveyor belt assembly arranged on the upper end surface of the frame. The conveyor belt assembly has a conveying surface, which extends from one end of the frame to the other end of the frame. It also includes a controller and a cleaning component, a sorting component, a detection component and a sorting component arranged in sequence along the conveying direction of the conveyor belt assembly; Among them, the cleaning component is used to clean the instant kelp seedlings, and it has an output end, which extends above the conveying surface of the conveyor belt assembly to guide the cleaned instant kelp seedlings to fall onto the conveying surface of the conveyor belt assembly; The sorting component is spanned above the conveying surface of the conveyor belt component, and a sorting gap is formed between it and the conveying surface of the conveyor belt component for flattening the instant seaweed seedlings on the conveying surface; The detection component is arranged above the conveyor belt component, and its detection end faces the conveying surface of the conveyor belt component for detecting and judging whether the instant seaweed seedlings on the conveying surface meet the preset requirements and outputting the position information of the instant seaweed seedlings that do not meet the preset requirements on the conveying surface; The sorting component is used for sorting the instant seaweed seedlings on the conveying surface to remove the instant seaweed seedlings that do not meet the preset requirements; The controller is respectively connected to the conveyor belt component, the cleaning component, the detection component, and the sorting component, and controls their working opening and closing.

[0005] As a possible implementation manner, further, a workbench with a concave structure is provided on the upper end surface of the frame of the present solution. The conveyor belt component is spanned and installed on the workbench. An overflow gap is formed between the two sides of the conveying surface of the conveyor belt component and the edge of the workbench. A plurality of liquid discharge holes are also provided in the middle of the workbench. The liquid discharge holes penetrate the workbench downward, and a liquid collection box is provided at the lower part of the frame. The liquid collection box is used for receiving the liquid falling through the liquid discharge holes.

[0006] As a preferred implementation option, preferably, the number of the sorting components in the present solution is at least one, and it includes: Connecting seats, a pair of which are oppositely arranged on both sides of the workbench; Connecting rods, spanning above the conveying surface of the conveyor belt component between a pair of the connecting seats, and both ends thereof are respectively connected to a pair of the connecting seats through connecting pieces; A pressing plate, one side of which is fixedly connected to the connecting rod, and the other side extends along the direction close to the conveying surface of the conveyor belt component, and a sorting gap is formed between it and the conveying surface. The sorting gap is used for flattening the instant seaweed seedlings on the conveying surface.

[0007] As a preferred implementation option, preferably, the detection component in the present solution includes: A first bracket, which is a gantry frame and spans both sides of the frame; A hyperspectral detector, connected to the controller, is arranged on the first bracket, and its detection end faces the conveying surface of the conveyor belt component for detecting and judging whether the instant seaweed seedlings on the conveying surface meet the preset requirements; Among them, the hyperspectral detector includes: A light source, which is used for irradiating a local area of the conveying surface of the conveyor belt component to make it a detection area. Among them, after the instant seaweed seedlings driven by the conveying surface of the conveyor belt component and conveyed into the detection area are irradiated by the light of the light source, reflected light or transmitted light is generated, which is set as signal light; An imaging spectrometer module, which is used to receive the signal light generated by the instant seaweed seedlings entering the detection area and disperse it according to the wavelength; A detector, which is connected to the imaging spectrometer module and is used to record the light intensity information of each wavelength channel corresponding to the signal light received by the imaging spectrometer module, and generate hyperspectral image data; A data processing module, which is used to detect and judge the hyperspectral image data to determine whether the instant seaweed seedlings on the conveyor surface meet the preset requirements; and output the position information of the instant seaweed seedlings that do not meet the preset requirements on the conveyor surface.

[0008] As a preferred implementation option, preferably, the sorting assembly in this solution includes: A second bracket, which is a gantry and straddles both sides of the frame; A pair of clamping jaw mechanisms, which are oppositely arranged on both sides of the second bracket; A negative pressure generator, which is connected to the controller and is used to provide a negative pressure suction force; The clamping jaw mechanism includes: A third bracket, which is fixedly connected to the upper part of the side surface of the second bracket; A first electric telescopic rod, which is horizontally and fixedly connected to the third bracket, and its telescopic end faces the side of the second bracket opposite to it; A fourth bracket, which is fixedly connected to the telescopic end of the first electric telescopic rod; A second electric telescopic rod, which is vertically and fixedly connected to the fourth bracket, and its telescopic end faces downward towards the conveying surface of the conveyor belt assembly; A negative pressure suction cup module, which is connected to the telescopic end of the second electric telescopic rod through a fifth bracket; Wherein, the negative pressure generator is a multi-channel negative pressure generator, and the negative pressure suction cup modules of a pair of the clamping jaw mechanisms are connected to the negative pressure generator through air pipes, and the negative pressure generator provides the negative pressure suction force required for the operation of the negative pressure suction cup modules.

[0009] As a preferred implementation option, preferably, the first electric telescopic rod and the second electric telescopic rod of a pair of the clamping jaw mechanisms in this solution are both servo electric telescopic rods, and they are both connected to the controller. The controller controls the telescopic movement of the first electric telescopic rod to adjust the position of the negative pressure suction cup module above the conveying surface of the conveyor belt assembly, the controller controls the telescopic movement of the second electric telescopic rod to make the negative pressure suction cup module descend to contact the surface of the instant seaweed seedlings on the conveying surface or move away from the conveying surface of the conveyor belt assembly, and the controller controls the supply on and off of the negative pressure suction force of the negative pressure generator to the negative pressure suction cup module, so that the instant seaweed seedlings adsorbed and grabbed by the negative pressure suction cup module maintain the grabbed state or are released; The sorting component further includes a pair of first storage bins, which are arranged on both sides of the workbench and are used to store the instant seaweed seedlings removed from the conveying surface of the conveyor belt component by the clamping mechanism.

[0010] As another preferred implementation option of the sorting component, preferably, the sorting component of this solution includes: Supports, a pair of which are arranged oppositely on both sides of the workbench; A rotating shaft, spanning above the conveying surface of the conveyor belt component between a pair of the supports, and both ends thereof are respectively connected to the pair of supports through rotating members; A driving motor, fixedly installed on one of the supports, with its driving end fixedly connected to one end of the rotating shaft and driving the rotating shaft to rotate; the driving motor is connected to the controller and is controlled by the controller to work; A limiting cylinder, fixedly sleeved in the middle of the rotating shaft and forming a sorting gap with the conveying surface, and the sorting gap is used to flatten the instant seaweed seedlings on the conveying surface.

[0011] As a preferred implementation option, preferably, a discharge port with a ramp structure is provided in the workbench area corresponding to the other end of the frame of this solution, and a second storage bin for receiving materials is provided below the frame corresponding to the discharge port; Among them, the instant seaweed seedlings conveyed to the other end of the frame through the conveying surface of the conveyor belt component fall into the second storage bin through the discharge port.

[0012] As a preferred implementation option, preferably, the cleaning component of this solution includes: A cleaning tank, fixedly installed above one end of the frame through a fixed bracket. An accommodating cavity for accommodating instant seaweed seedlings is provided inside the cleaning tank. A feed port mechanism that can be opened and closed is provided on one side of the top of the cleaning tank. A discharge port mechanism that can be electrically controlled to open and close is provided on one side of the bottom of the cleaning tank. The discharge position of the discharge port mechanism is above the conveying surface at one end of the conveyor belt component. An overflow pipe is provided on one side of the upper part of the cleaning tank. A liquid inlet pipe and a liquid outlet pipe are respectively penetrated and connected on one side of the bottom of the cleaning tank. The liquid inlet pipe is connected to an external cleaning liquid supply device and is used to input cleaning liquid into the cleaning tank. The liquid outlet pipe is used to discharge the cleaning liquid. Among them, electric control valves are provided on both the liquid inlet pipe and the liquid outlet pipe, and they are both connected to the controller; A stirring mechanism, connected to the cleaning tank, which includes a stirring motor, a stirring shaft and stirring blades. The stirring motor is fixedly installed at the center of the top of the cleaning tank through a mounting frame. The driving end of the stirring motor is connected to one end of the stirring shaft. The stirring shaft rotatably penetrates into the accommodating cavity of the cleaning tank and extends to the lower part of the accommodating cavity. The number of the stirring blades is multiple, and they are fixedly connected to the stirring shaft. The stirring motor is also connected to the controller and is controlled by the controller to work; The aeration mechanism includes a gas generator and an aeration module. The aeration module is arranged at the bottom of the accommodating chamber of the cleaning tank. The gas generator is connected to the aeration module through a connecting pipe. The connecting pipe is provided with an electric control valve connected to a controller. The gas generator is connected to the controller. The controller controls the gas generator to generate gas and inputs the gas into the aeration module to cause gas bubbling in the accommodating chamber.

[0013] As a preferred implementation option, preferably, the cleaning component of this scheme also includes a partition plate, which is fixedly arranged at the lower part of the accommodating chamber of the cleaning tank, and separates the lower part of the accommodating chamber of the cleaning tank into a secondary accommodating chamber, the aeration module is arranged in the secondary accommodating chamber, the liquid inlet pipe and the liquid outlet pipe are connected to the secondary accommodating chamber, and a plurality of through holes are provided on the partition plate, and the impurities washed away from the edible kelp seedlings fall into the secondary accommodating chamber through the through holes.

[0014] As a preferred implementation option, preferably, the discharge port mechanism of this solution includes: The discharge pipe is an L-shaped tubular structure with a rectangular cross section. One end of the discharge pipe passes through the auxiliary accommodating cavity from the bottom of the cleaning tank and is fixedly connected to the partition plate. The partition plate is provided with a rectangular through groove corresponding to the discharge pipe. A material guide channel is formed inside the discharge pipe. The other end of the discharge pipe extends obliquely above the conveying surface of the conveyor belt assembly. An on-off component is arranged on the side of one end of the discharge pipe and is used to control the on-off of the material guide channel. The on-off component is connected to the controller; Among them, a stirring blade is provided at the lower part of the stirring shaft of the stirring mechanism. When the on-off component controls to release the interrupted state of the material guide channel, the lower side of the stirring blade is driven by the stirring motor to push the instant kelp seedlings on the partition plate into the rectangular through groove on the partition plate, and falls into the material guide channel through the rectangular through groove, and finally falls from the other end of the discharge pipe to the conveying surface of the conveyor belt assembly.

[0015] Based on the above, the present invention also provides a method for cleaning and sorting instant kelp seedlings, which comprises: The ready-to-eat kelp seedlings to be tested are transported by the conveyor belt assembly to the testing area; Using a hyperspectral detector as a detection component, the ready-to-eat kelp seedlings entering the detection area are scanned and imaged to obtain hyperspectral image data; Detect and judge the hyperspectral image data, and output the judgment result to determine whether the instant kelp seedlings on the conveying surface meet the preset requirements; Obtaining the judgment result, when it points to that the detected instant kelp seedlings do not meet the preset requirements, obtaining the position information of the instant kelp seedlings that do not meet the preset requirements on the conveying surface; Generate a sorting operation instruction based on the position information of the instant seaweed seedlings that do not meet the preset requirements on the conveying surface, and then execute the sorting operation instruction through the sorting component at the downstream position of the detection area conveyor to remove the instant seaweed seedlings that do not meet the preset requirements from the conveying surface of the conveyor belt component.

[0016] As a preferred implementation option, preferably, the hyperspectral detector described in this solution includes a light source, an imaging spectrometer module, and a detector; among them, the instant seaweed seedlings entering the detection area are irradiated by the light source. After the instant seaweed seedlings are incident with the light of the light source, reflected light or transmitted light is generated, which is set as the signal light. The imaging spectrometer module receives the signal light generated by the instant seaweed seedlings entering the detection area, disperses it according to the wavelength, and then the detector records the light intensity information of each wavelength channel corresponding to the received signal light to generate hyperspectral image data.

[0017] As a preferred implementation option, preferably, when detecting and judging the hyperspectral image data in this solution, feature extraction is performed on the hyperspectral image data to obtain spectral features that can distinguish seaweed from foreign objects, and then the spectral features of the hyperspectral image data are detected and judged through a trained detection algorithm, and a judgment result is output. Among them, the detection algorithm is a support vector machine algorithm, a neural network algorithm, or a decision tree algorithm.

[0018] Adopting the above technical solution, compared with the prior art, the beneficial effects of the present invention are as follows: This solution cleverly sets a conveyor belt component on the workbench of the frame, so that the conveying surface of the conveyor belt component extends from one end of the frame to the other end of the frame, and then a cleaning component, a sorting component, a detection component, and a sorting component are sequentially arranged along the conveying direction of the conveyor belt component. The controller is respectively connected to the cleaning component, the detection component, the sorting component, etc. and controls their work start and stop. This device realizes the integration of instant seaweed seedling cleaning and picking. The harvested instant seaweed seedlings can be cleaned by the cleaning component, and the output end of the cleaning tank of the cleaning component extends above the conveying surface of the conveyor belt component, so that the cleaned instant seaweed seedlings can be discharged and fall onto the conveying surface of the conveyor belt component and directly enter the sorting, detection, and sorting stages. This process does not require manual on-site manual operation intervention. While improving work efficiency, it reduces the occupation of manpower. At the same time, the detection component uses hyperspectral technology. After collecting hyperspectral image data, it is then detected using a detection algorithm, and finally, according to the detection results, a sorting instruction for the sorting component is generated. The clamping mechanism of the sorting component removes the instant seaweed seedlings that do not meet the requirements on the conveying surface. This method not only has reliable linkage cooperation but also is flexible in implementation, and has excellent production application prospects and value. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0020] Figure 1 It is one of the schematic three-dimensional views of the brief implementation structure of the device in Embodiment 1 of the present solution; Figure 2 It is the second schematic three-dimensional view of the brief implementation structure of the device in Embodiment 1 of the present solution; Figure 3 It is the third schematic three-dimensional view of the brief implementation structure of the device in Embodiment 1 of the present solution; Figure 4 It is the first schematic two-dimensional view from above of the brief implementation structure of the device in Embodiment 1 of the present solution; Figure 5 is Figure 4 The schematic two-dimensional view of the sectional implementation structure at the indicated A-A; Figure 6 It is the schematic of the optical signal transmission when the detection component of the device in Embodiment 1 of the present solution detects the instant seaweed seedlings, and the connection schematic of each module unit of the detection component; Figure 7 It is the schematic of the instant seaweed seedlings moving through the detection area on the conveying surface of the conveyor belt component of the device in Embodiment 1 of the present solution; Figure 8 It is the schematic of the connection between the controller of the device in Embodiment 1 of the present solution and some components of the sorting component; Figure 9 It is the brief partial schematic of the cleaning tank of the device in Embodiment 1 of the present solution provided with a material guiding structure, and it also shows the state schematic of the sorting component using another implementation structure arranged on the workbench; Figure 10 It is an example of another implementation structure of the sorting component of the device in Embodiment 1 of the present solution; Figure 11 It is the schematic three-dimensional view of the brief implementation structure of the device in Embodiment 2 of the present solution; Figure 12 It is the first schematic three-dimensional sectional view of the brief implementation structure of the device in Embodiment 2 of the present solution; Figure 13 It is the second schematic three-dimensional sectional view of the brief implementation structure of the device in Embodiment 2 of the present solution; Figure 14 It is the working action schematic of the on-off component of the discharge port mechanism of the device in Embodiment 2 of the present solution. Detailed implementation manners

[0021] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be specifically noted that the following embodiments are only used to illustrate the present invention, but do not limit the scope of the present invention. Similarly, the following embodiments are only partial embodiments of the present invention rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0022] Embodiment 1 As Figures 1 to 8 shown in one of them, the solution of this embodiment is an integrated device for cleaning and sorting instant seaweed seedlings, which includes a frame 1 and a conveyor belt assembly 2 arranged on the upper end surface of the frame 1. The conveyor belt assembly 2 has a conveying surface 21, which extends from one end of the frame 1 to the other end of the frame 1. In addition, the device of this solution also includes a controller 7 and a cleaning assembly 3, a sorting assembly 4, a detection assembly 5 and a sorting assembly 6 arranged in sequence along the conveying direction of the conveyor belt assembly 2.

[0023] Among them, the cleaning assembly 3 is used to clean the instant seaweed seedlings 8, and it has an output end, which extends above the conveying surface 21 of the conveyor belt assembly 2 to guide the cleaned instant seaweed seedlings 8 to fall onto the conveying surface 21 of the conveyor belt assembly 2. The sorting assembly 4 is arranged across the conveying surface 21 of the conveyor belt assembly 2, and a sorting gap 44 is formed between it and the conveying surface 21 of the conveyor belt assembly 2 to flatten the instant seaweed seedlings 8 on the conveying surface 21. The detection assembly 5 is arranged above the conveyor belt assembly 2, and its detection end faces the conveying surface 21 of the conveyor belt assembly 2 to detect and judge whether the instant seaweed seedlings 8 on the conveying surface 21 meet the preset requirements and output the position information of the instant seaweed seedlings 8 that do not meet the preset requirements on the conveying surface 21. The sorting assembly 6 is used to sort the instant seaweed seedlings 8 on the conveying surface 21 to remove the instant seaweed seedlings 8 that do not meet the preset requirements. The controller 7 is respectively connected to the conveyor belt assembly 2, the cleaning assembly 3, the detection assembly 5 and the sorting assembly 6, and controls their working opening and closing.

[0024] In this solution, after the ready-to-eat kelp seedlings 8 are cleaned and discharged by the cleaning component 3, they will still carry some cleaning liquid (such as the remaining water after cleaning) and fall onto the conveying surface 21 of the conveyor belt component 2 together. In order to prevent the cleaning liquid from overflowing outside the frame 1 and affecting the subsequent post-processing links, as a possible implementation method, further, the upper end surface of the frame 1 of this solution is provided with a workbench 11 with a concave structure. The conveyor belt component 2 is installed across the workbench 11. An overflow gap is formed between the two sides of the conveying surface 21 of the conveyor belt component 2 and the edge of the workbench 11. Through the overflow gap, part of the cleaning liquid output together with the ready-to-eat kelp seedlings 8 will flow into the concave structure of the workbench 11 from the overflow gap. And a plurality of liquid discharge holes 12 are provided in the middle of the workbench 11. The liquid discharge holes 12 penetrate downward through the workbench 11. A liquid collection box 14 is provided at the lower part of the frame 1. The liquid collection box 14 is used to receive the liquid falling through the liquid discharge holes 12. By this method, after the ready-to-eat kelp seedlings 8 are output, since the ready-to-eat kelp seedlings 8 will have a certain adhering contact after contacting the conveying surface 21 of the conveyor belt component 2, therefore, when the cleaning liquid overflows from the conveying surface 21 to the concave structure of the workbench 11, the ready-to-eat kelp seedlings 8 will not slide out of the conveying surface 21 of the conveyor belt component 2. In this solution, the liquid falling through the liquid discharge holes 12 (mainly the remaining water for cleaning the ready-to-eat kelp seedlings) can also be collected through a collecting pipe (connected to the plurality of liquid discharge holes 12 through a connecting member), and then the water can be directly discharged outside through the collecting pipe, so as to save the secondary treatment of the water in the liquid collection box 14 when there is more water in the liquid collection box 14.

[0025] And since the output ready-to-eat kelp seedlings 8 may be rolled up and stacked, which will interfere with the subsequent sorting. As a preferred implementation option, preferably, the number of the sorting components 4 in this solution is at least one, and it includes: Connecting seats 41, which are a pair and are arranged oppositely on both sides of the workbench 11; Connecting rods 42, which span above the conveying surface 21 of the conveyor belt component 2 between a pair of the connecting seats 41, and the two ends of which are respectively connected to a pair of the connecting seats 41 through connecting pieces 421; Pressing plates 43, one side of which is fixedly connected to the connecting rods 42, and the other side extends along the direction close to the conveying surface 21 of the conveyor belt component 2, and a sorting gap 44 is formed between the other side and the conveying surface 21. The sorting gap 44 is used to flatten the ready-to-eat kelp seedlings 8 on the conveying surface 21.

[0026] In this solution, the connecting piece 421 connecting the connecting seat 41 and the connecting rod 42 can be an elastic connecting sleeve. The elastic connecting sleeve is fixed to the connecting seat 41, and the connecting piece 421 is press-fitted into the elastic connecting sleeve. When a force greater than the press-fitting force F is applied, the connecting rod 42 can be rotated. By using this method, the finishing gap 44 can be adjusted flexibly. When the operator operates the device, the finishing gap 44 can be adjusted in advance by rotating the connecting rod 42 to adapt to the thickness of the instant seaweed seedlings 8 in different batches or other finishing requirements. After passing through the finishing gap 44, the situation of the instant seaweed seedlings 8 being rolled and stacked is significantly reduced, and they are in a flattened state on the conveying surface 21. Due to the thin and light characteristics of the instant seaweed seedlings 8 themselves, even if there is a small amount of folding, it will not cause great interference to subsequent detection.

[0027] In the traditional processing work of instant seaweed seedlings, manual paving of instant seaweed seedlings is often adopted, which is not only time-consuming and laborious, but also requires a large amount of manpower. At the same time, the large occupation of manpower also makes it difficult to leave a relatively spacious space on the workbench. At the same time, there are also differences in the cooperation efficiency of manpower. This solution uses the finishing component 4 to assist in flattening the instant seaweed seedlings. It is not only simple in structure but also compact as a whole, without occupying a large amount of space on the workbench 11, and to a certain extent, it also reduces the limitation of the conveyor belt component 2 being lengthened in design to accommodate the working space of manual operation.

[0028] In terms of detection in this solution, as a preferred implementation option, preferably, the detection component 5 of this solution includes: The first bracket 51, which is a gantry and straddles both sides of the frame 1; The hyperspectral detector 52, which is connected to the controller 7 and is arranged on the first bracket 51, and its detection end faces the conveying surface 21 of the conveyor belt component 2 to be used for detecting and judging whether the instant seaweed seedlings 8 on the conveying surface 21 meet the preset requirements; Among them, the hyperspectral detector 52 includes: The light source 521, which is used to irradiate a local area of the conveying surface 21 of the conveyor belt component 2 to make it a detection area (see reference Figure 6 、 Figure 7 ). Among them, after the instant seaweed seedlings 8 driven by the conveying surface 21 of the conveyor belt component 2 and conveyed into the detection area are irradiated by the light of the light source 521, reflected light or transmitted light is generated, which is set as the signal light; The imaging spectrometer module 522, which is used to receive the signal light generated by the instant seaweed seedlings 8 entering the detection area and disperse it according to the wavelength; Detector 523, connected to the imaging spectrometer module 522, and used to record the light intensity information of each wavelength channel corresponding to the signal light received by the imaging spectrometer module 522, and generate hyperspectral image data; Data processing module 524, used to detect and judge the hyperspectral image data to determine whether the instant seaweed seedlings 8 on the conveying surface 21 meet the preset requirements; and output the position information of the instant seaweed seedlings 8 that do not meet the preset requirements on the conveying surface 21.

[0029] In this solution, the hyperspectral detector 52 can adopt a commercially available hyperspectral detector, and its detection object is the instant seaweed seedlings 8 of this solution, and the processed data is different. In this solution, the data processing module 524 can be a PC or a server loaded with a detection algorithm; and loading a trained network model to implement data detection or judgment is an existing solution, and its operating principle will not be elaborated here.

[0030] At Figures 1 to 5 On the basis shown, further combined with Figure 6 , Figure 7 , based on the above, this solution also provides a method for cleaning and sorting instant seaweed seedlings 8, which includes: The instant seaweed seedlings 8 to be detected are conveyed by the conveyor belt assembly 2 and move to the detection area; Using the hyperspectral detector 52 as the detection component 5, scan and image the instant seaweed seedlings 8 entering the detection area to obtain hyperspectral image data; Detect and judge the hyperspectral image data, and output the judgment result to determine whether the instant seaweed seedlings 8 on the conveying surface 21 meet the preset requirements; Obtain the judgment result. When it indicates that the detected instant seaweed seedlings 8 do not meet the preset requirements, obtain the position information of the instant seaweed seedlings 8 that do not meet the preset requirements on the conveying surface 21; According to the position information of the instant seaweed seedlings 8 that do not meet the preset requirements on the conveying surface 21, generate a sorting operation instruction, and then the sorting component 6 at the downstream position of the detection area conveyor executes the sorting operation instruction to remove the instant seaweed seedlings 8 that do not meet the preset requirements from the conveying surface 21 of the conveyor belt assembly 2.

[0031] As a preferred implementation option, preferably, the hyperspectral detector 52 of this solution includes a light source 521, an imaging spectrometer module 522, and a detector 523; wherein, the instant seaweed seedlings 8 entering the detection area are irradiated by the light source 521. After the instant seaweed seedlings 8 are incident by the light of the light source 521, reflected light or transmitted light is generated, which is set as signal light; The signal light generated by the ready-to-eat kelp seedlings 8 entering the detection area is received by the imaging spectrometer module 522, dispersed according to wavelength, and then the detector 523 records the light intensity information of each wavelength channel corresponding to the received signal light to generate hyperspectral image data.

[0032] As a preferred implementation option, preferably, when detecting and judging the hyperspectral image data in this solution, feature extraction is performed on the hyperspectral image data to obtain spectral features that can distinguish kelp from foreign objects, and then the spectral features of the hyperspectral image data are detected and judged by a trained detection algorithm to output a judgment result; Among them, the detection algorithm is a support vector machine algorithm, a neural network algorithm or a decision tree algorithm.

[0033] In this solution, the ready-to-eat kelp seedlings 8 on the conveyor belt assembly 2 are scanned and imaged by a hyperspectral imaging system including the hyperspectral detector 52. This system generally includes parts such as a light source, an imaging spectrometer and a detector. Among them, the light source 521 is used to illuminate the ready-to-eat kelp seedlings entering the detection area, and the imaging spectrometer module 522 disperses the light reflected or transmitted by the ready-to-eat kelp seedlings 8 according to wavelength, and the detector 523 records the light intensity information of each wavelength channel, thereby obtaining hyperspectral image data. These data contain spectral features such as the reflectivity or absorptivity of the ready-to-eat kelp seedlings 8 and possible foreign objects at multiple continuous wavelengths, forming a three-dimensional data cube, where two dimensions are spatial coordinates (such as horizontal and vertical), and the other dimension is wavelength.

[0034] On this basis, the collected hyperspectral image data can be analyzed by a PC or server loaded with a detection algorithm to extract spectral features that can distinguish kelp from foreign objects. Different substances have different absorption and reflection characteristics at different wavelengths due to their chemical compositions and molecular structures, forming unique spectral curves. For example, kelp may have specific absorption peaks at certain wavelengths, while foreign objects (such as plastics, metals, etc.) have different spectral features. By comparing and analyzing the spectral data of a large number of known kelp and foreign objects, a corresponding spectral feature library is established. Then, spectral analysis algorithms, such as principal component analysis, partial least squares discriminant analysis, etc., are used to extract feature parameters related to foreign objects from the hyperspectral image. These parameters can be reflectivity values at specific wavelengths, spectral slopes, absorption peak positions and intensities, etc.

[0035] Finally, based on the extracted spectral features, pattern recognition or classification algorithms are used to identify foreign objects in the image. Common classification methods include support vector machines, neural networks, decision trees, etc. The spectral features of the unknown sample are compared and matched with the pre-established feature library to determine whether it belongs to the foreign object category and identify the type of the foreign object. For example, if the spectral features of a certain area have a high degree of match with those of plastic, it can be determined that there is a plastic foreign object in that area.

[0036] In this solution, the hyperspectral image contains a large amount of spectral information, with high data dimensions and complexity. The spectral features of kelp and foreign objects may be affected by various factors, such as lighting conditions, the growth environment of kelp, the material and shape of foreign objects, etc.

[0037] Therefore, a training database can be constructed in advance as the training basis, enabling the detection model to learn the patterns in these complex data, so as to accurately extract representative and discriminative features. Based on the fact that different types of kelp and foreign objects may have similar spectral features, and the same type of kelp or foreign object may also have certain differences in different images. Therefore, by constructing training data containing different impurities and different impurity positions, the detection accuracy of the model can be improved, enabling the model to adapt to these changes during the training process, enhancing the accuracy of feature extraction, and reducing the cases of misjudgment and missed judgment.

[0038] Taking the detection using a neural network model as an example, the training process of the model can be further improved through supervised learning, unsupervised learning, or transfer learning, which includes: Supervised learning Labeled data collection: Collect a large number of hyperspectral images known to contain kelp and various foreign objects, and manually label the kelp and foreign objects in the images, clearly marking whether each pixel belongs to kelp or a specific type of foreign object.

[0039] Model training: Use the labeled data to train the selected machine learning model (such as support vector machines, neural networks, etc.). During the training process, the model adjusts its own parameters to minimize the difference between the prediction result and the label. For example, for a convolutional neural network, the weights of the convolutional kernels are adjusted through the backpropagation algorithm, enabling the model to learn the mapping relationship between the spectral features at different wavelengths and the kelp or foreign object categories. After training, the model can perform feature extraction and classification on new unlabeled hyperspectral images, accurately identifying foreign objects in kelp and extracting their features.

[0040] Unsupervised learning Feature learning: Unsupervised learning methods can discover the intrinsic structure and features in hyperspectral data without labeled data. For example, methods such as principal component analysis (PCA) are used to reduce the dimensionality of hyperspectral images, converting the original high-dimensional spectral data into a set of new low-dimensional feature vectors that can retain the variance information of the data to the greatest extent, thereby extracting the main spectral features of kelp and foreign matter.

[0041] Cluster analysis: Clustering algorithms (such as K-means clustering) are used to cluster pixels in hyperspectral images according to their spectral features, and pixels with similar spectral features are grouped together. In the clustering process, kelp and foreign matter may be clustered into different categories, thereby discovering their characteristic differences. This method does not require prior knowledge of the data category information and is suitable for preliminary exploration and feature discovery of unknown foreign matter.

[0042] Transfer Learning If there is already a hyperspectral feature extraction model that has been trained in other similar fields or data sets, it can be applied to the kelp foreign body detection task using transfer learning technology. First, the pre-trained model is fine-tuned on the new kelp hyperspectral dataset, and the model parameters are further optimized through a small amount of annotated data to adapt it to the specific spectral characteristics of kelp and foreign bodies. In this way, the general spectral feature representation that has been learned by the pre-trained model can be used to reduce the amount of training data and training time on the new task, while improving the efficiency and accuracy of feature extraction.

[0043] exist Figures 1 to 5 Based on the above, further combining Figure 8 As a preferred implementation option, preferably, the sorting component 6 in this solution includes: The second bracket 61 is a gantry, which is arranged across both sides of the frame 1; A pair of clamping jaw mechanisms, which are arranged oppositely on two sides of the second bracket 61; The negative pressure generator 63 is connected to the controller 7 and is used to provide negative pressure suction force.

[0044] In this solution, a pair of clamping mechanisms separated on both sides of the second bracket 61 are used, which can be negative pressure clamping mechanisms, and cooperate with the negative pressure generator 63 to sort and remove the unqualified instant kelp seedlings 8 on the conveying surface 21. However, this solution is not limited to the negative pressure clamping mechanism, and it can be other device structures that can remove the kelp seedlings, such as a multi-degree-of-freedom manipulator.

[0045] In this embodiment, the clamping mechanism includes: A third bracket 64 is fixedly connected to an upper side of the second bracket 61; The first electric telescopic rod 65 is horizontally and fixedly connected to the third bracket 64, and its telescopic end faces the side of the second bracket 61 opposite to it; The fourth bracket 66 is fixedly connected to the telescopic end of the first electric telescopic rod 65; The second electric telescopic rod 67 is vertically and fixedly connected to the fourth bracket 66, and its telescopic end faces downward towards the conveying surface 21 of the conveyor belt assembly 2; The negative pressure suction cup module 69 is connected to the telescopic end of the second electric telescopic rod 67 through the fifth bracket 68; Wherein, the negative pressure generator 63 is a multi-channel negative pressure generator 63, and the negative pressure suction cup modules 69 of a pair of the clamping jaw mechanisms are connected to the negative pressure generator 63 through air pipes, and the negative pressure generator 63 provides the negative pressure suction force required for the operation of the negative pressure suction cup module 69.

[0046] As a preferred implementation option, preferably, the first electric telescopic rod 65 and the second electric telescopic rod 67 of a pair of the clamping jaw mechanisms in this solution are both servo electric telescopic rods, and they are both connected to the controller 7. The controller 7 controls the telescoping of the first electric telescopic rod 65 to adjust the position of the negative pressure suction cup module 69 above the conveying surface 21 of the conveyor belt assembly 2. The controller 7 controls the telescoping of the second electric telescopic rod 67 to lower the negative pressure suction cup module 69 to contact the surface of the instant seaweed seedlings 8 on the conveying surface 21 or move away from the conveying surface 21 of the conveyor belt assembly 2. The controller 7 controls the supply on and off of the negative pressure suction force of the negative pressure generator 63 to the negative pressure suction cup module 69, so that the instant seaweed seedlings 8 adsorbed and grabbed by the negative pressure suction cup module 69 are kept in the grabbed state or released.

[0047] The sorting component 6 further includes a pair of first storage boxes 62, which are arranged on both sides of the workbench 11 and are used for storing the instant seaweed seedlings 8 removed by the clamping jaw mechanism from the conveying surface 21 of the conveyor belt assembly 2.

[0048] In this solution, when the detection component 5 detects that the instant kelp seedlings 8 on the conveying surface are non-compliant, the coordinates of the instant kelp seedlings 8 on the conveying surface 21 can be output together with the detection results. When there is non-compliance, it can be used to generate the target coordinate information for the sorting component 6 to remove, and then further combine the conveying speed of the conveyor belt component 2 and the distance between the sorting component 6 and the detection area of ​​the detection component 5 to obtain the action execution time point of the sorting component 6 and the time when the negative pressure generator 63 provides negative pressure supply. This solution cleverly arranges the first storage box 62 on both sides of the workbench 11, so that the first electric telescopic rod 65 can be directly extended to move the negative pressure suction cup module 69 to the top of the first storage box 62, and then the negative pressure supply is released by the negative pressure generator 63 to release the unqualified instant kelp seedlings, and finally the clamping mechanism of the sorting component 6 is reset to make it enter the standby state for the next work.

[0049] In order to facilitate the output of qualified instant kelp seedlings, as a better implementation option, preferably, the workbench 11 area corresponding to the other end of the frame 1 described in this scheme is provided with a discharge port 13 with a slope structure, and the lower part of the frame 1 corresponding to the discharge port 13 is provided with a second storage box 15 for receiving materials.

[0050] The sorting component 6 of the present embodiment adopts a pair of clamping claw structures separated on both sides of the second bracket 61, which can achieve the effect of double-line processing when sorting the instant kelp seedlings 8 on the conveying surface 21 of the conveyor belt assembly 2, thereby reducing the problem of unreliable work connection or missed sorting caused by the continuous appearance of unqualified instant kelp seedlings.

[0051] The instant kelp seedlings 8 transported to the other end of the frame 1 via the conveying surface 21 of the conveyor belt assembly 2 fall into the second storage box 15 via the discharge port 13. In this way, after the sorting assembly 6 sorts, there is no need to intervene in the transportation of the qualified instant kelp seedlings 8. In order to facilitate the transfer of finished products, in this solution, the second storage box 15 can also be placed on a mobile trolley, or a caster assembly with brakes can be set at the bottom of the second storage box 15.

[0052] In terms of cleaning, focus on Figures 1 to 5 As shown in one of the above, as a preferred implementation option, preferably, the cleaning component 3 described in this solution includes: The cleaning tank 31 is fixedly installed above one end of the frame 1 through a fixing bracket 311. An accommodation cavity 312 for accommodating the instant seaweed seedlings 8 is provided inside the cleaning tank 31. One side of the top of the cleaning tank 31 is provided with an openable and closable feed port mechanism 313. One side of the bottom of the cleaning tank 31 is provided with an electrically controlled openable and closable discharge port mechanism 314. The discharge position of the discharge port mechanism 314 is above the conveying surface 21 at one end of the conveyor belt assembly 2. One side of the upper part of the cleaning tank 31 is provided with an overflow pipe 315. One side of the bottom of the cleaning tank 31 is also respectively penetrated and connected with a liquid inlet pipe 316 and a liquid outlet pipe 317. The liquid inlet pipe 316 is connected to an external cleaning liquid supply device and is used for inputting the cleaning liquid into the cleaning tank 31. In this solution, the external cleaning liquid supply device can directly be the municipal tap water supply system. By directly connecting the water output from the municipal tap water supply system to the liquid inlet pipe 316, the water can be used as the cleaning liquid and input into the cleaning tank. However, the external cleaning liquid supply device in this solution is not limited to the aforementioned municipal tap water supply system. It can include a liquid storage tank 32 and a pump 321. The liquid storage tank 32 contains water or other prepared cleaning water as the cleaning liquid. The cleaning liquid is input into the cleaning tank 31 through the liquid inlet pipe 316 by the pump 321. The liquid outlet pipe 317 is used for discharging the cleaning liquid. Among them, electric control valves (respectively set as the first electric control valve 3161 and j3171) are provided on both the liquid inlet pipe 316 and the liquid outlet pipe 317, and they are both connected to the controller 7. The stirring mechanism 34 is connected to the cleaning tank 31. It includes a stirring motor 341, a stirring shaft 342, and stirring blades 343. The stirring motor 341 is fixedly installed at the center of the top of the cleaning tank 31 through a mounting bracket 3411. The driving end of the stirring motor 341 is connected to one end of the stirring shaft 342. The stirring shaft 342 is rotatably inserted into the accommodation cavity 312 of the cleaning tank 31 and extends to the lower part of the accommodation cavity 312. The number of the stirring blades 343 is multiple, and they are fixedly connected to the stirring shaft 342. The stirring motor 341 is also connected to the controller 7 and is controlled by the controller 7 to work. The aeration mechanism 33 includes a gas generator 331 and an aeration module 332. The aeration module 332 is arranged at the bottom of the accommodation cavity 312 of the cleaning tank 31. The gas generator 331 is connected to the aeration module 332 through a connecting pipe 333. An electric control valve (set as the third electric control valve 3331) connected to the controller 7 is provided on the connecting pipe 333. The gas generator 331 is connected to the controller 7. The controller 7 controls the gas generator 331 to generate gas and input it into the aeration module 332 (which can be an aeration pipe assembly or an aerator), causing gas bubbles to occur in the accommodation cavity 312.

[0053] In this solution, the feed inlet mechanism 313 can directly be a cylindrical opening formed on one side of the top of the cleaning tank 31, or it can also be the cylindrical material opening with an openable and closable flip cover shown in this embodiment.

[0054] Focusing on Figure 9 As shown, in this solution, a material guiding structure 318 with an inverted conical profile can be provided at the bottom of the accommodating cavity 312 of the cleaning tank 31. The material guiding structure 318 is provided with avoidance holes 3181 corresponding to the parts of the liquid inlet pipe 316 and the liquid outlet pipe 317 communicating with the accommodating cavity 312, and a accommodating groove 3182 corresponding to the aeration module 332. In this solution, the discharge port mechanism 314 is arranged at the bottom of the conical small end of the material guiding structure 318, and the liquid inlet pipe 316 and the liquid outlet pipe 317 are arranged at positions close to the bottom of the conical small end of the material guiding structure 318. In this structural form, the cleaned ready-to-eat kelp seedlings can be output from the discharge port mechanism 314 as much as possible to avoid a large amount of retention problems; during the cleaning stage, water can be input multiple times as the cleaning liquid to clean the ready-to-eat kelp seedlings, and then the discharged wastewater can be observed. When there is less sediment or impurities, the discharge port mechanism 314 is then opened to output the ready-to-eat kelp seedlings. At this time, there will still be a little water residue at the bottom of the accommodating cavity 312 of the cleaning tank 31, which will follow the ready-to-eat kelp seedlings and be output from the discharge port mechanism 314, and the residual water helps to reduce the friction between the ready-to-eat kelp seedlings and the cleaning tank 31, facilitating the output of the ready-to-eat kelp seedlings. The discharge port mechanism 314 in this solution can be an existing gate valve structure or other electric control output structures for solid materials and colloidal materials, and details thereof will not be elaborated here.

[0055] Focusing on Figure 9 、 Figure 10 As shown, the structural form of the sorting assembly 4 in this solution can also not be limited to the foregoing structure. Its quantity is at least one, and its structure can also be in the form of a roller structure. In this structure, it includes: A pair of supports 45, which are oppositely arranged on both sides of the workbench 11; A rotating shaft 46, spanning above the conveying surface 21 of the conveyor belt assembly 2 between a pair of the supports 45, and its two ends are respectively connected to the pair of supports 45 through rotating parts; A driving motor 48, fixedly installed on one of the supports 45, its driving end is fixedly connected to one end of the rotating shaft 46, and drives the rotating shaft 46 to rotate; the driving motor 48 is connected to the controller 7 and is controlled by the controller 7 to work; A limiting cylinder 47, fixedly sleeved on the middle part of the rotating shaft 46 and forming a sorting gap 44 with the conveying surface 21. The sorting gap 44 is used to flatten the ready-to-eat kelp seedlings 8 on the conveying surface 21.

[0056] In this structural form, the drive motor 48 can be controlled by the controller 7 to drive the rotating shaft 46 to drive the limiting cylinder 47 to rotate, so that when the instant seaweed seedlings 8 are flattened, conveying assistance can be provided for them and the flattening effect can be further improved.

[0057] When the cleaning component 3 of this solution is working, the instant seaweed seedlings are cleaned in the cleaning tank 31, including a bubble cleaning stage and a stirring desalting stage.

[0058] When loading the instant seaweed seedlings to be cleaned, the instant seaweed seedlings 8 to be cleaned and processed are input into the accommodating cavity 312 therein through the feeding port mechanism 313 of the cleaning tank 31. Then, by opening the first electric control valve 3161 of the liquid inlet pipe 316, an external cleaning liquid supply device inputs the cleaning liquid (such as water) into the cleaning tank 31, so that the instant seaweed seedlings 8 are immersed therein. When the input amount reaches the preset requirement, the first electric control valve 3161 is closed in a timely manner, or the cleaning liquid supply is intermittently opened. The cleaning liquid exceeding the upper part of the cleaning tank 31 will flow out through the overflow pipe 315.

[0059] The bubble cleaning stage includes: by starting the gas generator 331 of the aeration mechanism 33 and the third electric control valve 3331 provided on the connecting pipe 333, the air generated by the gas generator 331 is input from the bottom of the accommodating cavity 312 of the cleaning tank 31, so that a large number of fine bubbles emerge from the aeration module 332 at the bottom of the cleaning tank 31. The bubbles impact and scour the surface of the instant seaweed seedlings during the rising process. The instant seaweed seedlings continuously roll and move under the tumbling action of the bubbles. Through the impact force of the bubbles, the mutual friction of the seaweed seedlings, and the collision with the side wall of the cleaning tank, the pollutants such as soil and impurities on the surface of the instant seaweed seedlings gradually fall off. During this process, the cavitation effect is also at work, which destroys the structure of stubborn pollutants and makes them easier to be cleaned off. During this process, through the cooperation of the stirring mechanism 34, the stirring blades 343 can be rotated at a low speed to make the instant seaweed seedlings roll fully.

[0060] In this solution, the impurities on the surface of the instant seaweed seedlings are separated through the action of the bubbles of the aeration mechanism 33. During this process, while the instant seaweed seedlings are being bubble-cleaned, due to the tumbling and flowing of the water, the washed-down impurities will move along with the water flow. The impurities floating on the upper layer of the water surface can flow out through the overflow port penetrating into the cleaning tank 31 through the overflow pipe 315 (during the cleaning period, the cleaning liquid supplied by the external cleaning liquid supply device can be kept flowing in an intermittent or continuous manner through the liquid inlet pipe 316). And some other impurities with a larger specific gravity can flow out through the drain port of the bottom access liquid outlet pipe 317 (when the second electric control valve 3171 is opened). Among them, a filter screen with a certain aperture size can be set at the end of the liquid outlet pipe 317 to prevent the instant seaweed seedlings from being discharged together.

[0061] The stirring and desalting stage is the next process after the bubble cleaning stage, which includes: inputting cleaning liquid (water) into the cleaning tank 31 through the liquid inlet pipe 316 to soak the instant seaweed seedlings, and then starting the stirring mechanism 34 to stir at a low speed to make the instant seaweed seedlings stretch out as much as possible. At this stage, the water inlet of the liquid inlet pipe 316 can stop supplying water (i.e., the first electric control valve 3161 is closed). At the end of this stage, the sewage is discharged from the drain port connected to the liquid outlet pipe 317 (when the second electric control valve 3171 is opened). Finally, the instant seaweed seedlings after cleaning are conveyed from the feeding port of the discharge port mechanism 314 to the conveying surface 21 of the conveyor belt assembly 2 with the assistance of the stirring of the stirring mechanism 34.

[0062] When on the conveying surface 21 of the conveyor belt assembly 2, if the instant seaweed seedlings 8 are curled or stacked, they can be stretched out through the sorting gap 44 formed by the pressing plates 43 of the two sorting assemblies 4 and the conveying surface 21 to avoid stacking and reduce the difficulty of the hyperspectral detection of the subsequent detection assembly 5 due to curling and stacking, and the manipulator of the sorting assembly 6 can sort the instant seaweed seedlings 8 still attached with foreign matters to the first storage box 62 on one side of the frame 1 according to the detection results.

[0063] Embodiment 2 Combined with Figures 11 to 14 As shown in one of them, the device of this embodiment is substantially the same as that of Embodiment 1, and the main difference lies in that the structure of the cleaning tank 31 of the cleaning assembly 3 is somewhat different.

[0064] In the solution of this embodiment, the cleaning assembly 3 further includes a partition plate 319, which is fixedly arranged at the lower part of the accommodating cavity of the cleaning tank 31 and divides the lower part of the accommodating cavity 312 of the cleaning tank 31 into a secondary accommodating cavity 3190. The aeration module 332 is arranged in the secondary accommodating cavity 3190. The liquid inlet pipe 316 and the liquid outlet pipe 317 communicate with the secondary accommodating cavity 3190. The partition plate 319 is provided with a plurality of through holes 3191, and the impurities eluted from the instant seaweed seedlings fall into the secondary accommodating cavity 3190 through the through holes 3191.

[0065] In this solution, the discharge port mechanism 314 includes: A discharge pipe 3141, which is a tubular structure with an overall L shape and a rectangular cross-section. One end of it passes through the bottom of the cleaning tank 31 and the secondary accommodating cavity 3190 and is fixedly connected to the partition plate 319. The partition plate 319 is provided with a rectangular through groove 3192 corresponding to the discharge pipe 3141. A material guiding channel 31410 is formed inside the discharge pipe 3141. The other end of the discharge pipe 3141 is an upper-side open discharge plate 31411, which extends obliquely above the conveying surface 21 of the conveyor belt assembly 2; The on-off component 3142 is arranged on the side of one end of the discharge pipe 3141 and is used for controlling the on-off of the material guiding channel 31410. The on-off component 3142 is connected to the controller.

[0066] Based on Figure 12 this, and focusing on the combination with Figure 14 In this solution, the on-off component 3142 may specifically include a guide sleeve 31421, a slider 31422, a rubber pad 31423, a connecting sleeve 31424, a push rod 31425, and a driver 31426. The guide sleeve 31421 is a rectangular shell structure with one side open. The open side thereof penetrates into the side of one end of the discharge pipe 3141 and communicates with the material guiding channel 31410. A sunk groove 31412 opposite to the guide sleeve 31421 is provided on the side wall of the material guiding channel 31410 of the discharge pipe 3141. The contour of the slider 31422 is adapted to the inner contour of the guide sleeve 31421 and is slidably arranged in the guide sleeve 31421; the rubber pad 31423 is fixedly arranged on one side of the slider 31422 facing the sunk groove 31412. One end of the connecting sleeve 31424 penetrates from the lower part of the cleaning tank 31 into the secondary accommodating cavity 3190 and communicates with the guide sleeve 31421 from the side of the guide sleeve 31421 away from the open side; the push rod 31425 is slidably penetrated in the connecting sleeve 31424, and one end thereof is fixedly connected to the slider 31422. The driver 31426 is a cylinder or an oil cylinder, which is connected to the controller and is controlled to act by the controller. The main body of the driver 31426 is fixed on the outside of the cleaning tank 31. The driving shaft 314261 of the driver 31426 is fixedly connected to the other end of the push rod 31425 through a coupling 31427. The driver 31426 drives the push rod 31425 to drive the slider 31422 to move in a direction approaching or departing from the sunk groove 31412, so as to switch the on-off of the material guiding channel 31410.

[0067] In the present embodiment, the stirring mechanism 34 has a plurality of stirring blades 343, which are arranged at the upper, middle and lower parts of the stirring shaft 342 of the stirring mechanism 34 and are asymmetrical in structure, wherein the lower part of the stirring shaft 342 has a pair of stirring blades 343, which are 180 degrees apart (or L-shaped or V-shaped), and when the stirring shaft 342 of the stirring mechanism 34 rotates, the pair of stirring blades 343 push the instant kelp seedlings at the lower part of the accommodating cavity 312 of the cleaning tank 31 to move, and the upper and middle parts of the stirring shaft 342 respectively have a stirring blade 343 which is displaced in vertical projection. The blades 343 of the stirring mechanism 34 can assist in cleaning by stirring at a low speed of several or more than ten revolutions per minute. When the stirring blades 343 are rotating, if the aeration module 332 is in working condition, then generally, the air input from the bottom may cause a certain tumbling effect on the instant kelp seedlings soaked in the cleaning tank 31. The stirring blades 343 located on the upper part of the stirring shaft 342 will promote the cleaning effect of the aeration module 332 to a certain extent during the low-speed rotation process, so that the impurities attached to the instant kelp seedlings can be separated more fully.

[0068] In this embodiment, the structural edge of the stirring blade 343 can be further passivated to reduce surface damage to the instant kelp seedlings.

[0069] In addition to the aforementioned stirring blade 343 structure, the stirring blade of this embodiment may also be an existing conventional structure, which will not be described in detail here.

[0070] In this scheme, when the on-off component 3142 controls to release the interrupted state of the material guide channel 31410, the lower side of the stirring blade 343 is driven to push the instant kelp seedlings on the partition plate 319 into the rectangular through groove 3192 on the partition plate 319, and fall into the material guide channel 31410 through the rectangular through groove 3192, and finally fall into the conveying surface 21 of the conveyor belt component 2 from the other end of the discharge pipe 3141. Since the discharge pipe 3141 is a rectangular tube, during the discharge, the instant kelp seedlings will partially fall into the conveying surface 21 of the conveyor belt component 2 in a dispersed and flattened state during the sliding process, which facilitates the subsequent sorting work. For a small number of stacked or unflattened instant kelp seedlings, they can be further sorted by the sorting component 4.

[0071] This solution ingeniously utilizes the stirring blades 343 of the stirring mechanism 34 as an auxiliary pusher structure during the discharging stage, enabling some of the instant seaweed seedlings piled on the partition plate 319 to be pushed by the stirring blades 343 at the lower part of the stirring shaft 342 and fall into the material guiding channel 31410 through the rectangular through groove 3192 on the partition plate 319. Since the material guiding channel 31410 is formed by the rectangular tubular discharging pipe 3141, when outputting the instant seaweed seedlings, it can fall onto the conveying surface 21 of the conveyor belt assembly 2 in a diffused output manner as much as possible. In the traditional solution, after cleaning the instant seaweed seedlings, it often requires manual primary sorting and placing them on the conveyor belt assembly 2 for the next process. Compared with the prior art, this solution has significant progress and outstanding substantive features. In addition, when cleaning the inside of the cleaning tank 31 of this solution subsequently, there is no need for manual intervention. Water can be input through the liquid inlet pipe 316 under the condition of not feeding the instant seaweed seedlings to be cleaned, and then the stirring mechanism 34 is operated to drive the water to form a rotating fluid state to wash the inner wall of the cleaning tank 31. Finally, after opening the second electric control valve 3171 connected to the liquid outlet pipe 317, the cleaned water is output, and manual intervention is only required when there are stubborn stains inside the cleaning tank 31. The cleaning tank 31 of this solution device not only works reliably but also is convenient for subsequent cleaning and maintenance, which can improve the working cooperation efficiency of the instant seaweed seedling production workshop and reduce the maintenance difficulty.

[0072] When the cleaning component 3 of this solution cleans the instant seaweed seedlings, the on-off component 3142 of the discharging port mechanism 314 blocks and interrupts the material guiding channel 31410. In order to prevent a large amount of sand or other impurities from accumulating in the slider 31422 and the rectangular through groove 3192 of the partition plate 319 during cleaning, a through hole 31413 communicating with the secondary accommodation cavity 3190 is correspondingly provided at the upper end of the discharging pipe 3141. In this case, when the cleaning water falls into the rectangular through groove 3192, the impurities accumulated therein will be washed into the secondary accommodation cavity 3190 through the through hole 31413 and finally discharged through the liquid outlet pipe 317.

[0073] The structures and reference numerals not mentioned in the solution of this embodiment are the same as those in Embodiment 1 and will not be elaborated here.

[0074] The above are only some embodiments of the present invention, and thus do not limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. An instant seaweed seedling cleaning and sorting integrated device, which comprises a frame and a conveyor belt assembly arranged on the upper end face of the frame. The conveyor belt assembly has a conveying surface that extends from one end of the frame to the other end of the frame. It is characterized in that, It also includes a controller, a cleaning component, a sorting component, a detection component, and a sorting component that are sequentially arranged along the conveying direction of the conveyor belt assembly; Among them, the cleaning component is used to clean the instant seaweed seedlings. It has an output end that extends above the conveying surface of the conveyor belt assembly to guide the cleaned instant seaweed seedlings to fall onto the conveying surface of the conveyor belt assembly; The sorting component is spanned above the conveying surface of the conveyor belt assembly, and a sorting gap is formed between it and the conveying surface of the conveyor belt assembly to flatten the instant seaweed seedlings on the conveying surface; The detection component is arranged above the conveyor belt assembly, and its detection end faces the conveying surface of the conveyor belt assembly to detect and determine whether the instant seaweed seedlings on the conveying surface meet the preset requirements and output the position information of the instant seaweed seedlings that do not meet the preset requirements on the conveying surface; The sorting component is used to sort the instant seaweed seedlings on the conveying surface to remove the instant seaweed seedlings that do not meet the preset requirements; The controller is respectively connected to the conveyor belt assembly, the cleaning component, the detection component, and the sorting component, and controls their working opening and closing; Among them, the cleaning component includes a cleaning tank and a stirring mechanism. The cleaning tank is internally provided with a containing cavity for containing instant seaweed seedlings. The stirring mechanism is connected to the cleaning tank and its stirring end penetrates into the containing cavity. One side of the top of the cleaning tank is provided with an opening and closing feeding port mechanism. One side of the bottom of the cleaning tank is provided with an electrically controlled opening and closing discharging port mechanism. The discharging position of the discharging port mechanism is located above the conveying surface at one end of the conveyor belt assembly. One side of the upper part of the cleaning tank is provided with an overflow pipe. One side of the bottom of the cleaning tank is also respectively penetrated and connected with a liquid inlet pipe and a liquid outlet pipe. The liquid inlet pipe is connected to an external cleaning liquid supply device and is used to input cleaning liquid into the cleaning tank. The liquid outlet pipe is used to discharge the cleaning liquid. Among them, electrically controlled valves are provided on both the liquid inlet pipe and the liquid outlet pipe, and they are both connected to the controller; The cleaning component also includes a partition plate, which is fixedly arranged at the lower part of the containing cavity of the cleaning tank and divides the lower part of the containing cavity of the cleaning tank into a secondary containing cavity; The discharging port mechanism includes a discharging pipe. One end of the discharging pipe passes through the secondary containing cavity from the bottom of the cleaning tank and is fixedly connected to the partition plate. The partition plate is provided with a rectangular through groove corresponding to the discharging pipe. A guiding channel is formed inside the discharging pipe. The other end of the discharging pipe extends obliquely above the conveying surface of the conveyor belt assembly; a on-off component for controlling the on-off of the guiding channel is also provided on the discharging pipe.

2. The instant seaweed seedling cleaning and sorting integrated device according to claim 1, wherein, The upper end surface of the frame is provided with a workbench with a concave structure. The conveyor belt assembly is spanned and installed on the workbench. An overflow gap is formed between the two sides of the conveying surface of the conveyor belt assembly and the edge of the workbench. A plurality of liquid discharge holes are also provided in the middle of the workbench. The liquid discharge holes penetrate downward through the workbench. A liquid collection box is provided at the lower part of the frame, and the liquid collection box is used to receive the liquid falling through the liquid discharge holes.

3. The instant seaweed seedling cleaning and sorting integrated device according to claim 2, wherein, The number of the sorting components is at least one, and it includes: Connecting seats, which are a pair and are oppositely arranged on both sides of the workbench; The connecting rod is located above the conveying surface of the conveyor belt assembly spanning between a pair of the connecting seats, and its two ends are respectively connected to the pair of connecting seats through connecting members; The pressing plate is fixedly connected to the connecting rod on one side, and extends along the side close to the conveying surface of the conveyor belt assembly on the other side, and a sorting gap is formed between it and the conveying surface, and the sorting gap is used to flatten the instant seaweed seedlings on the conveying surface.

4. The instant seaweed seedling cleaning and sorting integrated device according to claim 2, characterized in that, The detection assembly includes: The first bracket is a gantry frame that straddles both sides of the frame; The hyperspectral detector is connected to the controller, is arranged on the first bracket, and its detection end faces the conveying surface of the conveyor belt assembly to detect and determine whether the instant seaweed seedlings on the conveying surface meet the preset requirements; Among them, the hyperspectral detector includes: The light source is used to irradiate a partial area of the conveying surface of the conveyor belt assembly to make it a detection area. Among them, after the instant seaweed seedlings driven by the conveying surface of the conveyor belt assembly and conveyed into the detection area are irradiated by the light of the light source, reflected light or transmitted light is generated, which is set as the signal light; The imaging spectrometer module is used to receive the signal light generated by the instant seaweed seedlings entering the detection area and disperse it according to the wavelength; The detector is connected to the imaging spectrometer module and is used to record the light intensity information of each wavelength channel corresponding to the signal light received by the imaging spectrometer module to generate hyperspectral image data; The data processing module is used to detect and judge the hyperspectral image data to determine whether the instant seaweed seedlings on the conveying surface meet the preset requirements; and output the position information of the instant seaweed seedlings that do not meet the preset requirements on the conveying surface.

5. The instant seaweed seedling cleaning and sorting integrated device according to claim 2, characterized in that, The sorting assembly includes: The second bracket is a gantry frame that straddles both sides of the frame; The clamping jaw mechanism is a pair and is oppositely arranged on both sides of the second bracket; The negative pressure generator is connected to the controller and is used to provide a negative pressure suction force; The clamping jaw mechanism includes: The third bracket is fixedly connected to the upper part of the side surface of the second bracket; The first electric telescopic rod is horizontally and fixedly connected to the third bracket, and its telescopic end faces the side opposite to the second bracket; The fourth bracket is fixedly connected to the telescopic end of the first electric telescopic rod; The second electric telescopic rod is vertically and fixedly connected to the fourth bracket, and its telescopic end faces downward towards the conveying surface of the conveyor belt assembly; The negative pressure suction cup module is connected to the telescopic end of the second electric telescopic rod through the fifth bracket; Among them, the negative pressure generator is a multi-channel negative pressure generator, and the negative pressure suction cup modules of a pair of the clamping jaw mechanisms are connected to the negative pressure generator through air pipes, and the negative pressure generator provides the negative pressure suction force required for the operation of the negative pressure suction cup modules; The first electric telescopic rod and the second electric telescopic rod of a pair of the jaw mechanisms are both servo electric telescopic rods, and both are connected to a controller. The controller controls the telescopic movement of the first electric telescopic rod to adjust the position of the negative pressure suction cup module above the conveying surface of the conveyor belt assembly. The controller controls the telescopic movement of the second electric telescopic rod to lower the negative pressure suction cup module to contact the surface of the instant seaweed seedlings on the conveying surface or move away from the conveying surface of the conveyor belt assembly. The controller controls the negative pressure generator to supply or cut off the negative pressure suction force to the negative pressure suction cup module, so that the instant seaweed seedlings adsorbed and grabbed by the negative pressure suction cup module maintain the grabbed state or are released; The sorting assembly further includes a pair of first storage boxes, which are arranged on both sides of the workbench and are used for storing the instant seaweed seedlings removed by the jaw mechanism from the conveying surface of the conveyor belt assembly.

6. The instant seaweed seedling cleaning and sorting integrated device according to claim 2, wherein, The sorting component includes: Supports, a pair of which are oppositely arranged on both sides of the workbench; A rotating shaft, spanning above the conveying surface of the conveyor belt assembly between a pair of the supports, and both ends thereof are respectively connected to a pair of the supports through rotating members; A driving motor, fixedly installed on one of the supports, the driving end of which is fixedly connected to one end of the rotating shaft and drives the rotating shaft to rotate; the driving motor is connected to the controller and is controlled by the controller to work; A limiting cylinder, fixedly sleeved on the middle part of the rotating shaft and forming a sorting gap with the conveying surface, and the sorting gap is used for flattening the instant seaweed seedlings on the conveying surface; At the corresponding workbench area at the other end of the frame, there is a discharge port with a slope structure, and a second storage box for receiving materials is arranged at the lower part of the frame corresponding to the discharge port; Among them, the instant seaweed seedlings conveyed to the other end of the frame through the conveying surface of the conveyor belt assembly fall into the second storage box through the discharge port.

7. The instant seaweed seedling cleaning and sorting integrated device according to any one of claims 1 to 6, characterized in that, The cleaning tank is fixedly installed above one end of the frame through a fixing bracket; The stirring mechanism is connected to the cleaning tank, and includes a stirring motor, a stirring shaft and stirring blades. The stirring motor is fixedly installed at the center of the top of the cleaning tank through a mounting frame. The driving end of the stirring motor is connected to one end of the stirring shaft. The stirring shaft rotatably penetrates into the accommodating cavity of the cleaning tank and extends to the lower part of the accommodating cavity. The number of the stirring blades is multiple, and they are fixedly connected to the stirring shaft. The stirring motor is also connected to the controller and is controlled by the controller to work; The cleaning assembly further includes: An aeration mechanism, which includes a gas generator and an aeration module. The aeration module is arranged at the bottom of the accommodating cavity of the cleaning tank. The gas generator is connected to the aeration module through a connecting pipe. An electromagnetic valve connected to the controller is arranged on the connecting pipe. The gas generator is connected to the controller. The controller controls the gas generator to generate gas and input it into the aeration module, so that gas bubbles occur in the accommodating cavity.

8. The instant seaweed seedling cleaning and sorting integrated device according to claim 7, characterized in that, The aeration module is arranged in the secondary accommodating cavity. The liquid inlet pipe and the liquid outlet pipe communicate with the secondary accommodating cavity. A plurality of through holes are arranged on the partition plate, and the impurities eluted from the instant seaweed seedlings fall into the secondary accommodating cavity through the through holes; The discharge pipe is an L-shaped tubular structure with a rectangular cross section; The on-off component is arranged on the side of one end of the discharge pipe and is used to control the on-off of the material guide channel. The on-off component is connected to the controller; Among them, a stirring blade is provided at the lower part of the stirring shaft of the stirring mechanism. When the on-off component controls to release the interrupted state of the material guide channel, the lower side of the stirring blade is driven by the stirring motor to push the instant kelp seedlings on the partition plate into the rectangular through groove on the partition plate, and falls into the material guide channel through the rectangular through groove, and finally falls from the other end of the discharge pipe to the conveying surface of the conveyor belt assembly.

9. A method for cleaning and sorting instant seaweed seedlings, which uses the integrated cleaning and sorting device for instant seaweed seedlings described in any one of claims 1 to 8, and is characterized in that, It includes: The ready-to-eat kelp seedlings to be tested are transported by the conveyor belt assembly to the testing area; Using a hyperspectral detector as a detection component, the ready-to-eat kelp seedlings entering the detection area are scanned and imaged to obtain hyperspectral image data; Detect and judge the hyperspectral image data, and output the judgment result to determine whether the instant kelp seedlings on the conveying surface meet the preset requirements; Obtaining the judgment result, when it points to that the detected instant kelp seedlings do not meet the preset requirements, obtaining the position information of the instant kelp seedlings that do not meet the preset requirements on the conveying surface; According to the position information of the ready-to-eat kelp seedlings that do not meet the preset requirements on the conveying surface, a sorting operation instruction is generated, and then the sorting operation instruction is executed by the sorting component at the downstream position of the detection area to remove the ready-to-eat kelp seedlings that do not meet the preset requirements from the conveying surface of the conveyor belt component.

10. The instant seaweed seedling cleaning and sorting method according to claim 9, characterized in that, The hyperspectral detector comprises a light source, an imaging spectrometer module and a detector; wherein the light source is used to irradiate the instant kelp seedlings entering the detection area, and after the instant kelp seedlings are incident with the light of the light source, reflected light or transmitted light is generated, which is set as signal light; The signal light generated by the instant kelp seedlings entering the detection area is received by the imaging spectrometer module, dispersed by wavelength, and then the detector records the light intensity information of each wavelength channel corresponding to the received signal light to generate hyperspectral image data; When the hyperspectral image data is detected and judged, feature extraction is performed on the hyperspectral image data to obtain spectral features that can distinguish kelp from foreign matter, and then the spectral features of the hyperspectral image data are detected and judged by a trained detection algorithm, and a judgment result is output; Wherein, the detection algorithm is a support vector machine algorithm, a neural network algorithm or a decision tree algorithm.

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