An integrated device and method for cleaning and sorting ready-to-eat kelp seedlings

Abstract

The present invention discloses an integrated device and method for cleaning and sorting instant kelp seedlings. This solution cleverly arranges a conveyor belt assembly on a workbench of a frame, sequentially arranges a cleaning assembly, a sorting assembly, a detection assembly, and a sorting assembly along the conveying direction of the conveyor belt assembly, and utilizes a controller to connect with the cleaning assembly, the detection assembly, the sorting assembly, etc. respectively and control their operation and opening and closing. This device realizes the integration of cleaning and sorting of the instant kelp seedlings, so that the cleaned instant kelp seedlings can be discharged and fall onto the conveying surface of the conveyor belt assembly to directly enter the sorting, detection and sorting stages. At the same time, the detection assembly uses hyperspectral technology, collects hyperspectral image data, and then uses a detection algorithm to perform detection. Finally, a sorting instruction of the sorting assembly is generated according to the detection result, so that the instant kelp seedlings that do not meet the requirements are removed. This method is not only reliable in linkage and coordination, but also flexible in implementation, and has better production 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] Ready-to-eat kelp seedlings are one of the most popular food ingredients nowadays. Since most of them are cultivated in coastal areas and the ready-to-eat kelp seedlings themselves have a soft ribbon-like structure, they may carry some debris or foreign matter with them when they are harvested, such as fishing net lines, hair, algae, gravel, etc., which requires the ready-to-eat kelp seedlings to be cleaned, sorted and processed before they can be served on the table as food ingredients. However, the existing post-processing of ready-to-eat kelp seedlings mostly relies on manual cleaning and sorting, which requires a lot of manpower in the post-processing process. At the same time, the processing methods involving a large amount of manpower often have the problem of difficult to unify the implementation standards and unstable work efficiency, which makes the processing of ready-to-eat kelp seedlings prone to unstable production capacity and inconsistent product quality. Although currently Some researchers have disclosed in the literature that stirring processing equipment is used to assist in cleaning the harvested ready-to-eat kelp seedlings, but most of them are simple stirring and cleaning devices, and it is difficult to effectively remove some attachments attached to the surface of the kelp seedlings. Therefore, sorting the cleaned ready-to-eat kelp seedlings is an important step in subsequent processing. Currently, most of the defective ready-to-eat kelp seedlings and some uncleaned ready-to-eat kelp seedlings are distinguished by manual means. There are few disclosures of relevant technical solutions for sorting the cleaned ready-to-eat kelp seedlings through automated equipment. Therefore, it is a research topic with very positive and practical significance to propose a solution that can efficiently and reliably clean the ready-to-eat kelp seedlings and can use automated equipment to quickly sort the unqualified ready-to-eat kelp seedlings after cleaning. Summary of the Invention

[0003] In view of this, the object of the present invention is to provide an integrated device and method for cleaning and sorting instant kelp seedlings that is reliable in implementation, flexible in application, and has good cleaning and sorting efficiency.

[0004] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0005] A device for cleaning and sorting instant kelp seedlings comprises a frame and a conveyor belt assembly arranged on an upper end surface of the frame, wherein the conveyor belt assembly has a conveying surface extending from one end of the frame to the other end of the frame, and further comprises a controller and a cleaning assembly, a sorting assembly, a detection assembly, and a sorting assembly arranged in sequence along the conveying direction of the conveyor belt assembly;

[0006] The cleaning component is used to clean the ready-to-eat kelp seedlings, and has an output end, which extends above the conveying surface of the conveyor belt component to guide the cleaned ready-to-eat kelp seedlings to fall onto the conveying surface of the conveyor belt component;

[0007] The arranging assembly is arranged across the conveying surface of the conveyor belt assembly, and a arranging gap is formed between the arranging assembly and the conveying surface of the conveyor belt assembly to flatten the instant kelp seedlings on the conveying surface;

[0008] The detection component is arranged above the conveyor belt component, with its detection end facing the conveying surface of the conveyor belt component, so as to detect whether the instant kelp seedlings on the conveying surface meet the preset requirements and output the position information of the instant kelp seedlings that do not meet the preset requirements on the conveying surface;

[0009] The sorting component is used to sort the ready-to-eat kelp seedlings on the conveying surface to remove the ready-to-eat kelp seedlings that do not meet the preset requirements;

[0010] The controller is respectively connected to the conveyor belt component, the cleaning component, the detection component, and the sorting component, and controls the opening and closing of the operations thereof.

[0011] As a possible implementation manner, further, the upper end surface of the frame described in this scheme is provided with a workbench with a concave structure, and the conveyor belt assembly is installed astride 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 drainage holes are also provided in the middle of the workbench, and the drainage holes pass through the workbench downward. A liquid collecting tank is provided at the lower part of the frame, and the liquid collecting tank is used to receive the liquid falling through the drainage holes.

[0012] As a preferred implementation option, preferably, the number of the finishing components in this solution is at least one, which includes:

[0013] A pair of connecting seats are arranged oppositely on both sides of the workbench;

[0014] A connecting rod spanning above the conveying surface of the conveyor belt assembly between the pair of connecting seats, with both ends of the connecting rod being connected to the pair of connecting seats via connecting pieces;

[0015] A pressing plate has one side fixedly connected to the connecting rod and the other side extending along the conveying surface close to the conveyor belt assembly and forming a finishing gap between the pressing plate and the conveying surface, wherein the finishing gap is used to flatten the instant kelp seedlings on the conveying surface.

[0016] As a preferred implementation option, preferably, the detection component of this solution includes:

[0017] The first bracket is a gantry, which is arranged on both sides of the frame;

[0018] A hyperspectral detector, connected to the controller, is disposed on the first bracket, with its detection end facing the conveying surface of the conveyor belt assembly, for detecting and determining whether the ready-to-eat kelp seedlings on the conveying surface meet preset requirements;

[0019] Wherein, the hyperspectral detector comprises:

[0020] a light source for illuminating a local area of the conveying surface of the conveyor belt assembly, so that the local area serves as a detection zone, wherein the instant kelp seedlings driven by the conveying surface of the conveyor belt assembly and transported into the detection zone are illuminated by the light source and generate reflected light or transmitted light, which is set as signal light;

[0021] An imaging spectrometer module is used to receive the signal light generated by the instant kelp seedlings entering the detection area and disperse it according to wavelength;

[0022] a detector connected to the imaging spectrometer module and used to record light intensity information of each wavelength channel corresponding to the signal light received by the imaging spectrometer module to generate hyperspectral image data;

[0023] The data processing module is used to detect and judge the hyperspectral image data to determine whether the ready-to-eat kelp seedlings on the conveying surface meet the preset requirements; and output the position information of the ready-to-eat kelp seedlings on the conveying surface that do not meet the preset requirements.

[0024] As a preferred implementation option, preferably, the sorting component of this solution includes:

[0025] The second support is a gantry frame, which is arranged on both sides of the frame;

[0026] a pair of clamping claw mechanisms, which are arranged oppositely on both sides of the second bracket;

[0027] A negative pressure generator is connected to the controller and is used to provide negative pressure suction force;

[0028] The clamping mechanism comprises:

[0029] a third bracket, fixedly connected to an upper side portion of the second bracket;

[0030] a first electric telescopic rod, horizontally fixedly connected to the third bracket, with its telescopic end facing the side of the second bracket opposite thereto;

[0031] a fourth bracket, fixedly connected to the telescopic end of the first electric telescopic rod;

[0032] a second electric telescopic rod, vertically fixedly connected to the fourth bracket, with its telescopic end downwardly facing the conveying surface of the conveyor belt assembly;

[0033] a negative pressure suction cup module connected to the telescopic end of the second electric telescopic rod via a fifth bracket;

[0034] Among them, the negative pressure generator is a multi-channel negative pressure generator, a pair of negative pressure suction cup modules of the clamping mechanism are connected to the negative pressure generator through an air pipe, and the negative pressure generator provides the negative pressure suction force required for the operation of the negative pressure suction cup module.

[0035] As a preferred implementation option, preferably, in this solution, the first electric telescopic rod and the second electric telescopic rod of the pair of clamping claw mechanisms are both servo electric telescopic rods, which are both connected to a controller. The controller controls the extension and retraction 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 extension and retraction of the second electric telescopic rod to lower the negative pressure suction cup module to contact the surface of the instant kelp 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 switch on and off the supply of negative pressure suction force to the negative pressure suction cup module, so that the instant kelp seedlings adsorbed and grasped by the negative pressure suction cup module remain in a grasping state or are detached.

[0036] The sorting assembly further includes a pair of first storage boxes, which are arranged on both sides of the workbench and are used to store the instant kelp seedlings moved out of the conveying surface of the conveyor belt assembly by the clamping mechanism.

[0037] As another preferred implementation option of the finishing component, preferably, the finishing component of this solution includes:

[0038] A pair of supports are arranged oppositely on both sides of the workbench;

[0039] a rotating shaft, spanning above the conveying surface of the conveyor belt assembly between the pair of supports, with both ends of the rotating shaft being connected to the pair of supports via rotating members;

[0040] A drive motor is fixedly mounted on one of the supports, with a drive end thereof fixedly connected to one end of the rotating shaft and driving the rotating shaft to rotate; the drive motor is connected to a controller and is controlled by the controller;

[0041] The limiting cylinder is fixedly sleeved on the middle part of the rotating shaft and forms a finishing gap with the conveying surface. The finishing gap is used to flatten the instant kelp seedlings on the conveying surface.

[0042] As a preferred implementation option, preferably, the workbench area corresponding to the other end of the frame of this solution is provided with a discharge port with a slope structure, and the lower part of the frame corresponding to the discharge port is provided with a second storage box for receiving materials;

[0043] The instant kelp seedlings transported to the other end of the frame via the conveying surface of the conveyor belt assembly fall into the second storage box via the discharge port.

[0044] As a preferred implementation option, preferably, the cleaning component of this solution includes:

[0045] The cleaning tank is fixedly mounted above one end of the frame by a fixed bracket, the cleaning tank is provided with a accommodating chamber for accommodating instant kelp seedlings, the top side of the cleaning tank is provided with an openable and closable feeding port mechanism, the bottom side of the cleaning tank is provided with an electrically controllable opening and closing discharge port mechanism, the discharge position of the discharge port mechanism is located above the conveying surface at one end of the conveyor belt assembly, the upper side of the cleaning tank is provided with an overflow pipe, the bottom side 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 cleaning liquid, wherein the liquid inlet pipe and the liquid outlet pipe are both provided with an electrically controlled valve, which are both connected to a controller;

[0046] A stirring mechanism is connected to the cleaning tank and includes a stirring motor, a stirring shaft, and stirring blades. The stirring motor is fixedly mounted at the top center of the cleaning tank via a mounting bracket. 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. There are multiple stirring blades, which are fixedly connected to the stirring shaft. The stirring motor is also connected to a controller and is controlled by the controller.

[0047] 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 electrically controlled 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, causing gas bubbling in the accommodating chamber.

[0048] As a preferred implementation option, preferably, the cleaning assembly 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.

[0049] As a preferred implementation option, preferably, the discharge port mechanism of this solution includes:

[0050] 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.

[0051] An on-off assembly is provided 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 assembly is connected to the controller;

[0052] 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 the release of 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.

[0053] Based on the above, this solution also provides a method for cleaning and sorting instant kelp seedlings, which comprises:

[0054] The ready-to-eat kelp seedlings to be tested are transported by the conveyor belt assembly to the testing area;

[0055] 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;

[0056] Detect and judge the hyperspectral image data and output the judgment results to determine whether the ready-to-eat kelp seedlings on the conveying surface meet the preset requirements;

[0057] Obtaining a judgment result, and when it indicates that the detected instant kelp seedlings do not meet the preset requirements, obtaining position information of the instant kelp seedlings that do not meet the preset requirements on the conveying surface;

[0058] 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.

[0059] As a preferred implementation option, preferably, the hyperspectral detector of this solution includes 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;

[0060] The imaging spectrometer module receives the signal light generated by the instant kelp seedlings entering the detection area and disperses it according to wavelength. The detector then records the light intensity information of each wavelength channel corresponding to the received signal light to generate hyperspectral image data.

[0061] As a preferred implementation option, preferably, when detecting and judging the hyperspectral image data, this solution performs feature extraction on the hyperspectral image data to obtain spectral features that can distinguish kelp from foreign matter, and then detects and judges the spectral features of the hyperspectral image data using a trained detection algorithm, and outputs a judgment result;

[0062] Wherein, the detection algorithm is a support vector machine algorithm, a neural network algorithm or a decision tree algorithm.

[0063] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: the present invention cleverly arranges a conveyor belt assembly on the workbench of the frame so that the conveying surface of the conveyor belt assembly extends from one end of the frame to the other end of the frame, and then sequentially arranges a cleaning assembly, a sorting assembly, a detection assembly, and a sorting assembly along the conveying direction of the conveyor belt assembly, and utilizes a controller to connect with the cleaning assembly, the detection assembly, the sorting assembly, etc. respectively and control their operation and opening and closing. The device realizes the integration of cleaning and sorting of instant kelp seedlings, so that the harvested instant kelp seedlings can be cleaned by the cleaning assembly, and the output end of the cleaning tank of the cleaning assembly extends to the conveyor belt assembly. Above the conveying surface, the cleaned instant kelp seedlings can be discharged and fall onto the conveying surface of the conveyor belt component to directly enter the sorting, testing and sorting stage. This process does not require manual on-site operation intervention, which improves work efficiency and reduces manpower occupation. At the same time, the detection component uses hyperspectral technology to collect hyperspectral image data and then uses the detection algorithm to perform detection. Finally, the sorting instructions of the sorting component are generated according to the detection results. The instant kelp seedlings that do not meet the requirements on the conveying surface are removed by the clamping mechanism of the sorting component. This method is not only reliable in linkage and coordination, but also flexible in implementation, and has better production application prospects and value. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0065] Figure 1 This is one of the three-dimensional perspective diagrams of the simplified implementation structure of the device in Example 1 of this solution;

[0066] Figure 2 This is the second three-dimensional perspective diagram of the simplified implementation structure of the device in Example 1 of this solution;

[0067] Figure 3 This is the third three-dimensional perspective diagram of the simplified implementation structure of the device in Example 1 of this solution;

[0068] Figure 4 This is one of the two-dimensional top view schematic diagrams of the simplified implementation structure of the device in Example 1 of this scheme;

[0069] Figure 5 yes Figure 4 The schematic diagram of the two-dimensional perspective of the cross-section implementation structure at AA is shown;

[0070] Figure 6 This is a schematic diagram of the optical signal transmission when the detection component of the device in Example 1 of this solution detects the ready-to-eat kelp seedlings, as well as a schematic diagram of the connection between the various module units of the detection component;

[0071] Figure 7 is a schematic diagram of the instant kelp seedlings of the device of Example 1 of the present solution moving through the detection zone on the conveying surface of the conveyor belt assembly;

[0072] Figure 8 This is a schematic diagram of the connection between the controller of the device of Example 1 of this solution and some components of the sorting assembly;

[0073] Figure 9 This is a brief partial schematic diagram of the cleaning tank of the device of Example 1 of this solution provided with a material guide structure, which also shows a schematic diagram of the state of the finishing component using another implementation structure being set on the workbench;

[0074] Figure 10 This is another example of the structure of the finishing component of the device in Example 1 of this solution;

[0075] Figure 11 This is a three-dimensional perspective diagram of the simplified implementation structure of the device in Example 2 of this solution;

[0076] Figure 12 This is one of the schematic three-dimensional cross-sectional views of the simplified implementation structure of the device in Example 2 of this solution;

[0077] Figure 13 This is the second schematic diagram of a three-dimensional cross-section perspective of the simplified implementation structure of the device in Example 2 of this solution;

[0078] Figure 14 This is a schematic diagram of the working action of the on-off component of the discharge port mechanism of the device in Example 2 of this scheme. DETAILED DESCRIPTION

[0079] The present invention will be described in further detail below with reference to the accompanying drawings and examples. It is particularly noted that the following examples are intended only to illustrate the present invention and are not intended to limit the scope of the present invention. Similarly, the following examples are only some embodiments of the present invention and are not intended to be exhaustive. All other embodiments obtained by those of ordinary skill in the art without creative effort are intended to fall within the scope of protection of the present invention.

[0080] Example 1

[0081] like Figures 1 to 8 As shown in FIG. 1 , this embodiment provides an integrated device for cleaning and sorting ready-to-eat kelp seedlings. The device comprises a frame 1 and a conveyor belt assembly 2 disposed on the upper end surface of the frame 1. The conveyor belt assembly 2 has a conveying surface 21 extending from one end of the frame 1 to the other end of the frame 1. In addition, the device comprises a controller 7 and a cleaning assembly 3, a sorting assembly 4, a detection assembly 5, and a sorting assembly 6, which are sequentially arranged along the conveying direction of the conveyor belt assembly 2.

[0082] The cleaning component 3 is used to clean the ready-to-eat kelp seedlings 8, and has an output end, which extends above the conveying surface 21 of the conveyor belt assembly 2 to guide the cleaned ready-to-eat kelp seedlings 8 to fall onto the conveying surface 21 of the conveyor belt assembly 2;

[0083] The arranging assembly 4 is arranged across the conveying surface 21 of the conveyor belt assembly 2, and a arranging gap 44 is formed between the arranging assembly 4 and the conveying surface 21 of the conveyor belt assembly 2 for flattening the instant kelp seedlings 8 on the conveying surface 21;

[0084] The detection component 5 is arranged above the conveyor belt component 2, with its detection end facing the conveying surface 21 of the conveyor belt component 2, so as to detect whether the instant kelp seedlings 8 on the conveying surface 21 meet the preset requirements and output the position information of the instant kelp seedlings 8 on the conveying surface 21 that do not meet the preset requirements;

[0085] The sorting assembly 6 is used to sort the ready-to-eat kelp seedlings 8 on the conveying surface 21 to remove the ready-to-eat kelp seedlings 8 that do not meet the preset requirements;

[0086] 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 the opening and closing of the operations thereof.

[0087] In this solution, after the instant kelp seedlings 8 are cleaned and discharged by the cleaning component 3, they will also carry part of the cleaning liquid (such as residual water from cleaning) and fall onto the conveying surface 21 of the conveyor belt component 2. In order to avoid the cleaning liquid 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 described in this solution is provided with a concave structure workbench 11, and the conveyor belt component 2 is straddled and installed on 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, the instant kelp seedlings 8 output together with the instant kelp seedlings 8 are discharged. Part of the cleaning liquid will flow into the concave structure of the workbench 11 from the overflow gap, and a plurality of drainage holes 12 are also provided in the middle of the workbench 11. The drainage holes 12 pass through the workbench 11 downward, and a liquid collecting box 14 is provided at the lower part of the frame 1. The liquid collecting box 14 is used to receive the liquid falling through the drainage holes 12. In this way, after the instant kelp seedlings 8 are output, a certain adhesion contact will occur after the instant kelp seedlings 8 themselves come into contact with the conveying surface 21 of the conveyor belt assembly 2. Therefore, when the cleaning liquid overflows from the conveying surface 21 to the concave structure of the workbench 11, the instant kelp seedlings 8 will not slide out of the conveying surface 21 of the conveyor belt assembly 2. In this solution, the liquid falling from the drainage holes 12 (mainly the water remaining after cleaning the instant kelp seedlings) can also be collected through a collecting pipe (connected to the multiple drainage holes 12 through a connecting piece), and then the water can be discharged directly through the collecting pipe, thereby eliminating the need for secondary treatment of the water in the collecting tank 14 when there is a lot of water.

[0088] Since the output ready-to-eat kelp seedlings 8 may curl or stack, which will interfere with subsequent sorting, as a better implementation option, preferably, the number of the sorting components 4 in this solution is at least one, which includes:

[0089] A pair of connecting seats 41 are arranged on both sides of the workbench 11 opposite to each other;

[0090] A connecting rod 42 spans above the conveying surface 21 of the conveyor belt assembly 2 between the pair of connecting seats 41, and its two ends are connected to the pair of connecting seats 41 through connecting pieces 421 respectively;

[0091] The pressure plate 43 is fixedly connected to the connecting rod 42 on one side, and extends along the conveying surface 21 close to the conveyor belt assembly 2 on the other side, and forms a sorting gap 44 between the pressure plate 43 and the conveying surface 21, and the sorting gap 44 is used to flatten the instant kelp seedlings 8 on the conveying surface 21.

[0092] In this solution, the connecting piece 421 connecting the connecting seat 41 and the connecting rod 42 can be an elastic connecting sleeve, which is fixed to the connecting seat 41, and the connecting piece 421 is inserted into the elastic connecting sleeve with an interference fit. When a force greater than the interference fit force F is applied, the connecting rod 42 can be rotated. In this way, the sorting gap 44 can be flexibly adjusted conveniently. When operating the device, the operator can adjust the sorting gap 44 in advance by rotating the connecting rod 42 to adapt to the thickness of different batches of instant kelp seedlings 8 or other sorting requirements, so that after passing through the sorting gap 44, the situation of the instant kelp seedlings 8 rolling up and stacking can be significantly reduced, so that they are flattened and located on the conveying surface 21. Due to the light and thin characteristics of the instant kelp seedlings 8 themselves, even if a small part is folded, it will not cause significant interference to subsequent detection.

[0093] In traditional processing of ready-to-eat kelp seedlings, manual spreading is often used, which is not only time-consuming and labor-intensive, but also requires a large amount of manpower. At the same time, the large amount of manpower occupied also makes it difficult to leave more space on the workbench. At the same time, there is also the problem of variability in the efficiency of manpower coordination. This solution uses the sorting component 4 to assist in flattening the ready-to-eat kelp seedlings. It is not only simple in structure and compact in overall size, but also does not require a large amount of space on the workbench 11. To a certain extent, it also reduces the limitation of the conveyor belt component 2 that needs to be lengthened to accommodate the work space of manual operation.

[0094] In terms of detection, as a preferred implementation option, the detection component 5 of this solution preferably includes:

[0095] The first bracket 51 is a gantry, which is arranged on both sides of the frame 1;

[0096] A hyperspectral detector 52 is connected to the controller 7 and is disposed on the first bracket 51, with its detection end facing the conveying surface 21 of the conveyor belt assembly 2, so as to detect whether the ready-to-eat kelp seedlings 8 on the conveying surface 21 meet the preset requirements;

[0097] Wherein, the hyperspectral detector 52 includes:

[0098] The light source 521 is used to illuminate a local area of the conveying surface 21 of the conveyor belt assembly 2 so that it serves as a detection area (reference Figure 6 、 Figure 7 ), wherein, the instant kelp seedlings 8 driven by the conveying surface 21 of the conveyor belt assembly 2 and transported into the detection area are incident with the light source 521, and reflective light or transmitted light is generated, which is set as signal light;

[0099] The imaging spectrometer module 522 is used to receive the signal light generated by the instant kelp seedlings 8 entering the detection area and disperse it according to wavelength;

[0100] The detector 523 is connected to the imaging spectrometer module 522 and is used to record the light intensity information of each wavelength channel corresponding to the signal light received by the imaging spectrometer module 522 to generate hyperspectral image data;

[0101] The data processing module 524 is used to detect and judge the hyperspectral image data to determine whether the instant kelp seedlings 8 on the conveying surface 21 meet the preset requirements; and output the position information of the instant kelp seedlings 8 that do not meet the preset requirements on the conveying surface 21.

[0102] In this embodiment, the hyperspectral detector 52 can be a commercially available hyperspectral detector, but the detection target is the instant kelp seedlings 8 of this embodiment, and the data processed is different. In this embodiment, the data processing module 524 can be a PC or server loaded with a detection algorithm; loading a trained network model to implement data detection or judgment is an existing solution, and its operating principle is not further described here.

[0103] exist Figures 1 to 5 Based on the above, further combining Figure 6 、 Figure 7 Based on the above, this solution also provides a method for cleaning and sorting instant kelp seedlings 8, which includes:

[0104] The ready-to-eat kelp seedlings 8 to be tested are transported by the conveyor belt assembly 2 and moved to the testing area;

[0105] A hyperspectral detector 52 is used as the detection component 5 to scan and image the instant kelp seedlings 8 entering the detection area to obtain hyperspectral image data;

[0106] Detect and judge the hyperspectral image data and output the judgment result to determine whether the instant kelp seedlings 8 on the conveying surface 21 meet the preset requirements;

[0107] Obtaining a judgment result, when it points to that the detected instant kelp seedlings 8 do not meet the preset requirements, obtaining position information of the instant kelp seedlings 8 that do not meet the preset requirements on the conveying surface 21;

[0108] According to the position information of the ready-to-eat kelp seedlings 8 that do not meet the preset requirements on the conveying surface 21, a sorting operation instruction is generated, and then the sorting component 6 at the downstream position of the detection area is transported to execute the sorting operation instruction, and the ready-to-eat kelp seedlings 8 that do not meet the preset requirements are removed from the conveying surface 21 of the conveyor belt component 2.

[0109] 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 light source 521 is used to irradiate the instant kelp seedlings 8 entering the detection area, and after the instant kelp seedlings 8 are illuminated by the light source 521, reflected light or transmitted light is generated, which is set as signal light;

[0110] The imaging spectrometer module 522 receives the signal light generated by the instant kelp seedlings 8 entering the detection area and disperses it according to wavelength. Then, the detector 523 records the light intensity information of each wavelength channel corresponding to the received signal light to generate hyperspectral image data.

[0111] As a preferred implementation option, preferably, when detecting and judging the hyperspectral image data, this solution performs feature extraction on the hyperspectral image data to obtain spectral features that can distinguish kelp from foreign matter, and then detects and judges the spectral features of the hyperspectral image data using a trained detection algorithm, and outputs a judgment result;

[0112] Wherein, the detection algorithm is a support vector machine algorithm, a neural network algorithm or a decision tree algorithm.

[0113] In this solution, a hyperspectral imaging system including a hyperspectral detector 52 scans and images the ready-to-eat kelp seedlings 8 on the conveyor belt assembly 2. This system typically comprises a light source, an imaging spectrometer, and a detector. Light source 521 illuminates the ready-to-eat kelp seedlings entering the detection zone, while imaging spectrometer module 522 disperses light reflected or transmitted by the ready-to-eat kelp seedlings 8 according to wavelength. Detector 523 records the light intensity information for each wavelength channel, thereby generating hyperspectral image data. This data contains spectral characteristics such as reflectance or absorbance of the ready-to-eat kelp seedlings 8 and any foreign matter present at multiple consecutive wavelengths, forming a three-dimensional data cube, with two dimensions representing spatial coordinates (e.g., horizontal and vertical) and one representing wavelength.

[0114] Based on this, a PC or server loaded with detection algorithms can analyze the collected hyperspectral image data to extract spectral features that can distinguish kelp from foreign matter. Different substances, due to their varying chemical composition and molecular structure, exhibit distinct absorption and reflection characteristics at different wavelengths, forming unique spectral curves. For example, kelp may have specific absorption peaks at certain wavelengths, while foreign matter (such as plastic and metal) exhibits different spectral characteristics. By comparing and analyzing a large amount of known spectral data for kelp and foreign matter, a corresponding spectral feature library can be established. Spectral analysis algorithms, such as principal component analysis and partial least squares discriminant analysis, are then used to extract characteristic parameters associated with foreign matter from the hyperspectral images. These parameters can include reflectance values at specific wavelengths, spectral slopes, and absorption peak positions and intensities.

[0115] 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, and decision trees. The spectral features of the unknown sample are compared and matched with a pre-established feature library to determine whether it belongs to the foreign object category and the type of foreign object. For example, if the spectral features of a certain area closely match those of plastic, it can be determined that plastic foreign objects are present in that area.

[0116] In this solution, hyperspectral images contain a large amount of spectral information, and the data is high-dimensional and complex. The spectral characteristics of kelp and foreign matter can be affected by many factors, such as lighting conditions, the kelp's growth environment, and the material and shape of the foreign matter.

[0117] Therefore, by pre-building a training database as a training foundation, the detection model can learn the patterns within this complex data and accurately extract representative and discriminative features. Different types of kelp and foreign matter may have similar spectral characteristics, while the same type of kelp or foreign matter may vary in different images. Therefore, the model's detection accuracy can be improved by constructing training data containing different impurities and varying the location of the impurities. This allows the model to adapt to these changes during training, improving feature extraction accuracy and reducing false positives and missed detections.

[0118] Taking the use of neural network models for detection as an example, the model training process can be further improved through supervised learning, unsupervised learning, or transfer learning, which includes:

[0119] Supervised learning

[0120] Annotated data collection: A large number of hyperspectral images known to contain kelp and various foreign matter are collected, and the kelp and foreign matter in the images are manually annotated to clearly mark whether each pixel belongs to kelp or a specific type of foreign matter.

[0121] Model training: A selected machine learning model (such as a support vector machine or neural network) is trained using the labeled data. During training, the model adjusts its parameters to minimize the discrepancy between the predicted results and the annotations. For example, in a convolutional neural network, backpropagation is used to adjust the weights of the convolution kernels, enabling the model to learn the mapping between spectral features at different wavelengths and the types of kelp or foreign matter. Once trained, the model can perform feature extraction and classification on new, unlabeled hyperspectral images, accurately identifying foreign matter in kelp and extracting its features.

[0122] Unsupervised learning

[0123] Feature learning: Unsupervised learning methods can discover the inherent structure and features in hyperspectral data without labeled data. For example, methods such as principal component analysis (PCA) can be 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 maximize the preservation of the data's variance, thereby extracting the primary spectral features of kelp and foreign matter.

[0124] Cluster analysis: Using a clustering algorithm (such as K-means clustering), pixels in a hyperspectral image are clustered based on their spectral characteristics, grouping pixels with similar spectral characteristics into the same category. During the clustering process, kelp and foreign matter may be clustered into different categories, allowing their characteristic differences to be identified. This method does not require prior knowledge of the data's categorization and is suitable for preliminary exploration and feature discovery of unknown foreign matter.

[0125] Transfer Learning

[0126] If a hyperspectral feature extraction model already trained on other similar domains or datasets exists, transfer learning techniques can be used to apply it to the kelp foreign body detection task. First, the pre-trained model is fine-tuned on a new kelp hyperspectral dataset. Using a small amount of annotated data, the model parameters are further optimized to adapt it to the specific spectral characteristics of kelp and foreign matter. This leverages the universal spectral feature representations learned by the pre-trained model, reducing the amount of training data and time required for the new task while improving the efficiency and accuracy of feature extraction.

[0127] exist Figures 1 to 5 Based on the above, further combining Figure 8 As a preferred implementation option, preferably, the sorting component 6 of this solution includes:

[0128] The second bracket 61 is a gantry, which is arranged on both sides of the frame 1;

[0129] A pair of clamping claw mechanisms are arranged oppositely on both sides of the second bracket 61;

[0130] The negative pressure generator 63 is connected to the controller 7 and is used to provide negative pressure suction force.

[0131] In this embodiment, a pair of gripping jaws, which can be negative pressure gripping jaws, are provided on either side of the second support 61 and, in conjunction with the negative pressure generator 63, are used to sort and remove unqualified ready-to-eat kelp seedlings 8 from the conveying surface 21. However, this embodiment is not limited to negative pressure gripping jaws and can be other device structures capable of removing kelp seedlings, such as a multi-degree-of-freedom manipulator.

[0132] In this embodiment, the clamping mechanism includes:

[0133] A third bracket 64 is fixedly connected to the upper side of the second bracket 61;

[0134] A first electric telescopic rod 65 is horizontally fixedly connected to the third bracket 64, with its telescopic end facing the side opposite to the second bracket 61;

[0135] a fourth bracket 66 fixedly connected to the telescopic end of the first electric telescopic rod 65;

[0136] A second electric telescopic rod 67 is vertically fixedly connected to the fourth bracket 66, with its telescopic end downwardly facing the conveying surface 21 of the conveyor belt assembly 2;

[0137] 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;

[0138] Among them, the negative pressure generator 63 is a multi-channel negative pressure generator 63, and a pair of negative pressure suction cup modules 69 of the clamping mechanism are connected to the negative pressure generator 63 through an air pipe, and the negative pressure generator 63 provides the negative pressure suction force required for the negative pressure suction cup module 69 to work.

[0139] As a preferred implementation option, preferably, in this scheme, the first electric telescopic rod 65 and the second electric telescopic rod 67 of the pair of clamping mechanisms are both servo electric telescopic rods, which are both connected to the controller 7. The controller 7 controls the extension and contraction 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 extension and contraction of the second electric telescopic rod 67 to make the negative pressure suction cup module 69 descend and contact the surface of the instant kelp 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 negative pressure generator 63 to supply and disconnect the negative pressure suction force to the negative pressure suction cup module 69, so that the instant kelp seedlings 8 adsorbed and grasped by the negative pressure suction cup module 69 remain in a grasping state or detach.

[0140] The sorting assembly 6 further includes a pair of first storage boxes 62 , which are disposed on both sides of the workbench 11 and are used to store the ready-to-eat kelp seedlings 8 removed from the conveying surface 21 of the conveyor belt assembly 2 by the clamping mechanism.

[0141] 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 non-compliant, the coordinates can be used to generate the target coordinate information for removal by the sorting component 6. Then, by further combining 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, the action execution time point of the sorting component 6 and the time when the negative pressure generator 63 provides negative pressure are obtained. This solution is clever by arranging 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 non-compliant instant kelp seedlings. Finally, the clamping mechanism of the sorting component 6 is reset to put it into the standby state for the next work.

[0142] 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.

[0143] The sorting component 6 of this 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.

[0144] The ready-to-eat 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 through the discharge port 13. In this way, after sorting by the sorting assembly 6, there is no need to transport the qualified ready-to-eat kelp seedlings 8. To facilitate the transfer of finished products, in this solution, the second storage box 15 can also be placed on a mobile cart, or a caster assembly with brakes can be installed at the bottom of the second storage box 15.

[0145] In terms of cleaning, focus on Figures 1 to 5 As shown in one of the embodiments, as a preferred implementation option, preferably, the cleaning component 3 of this solution includes:

[0146] The cleaning tank 31 is fixedly mounted above one end of the frame 1 by a fixing bracket 311, and a accommodating chamber 312 for accommodating the instant kelp seedlings 8 is provided inside the cleaning tank 31, and a feed port mechanism 313 that can be opened and closed is provided on the top side of the cleaning tank 31, and a discharge port mechanism 314 that can be opened and closed electrically is provided on the bottom side of the cleaning tank 31, and the discharge position of the discharge port mechanism 314 is located above the conveying surface 21 at one end of the conveyor belt assembly 2, and an overflow pipe 315 is provided on the upper side of the cleaning tank 31, and a liquid inlet pipe 316 and a liquid outlet pipe 317 are respectively penetrated and connected on the bottom side of the cleaning tank 31, and the liquid inlet pipe 316 is connected to an external cleaning liquid supply device and is used to input the cleaning liquid into the cleaning tank 31; in this scheme The external cleaning liquid supply device can be directly a municipal tap water supply system, and the water output from the municipal tap water supply system is directly connected to the liquid inlet pipe 316 to realize the input of water as cleaning liquid into the cleaning tank. However, the external cleaning liquid supply device of this scheme is not limited to the municipal tap water supply system mentioned above. It may include a liquid reservoir 32 and a pump 321. The liquid reservoir 32 contains water or other modulated 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 to discharge the cleaning liquid. The liquid inlet pipe 316 and the liquid outlet pipe 317 are both provided with electrically controlled valves (respectively set as first electrically controlled valves 3161 and j3171), which are both connected to the controller 7.

[0147] The stirring mechanism 34 is connected to the cleaning tank 31 and includes a stirring motor 341, a stirring shaft 342 and stirring blades 343. The stirring motor 341 is fixedly mounted at the top center of the cleaning tank 31 via 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 rotatably penetrates the accommodating cavity 312 of the cleaning tank 31 and extends to the lower part of the accommodating cavity 312. There are multiple stirring blades 343, which are fixedly connected to the stirring shaft 342. The stirring motor 341 is also connected to the controller 7 and its operation is controlled by the controller 7.

[0148] 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 accommodating chamber 312 of the cleaning tank 31. The gas generator 331 is connected to the aeration module 332 through a connecting pipe 333. The connecting pipe 333 is provided with an electrically controlled valve (set as a third electrically controlled valve 3331) connected to the controller 7. The gas generator 331 is connected to the controller 7. The controller 7 controls the gas generator 331 to generate gas and inputs the gas into the aeration module 332 (which can be an aeration pipe assembly or an aerator), causing gas bubbling in the accommodating chamber 312.

[0149] In this solution, the feed port mechanism 313 can be directly a cylindrical opening opened on one side of the top of the cleaning tank 31, and it can also be a cylindrical material port with an openable and closable flip cover as shown in the figure of this embodiment.

[0150] Focus on combination Figure 9 As shown, in this solution, the bottom of the accommodating chamber 312 of the cleaning tank 31 can be provided with a material guide structure 318 with an inverted conical profile, and the part of the material guide structure 318 corresponding to the liquid inlet pipe 316 and the liquid outlet pipe 317 connected to the accommodating chamber 312 is provided with an avoidance hole 3181, and the material guide structure 318 is provided with 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 tapered small mouth end of the material guide structure 318, and the liquid inlet pipe 316 and the liquid outlet pipe 317 are arranged at the bottom position of the tapered small mouth end of the material guide structure 318 close to the bottom of the tapered small mouth end thereof. Under this structural form, the cleaned instant kelp seedlings can be discharged from the discharge port mechanism 314 as much as possible to avoid the occurrence of The problem of large-scale retention occurs; in the cleaning stage, the instant kelp seedlings can be cleaned by inputting water as a cleaning liquid multiple times, and then the discharged wastewater is observed. When there is less mud or impurities, the discharge port mechanism 314 is opened to output the instant kelp seedlings. At this time, there will be a small amount of water remaining at the bottom of the accommodating cavity 312 of the cleaning tank 31, which will be output from the discharge port mechanism 314 along with the instant kelp seedlings, and the residual water will help reduce the friction between the instant kelp seedlings and the cleaning tank 31, which is beneficial to the output of the instant kelp seedlings. The discharge port mechanism 314 described in this solution can be an existing gate valve structure or other solid material or colloidal material electronically controlled output structure, and its details will not be repeated here.

[0151] Focus on combination Figure 9 、 Figure 10 As shown, the structural form of the finishing component 4 of this solution may not be limited to the aforementioned structure. The number of the finishing component 4 is at least one, and the structure may also be a roller structure. In this structure, the finishing component 4 includes:

[0152] A pair of supports 45 are arranged on both sides of the workbench 11;

[0153] The rotating shaft 46 spans above the conveying surface 21 of the conveyor belt assembly 2 between the pair of supports 45, and its two ends are connected to the pair of supports 45 through rotating members respectively;

[0154] The drive motor 48 is fixedly mounted on one of the supports 45, with its driving end fixedly connected to one end of the rotating shaft 46, and drives the rotating shaft 46 to rotate; the drive motor 48 is connected to the controller 7 and is controlled by the controller 7;

[0155] The limiting cylinder 47 is fixedly sleeved on the middle of the rotating shaft 46 and forms a finishing gap 44 between the limiting cylinder 47 and the conveying surface 21 . The finishing gap 44 is used to flatten the instant kelp seedlings 8 on the conveying surface 21 .

[0156] In this structural form, the controller 7 can control the driving motor 48 to work, drive the rotating shaft 46 to drive the limiting cylinder 47 to rotate, so that when the instant kelp seedlings 8 are flattened, they can provide conveying assistance and further improve the flattening effect.

[0157] When the cleaning component 3 of this solution is working, the cleaning of the instant kelp seedlings in the cleaning tank 31 includes a bubble cleaning stage and a stirring and desalting stage.

[0158] When loading the ready-to-eat kelp seedlings to be cleaned, the ready-to-eat kelp seedlings 8 that need to be cleaned are input into the accommodating chamber 312 thereof through the feed port mechanism 313 of the cleaning tank 31, and then the first electrically controlled valve 3161 of the liquid inlet pipe 316 is opened to allow the external cleaning liquid supply device to input cleaning liquid (e.g., water) into the cleaning tank 31, so that the ready-to-eat kelp seedlings 8 are immersed therein. When the input amount reaches the preset requirement, the first electrically controlled valve 3161 is closed in a timely manner, or the cleaning liquid supply is intermittently opened, and the cleaning liquid exceeding the upper part of the cleaning tank 31 will flow out through the overflow pipe 315.

[0159] The bubble cleaning stage involves activating the gas generator 331 of the aeration mechanism 33 and the third electrically controlled valve 3331 on the connecting pipe 333. This allows the air generated by the gas generator 331 to be input from the bottom of the accommodating chamber 312 of the cleaning tank 31, causing a large number of tiny bubbles to emerge from the aeration module 332 at the bottom of the cleaning tank 31. As the bubbles rise, they impact and scour the surface of the instant kelp seedlings. This churning of bubbles causes the seedlings to continuously tumble and move. Through the impact of the bubbles, the friction between the seedlings, and their collision with the sidewalls of the cleaning tank, contaminants such as dirt and impurities on the seedlings' surface are gradually removed. During this process, the cavitation effect also comes into play, disrupting the structure of stubborn contaminants and making them easier to clean. During this process, the stirring mechanism 34 can be used to rotate the stirring blades 343 at a low speed, ensuring that the seedlings are fully tumbled.

[0160] This solution separates impurities from the surface of the instant kelp seedlings through the bubble action of the aeration mechanism 33. During this process, while the bubbles are cleaning, the impurities washed down will move with the water due to the turbulence and flow of the water. The impurities floating on the upper water surface can pass through the overflow pipe 315 and enter the overflow port in the cleaning tank 31 to flow out (during the cleaning period, the cleaning liquid supplied by the external cleaning liquid supply device can be kept in the water in an intermittent or continuous manner through the liquid inlet pipe 316). Other impurities with a larger specific gravity can flow out through the drain port connected to the liquid outlet pipe 317 on the bottom (when the second electric control valve 3171 is opened). Among them, a filter with a certain pore size can be set at the end of the liquid outlet pipe 317 to prevent the instant kelp seedlings from being discharged.

[0161] The stirring and desalting stage is the next step after the bubble cleaning stage, and includes: inputting cleaning liquid (water) into the cleaning tank 31 through the liquid inlet pipe 316 to soak the instant kelp seedlings, and then starting the stirring mechanism 34 to stir at a low speed to make the instant kelp seedlings stretch out as much as possible. During this stage, the water inlet connected to the liquid inlet pipe 316 can stop supplying water (that is, the first electrically controlled valve 3161 is closed). At the end of this stage, the sewage is discharged from the drain outlet connected to the liquid outlet pipe 317 (when the second electrically controlled valve 3171 is opened). Finally, the cleaned instant kelp seedlings are transported from the discharge port of the discharge port mechanism 314 to the conveying surface 21 of the conveyor belt assembly 2 with the assistance of the stirring mechanism 34.

[0162] When on the conveying surface 21 of the conveyor belt assembly 2, if the instant kelp seedlings 8 are curled or stacked, they can be stretched out through the sorting gap 44 formed by the pressure plates 43 of the two sorting assemblies 4 and the conveying surface 21 to avoid stacking, so as to avoid affecting the hyperspectral detection of the subsequent detection component 5 due to curling and stacking, thereby reducing the difficulty of judging whether there are foreign objects that have not been cleaned on the surface of the instant kelp seedlings 8. The robot arm of the sorting assembly 6 can sort the instant kelp seedlings 8 that still have foreign objects attached to them into the first storage box 62 on one side of the rack 1 according to the detection results.

[0163] Example 2

[0164] Combine Figures 11 to 14 As shown in FIG1 , the device of this embodiment is substantially the same as that of embodiment 1, and the difference lies mainly in the structure of the cleaning tank 31 of the cleaning assembly 3 .

[0165] In this embodiment, the cleaning component 3 also includes a partition plate 319, which is fixedly arranged at the lower part of the accommodating chamber of the cleaning tank 31, and separates the lower part of the accommodating chamber 312 of the cleaning tank 31 into a secondary accommodating chamber 3190. The aeration module 332 is arranged in the secondary accommodating chamber 3190, and the liquid inlet pipe 316 and the liquid outlet pipe 317 are connected to the secondary accommodating chamber 3190. A plurality of through holes 3191 are provided on the partition plate 319, and the impurities washed out of the edible kelp seedlings fall into the secondary accommodating chamber 3190 through the through holes 3191.

[0166] In this solution, the discharge port mechanism 314 includes:

[0167] The discharge pipe 3141 is an L-shaped tubular structure with a rectangular cross-section. One end of the discharge pipe 3141 passes through the auxiliary accommodating chamber 3190 from the bottom of the cleaning tank 31 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 guide channel 31410 is formed inside the discharge pipe 3141. The other end of the discharge pipe 3141 is a discharge plate 31411 with an open upper side, which extends obliquely above the conveying surface 21 of the conveyor belt assembly 2.

[0168] The on-off component 3142 is arranged on the side of one end of the discharge pipe 3141 and is used to control the on-off of the material guide channel 31410. The on-off component 3142 is connected to the controller.

[0169] exist Figure 12 Based on this, we focus on Figure 14The cam 31424 is provided with a screw thread on the top of the cam 31425, and the cam 31426 is provided with a screw thread on the top of the cam 31425. The cam 31424 is provided with a screw thread on the top of the cam 31425, and the cam 31426 is provided with a screw thread on the top of the cam 31425. 1 penetrates into the auxiliary accommodating chamber 3190, and is connected to the guide sleeve 31421 from the side of the guide sleeve 31421 away from the open side; the push rod 31425 is slidably inserted into the connecting sleeve 31424, and one end thereof is fixedly connected to the slider 31422. The driver 31426 is an air cylinder or an oil cylinder, which is connected to the controller and controlled by the controller. The main body of the driver 31426 is fixed on the outside of the cleaning tank 31, and 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 close to or away from the trough 31412, so that the material guide channel 31410 is switched on and off.

[0170] In this 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. 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). 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. The upper and middle parts of the stirring shaft 342 respectively have a stirring blade 343 that is staggered 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 produce a certain churning 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 are separated more fully.

[0171] In this embodiment, the structural edge of the stirring blade 343 can be further passivated to reduce surface damage to the instant kelp seedlings.

[0172] In addition to the aforementioned stirring blade 343 structure, the stirring blade of this embodiment can also be an existing conventional structure, which will not be described in detail here.

[0173] In this solution, 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 from the other end of the discharge pipe 3141 to the conveying surface 21 of the conveyor belt component 2. Since the discharge pipe 3141 is a rectangular tube, during 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 subsequent sorting work. As for a small number of stacked or unflattened instant kelp seedlings, they can be further sorted by the sorting component 4.

[0174] The present invention cleverly utilizes the stirring blade 343 of the stirring mechanism 34 as an auxiliary pushing structure in the discharging stage, so that part of the instant kelp seedlings accumulated on the partition plate 319 can be pushed by the stirring blade 343 at the lower part of the stirring shaft 342, and fall into the guiding channel 31410 from the rectangular through groove 3192 on the partition plate 319. Since the guiding channel 31410 is formed by the discharge pipe 3141 of a rectangular tubular structure, when the instant kelp seedlings are output, they can fall onto the conveying surface 21 of the conveyor belt assembly 2 in a diffuse output manner as much as possible. In the conventional scheme, after the instant kelp seedlings are cleaned, they often need to be sorted by manpower for the first time and placed on the conveyor belt assembly 2 for the next process. Compared with the existing scheme, The technology has significant progress and outstanding substantial characteristics. In addition, the cleaning tank 31 of the present invention does not require human intervention during subsequent internal cleaning. Water can be input through the liquid inlet pipe 316 without putting in the ready-to-clean kelp seedlings. Then, the stirring mechanism 34 is used to drive the water to form a rotating fluid state to flush the inner wall of the cleaning tank 31. Finally, the cleaned water is output after opening the second electric control valve 3171 connected to the liquid outlet pipe 317. Human intervention is only required when there are stubborn stains inside the cleaning tank 31. The cleaning tank 31 of the device of the present invention is not only reliable in operation, but also convenient for subsequent cleaning and maintenance, and can improve the work coordination efficiency and reduce the maintenance difficulty of the ready-to-eat kelp seedling production workshop.

[0175] When the cleaning component 3 of this scheme cleans the instant kelp seedlings, the on-off component 3142 of the discharge port mechanism 314 blocks and interrupts the material guide channel 31410. In order to prevent a large amount of sand or other impurities from accumulating in the rectangular groove 3192 between the slider 31422 and the partition plate 319 during cleaning, the upper end of the discharge pipe 3141 is also provided with a through hole 31413 connected to the auxiliary accommodating chamber 3190. In this case, when the cleaning water falls into the rectangular groove 3192, it will flush the impurities accumulated therein into the auxiliary accommodating chamber 3190 through the through hole 31413, and finally be discharged through the liquid outlet pipe 317.

[0176] The remaining structures and reference numerals not mentioned in this embodiment are the same as those in embodiment 1 and will not be described again here.

[0177] The above descriptions are only some embodiments of the present invention and do not limit the scope of protection of the present invention. Any equivalent device or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A device for cleaning and sorting instant kelp seedlings, comprising a frame and a conveyor belt assembly disposed on an upper end surface of the frame, wherein the conveyor belt assembly has a conveying surface extending from one end of the frame to the other end of the frame, characterized in that: 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 component; The cleaning component is used to clean the ready-to-eat kelp seedlings, and has an output end, which extends above the conveying surface of the conveyor belt component to guide the cleaned ready-to-eat kelp seedlings to fall onto the conveying surface of the conveyor belt component; The arranging assembly is arranged across the conveying surface of the conveyor belt assembly, and a arranging gap is formed between the arranging assembly and the conveying surface of the conveyor belt assembly to flatten the instant kelp seedlings on the conveying surface; The detection component is arranged above the conveyor belt component, with its detection end facing the conveying surface of the conveyor belt component, so as to detect whether the instant kelp seedlings on the conveying surface meet the preset requirements and output the position information of the instant kelp seedlings that do not meet the preset requirements on the conveying surface; The sorting component is used to sort the ready-to-eat kelp seedlings on the conveying surface to remove the ready-to-eat kelp seedlings that do not meet the preset requirements; The controller is respectively connected to the conveyor assembly, cleaning assembly, detection assembly, and sorting assembly, and controls the opening and closing of the operations thereof; wherein, the cleaning assembly comprises a cleaning tank and a stirring mechanism, the cleaning tank is provided with a accommodating chamber for accommodating instant kelp seedlings, the stirring mechanism is connected to the cleaning tank and its stirring end penetrates into the accommodating chamber, a top side of the cleaning tank is provided with an openable and closable feeding port mechanism, a bottom side of the cleaning tank is provided with an electrically controllable opening and closing discharge port mechanism, the discharge position of the discharge port mechanism is located above the conveying surface at one end of the conveyor belt assembly, an upper side of the cleaning tank is provided with an overflow pipe, and a bottom side of the cleaning tank is further 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, and the liquid outlet pipe is used to discharge cleaning liquid, wherein, the liquid inlet pipe and the liquid outlet pipe are both provided with an electrically controlled valve, which are both connected to a controller; The cleaning assembly further includes a partition plate, which is fixedly disposed at the lower portion of the accommodating cavity of the cleaning tank and separates the lower portion of the accommodating cavity of the cleaning tank into a secondary accommodating cavity; The discharge port mechanism includes a discharge pipe, one end of which 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. The discharge pipe is also provided with an on-off component for controlling the on-off of the material guide channel. The cleaning assembly further comprises: An aeration mechanism, comprising a gas generator and an aeration module, wherein the aeration module is disposed at the bottom of the accommodating chamber of the cleaning tank, the gas generator being connected to the aeration module via a connecting pipe, the connecting pipe being provided with an electrically controlled valve connected to a controller, the gas generator being connected to the controller, the controller controlling the gas generator to generate gas, and the gas is input into the aeration module, causing gas bubbling in the accommodating chamber; The aeration module is arranged in the auxiliary accommodating chamber, the liquid inlet pipe and the liquid outlet pipe are connected to the auxiliary accommodating chamber, and the partition plate is provided with a plurality of through holes, and the impurities washed away from the edible kelp seedlings fall into the auxiliary accommodating chamber through the through holes; The discharge pipe is an L-shaped tubular structure with a rectangular cross section; The on-off assembly 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 assembly 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 the release of 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.

2. The instant kelp seedling cleaning and sorting integrated device according to claim 1, characterized in that: A concave workbench is provided on the upper end surface of the frame, and the conveyor belt assembly is installed astride the workbench. Overflow gaps are formed between the two sides of the conveying surface of the conveyor belt assembly and the edges of the workbench. A plurality of drainage holes are also provided in the middle of the workbench, and the drainage holes pass through the workbench downward. A liquid collecting tank is provided at the lower part of the frame, and the liquid collecting tank is used to receive the liquid falling through the drainage holes.

3. The instant kelp seedling cleaning and sorting integrated device according to claim 2, characterized in that: The number of the finishing component is at least one, which includes: A pair of connecting seats are arranged oppositely on both sides of the workbench; A connecting rod spanning above the conveying surface of the conveyor belt assembly between the pair of connecting seats, with both ends of the connecting rod being connected to the pair of connecting seats via connecting pieces; A pressing plate has one side fixedly connected to the connecting rod and the other side extending along the conveying surface close to the conveyor belt assembly and forming a finishing gap between the pressing plate and the conveying surface, wherein the finishing gap is used to flatten the instant kelp seedlings on the conveying surface.

4. The instant kelp seedling cleaning and sorting integrated device according to claim 2, characterized in that: The detection component includes: The first bracket is a gantry, which is arranged on both sides of the frame; A hyperspectral detector, connected to the controller, is disposed on the first bracket, with its detection end facing the conveying surface of the conveyor belt assembly, for detecting and determining whether the ready-to-eat kelp seedlings on the conveying surface meet preset requirements; Wherein, the hyperspectral detector comprises: a light source for illuminating a local area of the conveying surface of the conveyor belt assembly, so that the local area serves as a detection zone, wherein the instant kelp seedlings driven by the conveying surface of the conveyor belt assembly and transported into the detection zone are illuminated by the light source and generate reflected light or transmitted light, which is set as signal light; An imaging spectrometer module is used to receive the signal light generated by the instant kelp seedlings entering the detection area and disperse it according to wavelength; a detector connected to the imaging spectrometer module and used to record 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 ready-to-eat kelp seedlings on the conveying surface meet the preset requirements; and output the position information of the ready-to-eat kelp seedlings on the conveying surface that do not meet the preset requirements.

5. The instant kelp seedling cleaning and sorting integrated device according to claim 2, characterized in that: The sorting component includes: The second support is a gantry frame, which is arranged on both sides of the frame; a pair of clamping claw mechanisms, which are arranged oppositely on both sides of the second bracket; A negative pressure generator is connected to the controller and is used to provide negative pressure suction force; The clamping mechanism comprises: a third bracket, fixedly connected to an upper side portion of the second bracket; a first electric telescopic rod, horizontally fixedly connected to the third bracket, with its telescopic end facing the side of the second bracket opposite thereto; a fourth bracket, fixedly connected to the telescopic end of the first electric telescopic rod; a second electric telescopic rod, vertically fixedly connected to the fourth bracket, with its telescopic end downwardly facing the conveying surface of the conveyor belt assembly; a negative pressure suction cup module connected to the telescopic end of the second electric telescopic rod via a fifth bracket; Wherein, the negative pressure generator is a multi-channel negative pressure generator, a pair of negative pressure suction cup modules of the clamping mechanism are connected to the negative pressure generator through an air pipe, and the negative pressure generator provides the negative pressure suction force required for the negative pressure suction cup modules to work; The first electric telescopic rod and the second electric telescopic rod of the pair of clamping claw mechanisms are both servo electric telescopic rods, which are both connected to a controller. The controller controls the extension and retraction 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 extension and retraction of the second electric telescopic rod to lower the negative pressure suction cup module to contact the surface of the instant kelp 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 and disconnect the negative pressure suction force to the negative pressure suction cup module, so that the instant kelp seedlings adsorbed and grasped by the negative pressure suction cup module remain in a grasping state or are detached. The sorting assembly further includes a pair of first storage boxes, which are arranged on both sides of the workbench and are used to store the instant kelp seedlings moved out of the conveying surface of the conveyor belt assembly by the clamping mechanism.

6. The instant kelp seedling cleaning and sorting integrated device according to claim 2, characterized in that: The finishing component includes: A pair of supports are arranged oppositely on both sides of the workbench; a rotating shaft, spanning above the conveying surface of the conveyor belt assembly between the pair of supports, with both ends of the rotating shaft being connected to the pair of supports via rotating members; A drive motor is fixedly mounted on one of the supports, with a drive end thereof fixedly connected to one end of the rotating shaft and driving the rotating shaft to rotate; the drive motor is connected to a controller and is controlled by the controller; a limiting cylinder, fixedly sleeved on the middle of the rotating shaft and forming a finishing gap with the conveying surface, wherein the finishing gap is used to flatten the instant kelp seedlings on the conveying surface; A discharge port with a slope structure is provided in the workbench area corresponding to the other end of the frame, and a second storage box for receiving materials is provided at the lower part of the frame corresponding to the discharge port; The instant kelp seedlings transported to the other end of the frame via the conveying surface of the conveyor belt assembly fall into the second storage box via the discharge port.

7. The integrated device for cleaning and sorting instant kelp seedlings according to any one of claims 1 to 6, characterized in that: The cleaning tank is fixedly mounted above one end of the frame via 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 top center of the cleaning tank through a mounting bracket. The driving end of the stirring motor is connected to one end of the stirring shaft. The stirring shaft can be rotatably inserted into the accommodating cavity of the cleaning tank and extend to the lower part of the accommodating cavity. There are multiple stirring blades, which are fixedly connected to the stirring shaft. The stirring motor is also connected to a controller and is controlled by the controller.

8. A method for cleaning and sorting ready-to-eat kelp seedlings, using the integrated cleaning and sorting device for ready-to-eat kelp seedlings according to any one of claims 1 to 7, 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 results to determine whether the ready-to-eat kelp seedlings on the conveying surface meet the preset requirements; Obtaining a judgment result, and when it indicates that the detected instant kelp seedlings do not meet the preset requirements, obtaining 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.

9. A method for cleaning and sorting instant kelp seedlings as claimed in claim 8, characterized in that: The hyperspectral detector includes 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 imaging spectrometer module receives the signal light generated by the instant kelp seedlings entering the detection area and disperses it according to wavelength. The detector then records the light intensity information of each wavelength channel corresponding to the received signal light to generate hyperspectral image data. When detecting and judging the hyperspectral image data, feature extraction is performed on the hyperspectral image data to obtain spectral features that can distinguish kelp from foreign matter. The spectral features of the hyperspectral image data are then detected and judged using 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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