Jam pulping control method and device and automatic production system

Abstract

The invention relates to the field of fruit processing, in particular to a jam pulping control method and device and an automatic production system.Based on the appearance characteristics of fruits, the suitable cutting area of the fruits is determined, so that the relative position of a blade and the fruits is adjusted; adjusting the action state of the cutting operation of the blade based on the compression change characteristics in the cutting operation process of the blade on the fruit; adjusting environmental conditions corresponding to the stirring operation on the basis of pulp outlet state characteristics in the stirring operation process of the pulp obtained by the cutting operation; and adjusting the negative pressure adsorption filtration treatment of the slurry based on the particle state characteristics of the slurry obtained by the stirring operation. According to shapes and tissue structures of different fruits, cutting actions of the blades can be accurately adjusted, pulp can be accurately separated from the fruits and kernels, the blades are prevented from being damaged due to direct hard collision and contact with the kernels, the fruit cutting pulp yield is increased, and the probability that the pulp is oxidized and browned due to contact with oxygen in the stirring process is reduced.

Description

[Technical field]

[0001] The invention relates to the field of fruit processing, and in particular to a jam beating control method and system. [Background technology]

[0002] Jam is a secondary processed product of fresh fruits. Especially for fruits that are not suitable for long-distance transportation or have high transportation costs, processing the above fruits into jam can not only effectively solve the problem of unsalable and rotten fruits due to untimely logistics, but also increase the added value of fruit products and extend the sales time of fruits in disguise. For different varieties of fruits, the process of making jam is also different. For example, for berries such as strawberries, only washing, stirring and beating are required, while for fruits such as apples, peeling, core removal and cutting are required in advance.

[0003] If the peel, core and seeds are not completely removed during the process of peeling and core removal, the taste and flavor of the jam will be affected, and the jam will not be able to maintain good quality; in addition, the probability of polyphenol oxidase and other substances in the fruit pulp coming into contact with oxygen increases after stirring, which can easily induce oxidative browning reaction and affect the color perception of the jam. The existing jam pulping production line has adopted automatic cutting tools to peel the fruit, but the above-mentioned automatic cutting tools peel the fruit along a fixed path. During the peeling process, it cannot accurately adjust the cutting action of the tool according to the shape of the peel and core of different fruits, thereby causing problems such as excessive cutting of the peel and direct hard contact between the tool and the core. In addition, the existing jam pulping production line does not effectively eliminate the oxidative effect of oxygen on the pulp. Therefore, how to adjust the cutting action of the tool according to the appearance and organizational structure of the fruit, and how to isolate the oxygen effect during the pulp stirring process are of great significance for increasing the amount of fruit cut out, avoiding fruit and core residues, ensuring continuous and stable cutting of the tool, and improving the perception and flavor of the jam. [Summary of the invention]

[0004] In order to accurately adjust the cutting action of the blade according to the appearance and tissue structure of different fruits, accurately separate the pulp from the fruit and the core, prevent the blade from directly colliding with the core and causing damage, improve the fruit cutting rate, avoid the residual peel and core affecting the taste and flavor of the jam, and reduce the probability of oxidative browning of the pulp due to contact with oxygen during the stirring process, the present invention provides a jam beating control method, which comprises the following steps:

[0005] Based on the appearance characteristics of the fruit, the appropriate cutting area of ​​the fruit is determined, thereby adjusting the relative position of the blade and the fruit; based on the pressure change characteristics of the blade during the cutting operation of the fruit, the action state of the blade in performing the cutting operation is adjusted;

[0006] Adjust the environmental conditions corresponding to the stirring operation based on the pulp discharge state characteristics during the stirring operation on the pulp obtained from the cutting operation;

[0007] Adjust the negative pressure adsorption filtration treatment of the slurry based on the particle state characteristics of the slurry obtained from the stirring operation.

[0008] Preferably, based on the shape characteristics of the fruit, determine the suitable cutting area of the fruit, and adjust the relative position between the blade and the fruit accordingly. Specifically:

[0009] Perform visual recognition on the fruit to obtain the shape characteristics of the fruit; wherein, the shape characteristics include the global outer surface contour of the fruit and the distribution positions of abnormal parts on the global outer surface;

[0010] Based on the distribution positions of the abnormal parts and the blade edge size, determine the maximum contact size between each area of the fruit outer surface without abnormal parts and the blade edge, so as to determine the suitable cutting area on the fruit outer surface;

[0011] Based on the outer surface contour corresponding to the suitable cutting area, determine the average arc radian of the outer surface arc corresponding to the suitable cutting area; based on the average arc radian of the outer surface arc, adjust the attitude angle of the blade edge relative to the suitable cutting area.

[0012] Preferably, based on the pressure change characteristics during the cutting operation of the fruit by the blade, adjust the action state of the blade during the cutting operation. Specifically:

[0013] Obtain the pressure distribution change data on both sides of the blade during the cutting operation of the fruit by the blade, analyze the pressure distribution change data, and obtain the change characteristics of the pressure magnitude distribution airspace on both sides of the blade due to contact with the fruit; wherein, the pressure magnitude distribution airspace change characteristic refers to the pressure magnitude distribution characteristic exerted by the fruit on different positions of the blade surface when contacting the fruit;

[0014] Based on the pressure magnitude distribution airspace change characteristics, identify the types of fruit tissue parts contacted on both sides of the blade and the change characteristics of their contact area sizes, and accordingly adjust at least one of the action path, action direction, and cutting depth of the blade during the cutting operation.

[0015] Preferably, based on the pulp discharge state characteristics during the stirring operation on the pulp obtained from the cutting operation, adjust the environmental conditions corresponding to the stirring operation. Specifically:

[0016] Visually identify the process of stirring the pulp obtained from the cutting operation to obtain the slurry discharge state characteristics of the stirring operation process; wherein, the slurry discharge state characteristics include the slurry generation rate and the slurry color change state obtained from the pulp stirring operation.

[0017] Based on the slurry color change state, determine whether the slurry undergoes an oxidation reaction; when an oxidation reaction occurs, based on the slurry generation rate, adjust the output flow rate of the protective gas to the environment corresponding to the stirring operation.

[0018] Preferably, adjusting the negative pressure adsorption filtration treatment of the slurry based on the particle state characteristics of the slurry obtained from the stirring operation specifically includes:

[0019] Visually identify the slurry obtained from the stirring operation to obtain the change characteristics of the particle substance content inside the slurry; wherein, the change characteristics of the particle substance content refer to the change characteristics of the proportion of the particle substance content in the newly generated slurry of the stirring operation per unit time; based on the change characteristics of the particle substance content, adjust the negative pressure of the negative pressure adsorption filtration treatment of the slurry.

[0020] On the other hand, the present invention provides a jam pulping control device, which includes the following modules:

[0021] A suitable cutting area determination module, configured to determine the suitable cutting area of the fruit based on the shape characteristics of the fruit;

[0022] A blade position adjustment module, configured to adjust the relative position between the blade and the fruit;

[0023] A blade cutting action adjustment module, configured to adjust the action state of the blade performing the cutting operation based on the pressure change characteristics during the cutting operation of the blade on the fruit;

[0024] A stirring environment adjustment module, configured to adjust the environmental conditions corresponding to the stirring operation based on the slurry discharge state characteristics during the stirring operation of the pulp obtained from the cutting operation;

[0025] A negative pressure adsorption filtration adjustment module, configured to adjust the negative pressure adsorption filtration treatment of the slurry based on the particle state characteristics of the slurry obtained from the stirring operation.

[0026] Preferably, the suitable cutting area determination module is configured to determine the suitable cutting area of the fruit based on the shape characteristics of the fruit, specifically including:

[0027] Visually identify the fruit to obtain the shape characteristics of the fruit; wherein, the shape characteristics include the global outer surface contour of the fruit and the distribution positions of abnormal parts on the global outer surface.

[0028] Based on the distribution position of the abnormal parts and the blade edge size, determine the maximum contact size between each area of the fruit outer surface without abnormal parts and the blade edge, so as to determine the suitable cutting area on the fruit outer surface;

[0029] The blade position adjustment module is used to adjust the relative position between the blade and the fruit, specifically:

[0030] Based on the outer surface contour corresponding to the suitable cutting area, determine the average arc radian of the outer surface arc corresponding to the suitable cutting area; based on the average arc radian of the outer surface arc, adjust the attitude angle of the blade edge relative to the suitable cutting area;

[0031] The blade cutting action adjustment module is used to adjust the action state of the blade performing the cutting operation based on the pressure change characteristics during the cutting operation of the blade on the fruit, specifically:

[0032] Obtain the pressure distribution change data on both sides of the blade during the cutting operation of the blade on the fruit, analyze the pressure distribution change data, and obtain the spatial change characteristics of the pressure magnitude distribution on both sides of the blade due to contact with the fruit; wherein, the pressure magnitude distribution spatial change characteristics refer to the pressure magnitude distribution characteristics exerted by the fruit on different positions of the blade surface when in contact with the fruit;

[0033] Based on the spatial change characteristics of the pressure magnitude distribution, identify the types of fruit tissue parts contacted by both sides of the blade and the change characteristics of their contact area sizes, so as to adjust at least one of the action path, action direction, and cutting depth of the blade performing the cutting operation.

[0034] Preferably, the stirring environment adjustment module is used to adjust the environmental conditions corresponding to the stirring operation based on the slurry discharge state characteristics during the stirring operation of the pulp obtained from the cutting operation, specifically:

[0035] Perform visual recognition on the process of stirring the pulp obtained from the cutting operation to obtain the slurry discharge state characteristics during the stirring operation; wherein, the slurry discharge state characteristics include the slurry generation rate and the slurry color change state obtained from the stirring operation of the pulp;

[0036] Based on the slurry color change state, judge whether the slurry undergoes an oxidation reaction; when an oxidation reaction occurs, adjust the output flow rate of the protective gas to the environment corresponding to the stirring operation based on the slurry generation rate.

[0037] Preferably, the negative pressure adsorption filtration adjustment module is used to adjust the negative pressure adsorption filtration treatment of the slurry based on the particle state characteristics of the slurry obtained from the stirring operation. Specifically:

[0038] Perform visual recognition on the slurry obtained from the stirring operation to obtain the change characteristics of the particle matter content inside the slurry; wherein, the change characteristics of the particle matter content refer to the change characteristics of the proportion of the particle matter content in the newly generated slurry during the stirring operation per unit time; based on the change characteristics of the particle matter content, adjust the negative pressure of the negative pressure adsorption filtration treatment of the slurry.

[0039] In addition, the present invention also provides an automated production system, including: a cleaning device, a jam pulping control device, a jam processing device, and a canning device arranged on the production line, characterized in that the jam pulping control device is the jam pulping control device according to any one of the above claims 6-9.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] Based on the shape characteristics of the fruit, determine the suitable cutting area of the fruit, and thus adjust the relative position between the blade and the fruit; based on the pressure change characteristics during the cutting operation of the blade on the fruit, adjust the action state of the blade during the cutting operation. Correctly selecting the landing area of the blade on the fruit surface and ensuring a large contact area range between the blade and the fruit surface during the peeling process have an important impact on completely and cleanly removing the peel on the fruit surface. First, perform vision on the shape state of each fruit. By performing global vision recognition on the fruit, obtain the global outer surface contour characteristics of the fruit and the distribution positions of abnormal parts on the global outer surface. Exclude and calibrate the distribution positions of abnormal parts on the fruit outer surface, determine all areas on the fruit outer surface without abnormal parts, and initially use all the above areas without abnormal parts as the cutting areas of the blade on the fruit outer surface, which can avoid the blade being unable to completely remove the peel due to the obstruction of abnormal parts during the peeling process. Determine the suitable cutting area on the fruit outer surface, thereby defining a reliable operation area for the blade to start the peeling operation on the fruit and ensuring that the blade can accurately and quickly peel the fruit. In addition, based on the pressure change characteristics during the cutting operation of the blade on the fruit, determine whether the current actual contact on each side surface of the blade is the peel, pulp, or fruit core or fruit center, and the change in the contact area size of the peel, pulp, fruit core, or fruit center currently actually contacted on each side surface of the blade, and adapt at least one of the action path, action direction, and cutting depth of the blade during the cutting operation, and timely change the cutting action state of the blade to avoid incorrect cutting of the blade.

[0042] Based on the characteristics of the slurry output state during the stirring operation on the pulp obtained from the cutting operation, adjust the environmental conditions corresponding to the stirring operation. Conduct visual recognition during the process of stirring the pulp to obtain the characteristics of the slurry state output after the pulp is stirred, so as to accurately identify and characterize the slurry generation rate and the change state of the slurry color obtained from the pulp stirring operation, providing a basis for subsequent oxygen isolation of the slurry. According to the slurry generation rate obtained from the pulp stirring operation, adjust the output flow rate of the protective gas to the environment corresponding to the stirring operation, thereby using the protective gas to replace the oxygen in the environment, timely reducing the oxygen concentration in the environment, effectively isolating the slurry from contacting with oxygen, and inhibiting the intensity of the oxidation browning reaction in the slurry.

[0043] Based on the particle state characteristics of the slurry obtained from the stirring operation, adjust the negative pressure adsorption and filtration treatment of the slurry. Conduct visual recognition on the slurry obtained from the stirring operation to obtain the change characteristics of the content of particulate matter inside the slurry, so as to quantitatively characterize the change in the content of large particulate matter inside the slurry. Extract the slurry under negative pressure and pass it through a filter screen, which can timely filter out the large particulate matter in the slurry and avoid caking and coking of the slurry during the subsequent process of adding ingredients and heating.

Description of the Drawings

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. Among them:

[0045] Figure 1 is a flowchart of a jam beating control method provided by the present invention.

[0046] Figure 2 is a structural diagram of a jam beating control device provided by the present invention.

[0047] Figure 3 is a structural diagram of an automated production system provided by the present invention.

Detailed Embodiments

[0048] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will make a detailed description of the specific embodiments of the present invention in conjunction with the drawings. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the convenience of description, only the parts related to the present invention are shown in the drawings, rather than all the structures. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0049] The terms "comprise" and "have" and any variations thereof in the present invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that comprises a series of steps or units is not limited to the listed steps or units, but optionally further comprises steps or units not listed, or optionally further comprises other steps or units inherent to these processes, methods, products or devices.

[0050] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification and is not necessarily referring to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0051] Please refer to Figure 1 As shown, the present invention provides a method for controlling jam pulping, the method comprising the following steps:

[0052] S100, based on the external shape characteristics of the fruit, determine the suitable cutting area of the fruit, and thereby adjust the relative position between the blade and the fruit; based on the pressure change characteristics during the cutting operation of the blade on the fruit, adjust the action state of the blade during the cutting operation.

[0053] Further, based on the external shape characteristics of the fruit, determine the suitable cutting area of the fruit, and thereby adjust the relative position between the blade and the fruit, specifically:

[0054] Perform visual recognition on the fruit to obtain the external shape characteristics of the fruit; wherein, the external shape characteristics include the global outer surface contour of the fruit and the distribution positions of abnormal parts on the global outer surface;

[0055] Based on the distribution positions of the abnormal parts and the blade edge size, determine the maximum contact size between each area on the outer surface of the fruit without abnormal parts and the blade edge, and thereby determine the suitable cutting area on the outer surface of the fruit;

[0056] Based on the outer surface contour corresponding to the suitable cutting area, determine the average arc radian of the outer surface arc corresponding to the suitable cutting area; based on the average arc radian of the outer surface arc, adjust the attitude angle of the blade edge relative to the suitable cutting area.

[0057] Jam making mainly involves pulping the fruit flesh and then thoroughly mixing it with ingredients such as granulated sugar and citric acid, followed by heating to obtain a viscous jam. The quality of the fruit flesh directly determines the taste, flavor, and appearance of the jam. Fruits such as apples, pears, and pineapples that can be used to make jam all include tissue parts such as the peel, flesh, pit (seed or core), and stem (stalk). However, only the fruit flesh is needed for jam making. Therefore, operations such as separating and obtaining the fruit flesh and cutting it into pieces are required. Among them, the separation and obtaining of the fruit flesh mainly include processes such as peeling and pitting. When the peeling process is not clean and thorough, the peel remains on the fruit flesh, resulting in the peel being incorporated into the jam and affecting the taste and flavor of the jam. When the pitting process is too intense, the pit or seed cannot be completely separated from the fruit flesh without damage and forms granular debris. These debris incorporated into the jam will also affect the taste and flavor of the jam, and even the food safety. In addition, to maximize the separation of the fruit flesh, it is also necessary to control the degree of intrusion of the peeling and pitting processes into the fruit flesh part. If the peeling depth is too large during the peeling process, more fruit flesh will be peeled off with the peel, resulting in waste of the fruit flesh and inability to increase the meat yield rate of the fruit cutting. Considering that the tissue structures of different varieties of fruits are different, there are significant differences in the thickness and shape of their tissue parts such as the peel, flesh, pit (seed or core), and stem (stalk), and there are also differences in the individual shape and size of different fruit individuals of the same variety due to different growth conditions. If the same mode is used for peeling and pitting all fruits in the fruit peeling and pitting processes, it cannot ensure that the peel and pit can be accurately removed for each fruit while ensuring the meat yield rate of the fruit flesh. Therefore, it is necessary to adaptively control the cutting action of the blade (i.e., the tool) on the fruit according to the specific shape of each fruit to completely and cleanly remove the peel and separate the pit (seed or core) from the fruit flesh intact, so as to efficiently avoid the mixing of peel and pit debris into the jam.

[0058] As can be seen from the above analysis, in order to improve the efficiency of the fruit peeling and pitting processes, it is necessary to adjust the cutting action of the blade according to the shape of the fruit itself. During the process of the blade coming into contact with the fruit from non-contact, the landing position of the blade on the fruit will affect the subsequent cutting accuracy. For example, when the landing position of the blade is on the fruit stalk or the uneven area on the fruit surface, the blade may not be able to completely peel off the corresponding area of the peel, resulting in peel residue. In addition, when the contact area between the blade and the fruit surface is small, it is impossible to ensure that the blade can peel off the peel on the fruit surface at high speed and in a large area, and it is easy to form an area where the peeling is missed between the corresponding surface areas of the two peels, which will also cause peel residue. It can be seen that correctly selecting the landing area of the blade on the fruit surface and ensuring that the blade maintains a large contact area with the fruit surface during the peeling process have an important impact on completely and cleanly peeling off the peel on the fruit surface. For this reason, it is necessary to first visually inspect the shape state of each fruit. By performing global visual recognition on the fruit, the global outer surface contour characteristics of the fruit and the distribution positions of abnormal parts on the global outer surface can be obtained. Among them, the distribution positions of abnormal parts on the global outer surface of the fruit can be but are not limited to the fruit stalk, fruit pedicel, or parts where the surface undulation difference exceeds a preset difference threshold on the outer surface of the fruit. By excluding and calibrating the distribution positions of abnormal parts on the outer surface of the fruit, all areas on the outer surface of the fruit where there are no abnormal parts are determined, and all the above areas where there are no abnormal parts are initially used as the knife-down areas (i.e., landing areas) of the blade on the outer surface of the fruit, which can prevent the blade from being unable to completely peel off the peel due to the obstruction of abnormal parts during the peeling process. In addition, in order to enable the blade to peel off as much peel as possible at the same time during the cutting process of the fruit, it is necessary to make full use of the blade edge. Specifically, the blade edge has a certain length, and the blade can perform cutting operations on the fruit within the entire range of its own blade edge. In order to enable the blade to efficiently peel the fruit, all areas on the fruit surface where there are no abnormal parts are respectively compared with the length of the blade edge to determine the maximum contact length that each area where there are no abnormal parts can have with the blade edge. If the maximum contact length of a certain area with the blade edge exceeds the preset length threshold, the corresponding area is used as the suitable knife-down area on the outer surface of the fruit (i.e., the area on the outer surface of the fruit where the blade is suitable for landing and cutting). Through the above method, a suitable knife-down area is determined on the outer surface of the fruit, thereby limiting a reliable operation area for the blade to start the peeling operation on the fruit and ensuring that the blade can accurately and quickly peel the fruit.

[0059] Moreover, the outer surface contour of the fruit is not a regular shape and usually shows an arc-shaped undulating state. If the blade does not match the outer surface contour of the fruit when cutting into the outer surface of the fruit, it will cause the blade to gradually disengage from the peel part during the subsequent peeling process or the blade cannot closely adhere to the peel part for cutting, resulting in a large amount of pulp being cut off as well. In order to accurately cut off the peel continuously with the blade, based on the outer surface contour corresponding to the currently determined suitable cutting area, the average arc radian of the outer surface of the above-mentioned suitable cutting area is determined; then, based on the above-mentioned average arc radian of the outer surface, the cutting angle suitable for the blade to cut into the above-mentioned suitable cutting area is determined, and the attitude angle of the tool blade relative to the above-mentioned suitable cutting area is adjusted accordingly, so that after the tool blade cuts into the above-mentioned suitable cutting area with the above-mentioned attitude angle as the reference, the angle difference between the actual cutting angle of the tool blade and the above-mentioned suitable cutting angle is less than the preset angle difference range; among them, for the above-mentioned average arc radian of the outer surface, the average inclination angle of the outer surface tangent of the above-mentioned suitable cutting area can be determined, and then the above-mentioned average inclination angle of the outer surface tangent is increased or decreased by a predetermined angle value to obtain the above-mentioned suitable cutting angle, which will not be introduced in detail here.

[0060] Furthermore, based on the pressure change characteristics during the cutting operation of the blade on the fruit, the action state of the blade during the cutting operation is adjusted, specifically:

[0061] Obtain the pressure distribution change data on both sides of the blade during the cutting operation of the blade on the fruit, analyze the pressure distribution change data, and obtain the characteristics of the spatial change in the pressure magnitude distribution on both sides of the blade due to contact with the fruit; among them, the characteristics of the spatial change in the pressure magnitude distribution refer to the characteristics of the pressure magnitude distribution when different positions on the blade surface come into contact with the fruit and are exerted by the fruit.

[0062] Based on the characteristics of the spatial change in the pressure magnitude distribution, identify the types of fruit tissue parts contacted on both sides of the blade and the characteristics of the change in their contact area sizes, and accordingly adjust at least one of the action path, action direction, and cutting depth of the blade during the cutting operation.

[0063] The cutting operation of the blade on the fruit includes two steps: peeling the skin and cutting the pulp into pieces from the fruit core or pit. To avoid the blade cutting too deeply into the pulp during the peeling process, resulting in a large amount of pulp being cut off together with the skin, and to avoid the blade cutting too deeply into the fruit core or pit during the process of cutting the pulp into pieces from the fruit core or pit, causing the fruit core or pit to be chopped and attached to the pulp, making it impossible to completely separate the pulp from the fruit core or pit, it is necessary to accurately determine which part of the fruit the blade is currently in contact with during the cutting operation, whether it is the skin, the pulp, or the fruit core or pit, so as to adjust the cutting operation action of the blade and ensure that the blade efficiently and accurately separates the skin, the pulp, and the fruit core or pit. Considering the differences in the tissue structures of the skin, the pulp, and the fruit core or pit of the fruit, when the blade cuts into the fruit and comes into contact with any one of the skin, the pulp, and the fruit core or pit, the pressure acting states on the two surfaces of the blade are also different. The differences in the above pressure acting states are mainly reflected in the differences in the magnitude and distribution of the pressure acting values. Based on the differences in the above pressure acting states, pressure sensor film arrays can be installed on the two surfaces of the blade respectively to detect the pressure distribution data (i.e., pressure distribution change data) on each of the two surfaces of the blade when the blade cuts into the fruit. Then, the above pressure distribution data is analyzed to obtain the pressure magnitude distribution characteristics exerted by the fruit on different positions of the blade surface when it comes into contact with the fruit, so as to globally characterize the pressure magnitude distribution bearing situation on each side of the blade surface. Then, the pressure magnitude distribution characteristics exerted by the fruit on different positions of the blade surface when it comes into contact with the fruit are analyzed to obtain the type of fruit tissue part actually contacted by each side of the blade surface and the change characteristics of the contact area size, that is, to determine whether each side of the blade surface is currently actually in contact with the skin, the pulp, or the fruit core or pit, and the change situation of the contact area size of the skin, the pulp, the fruit core or pit actually contacted by each side of the blade surface, so as to judge whether the blade cuts too deeply into the pulp part during the peeling process, and whether the blade cuts into the fruit core or pit during the process of cutting the pulp into pieces from the fruit core or pit, so as to adapt at least one of the action path, action direction, and cutting depth of the blade during the cutting operation, and timely change the cutting action state of the blade to avoid incorrect cutting of the blade.

[0064] S200. Based on the characteristics of the pulp discharge state during the stirring operation of the pulp obtained from the cutting operation, adjust the environmental conditions corresponding to the stirring operation.

[0065] Furthermore, based on the characteristics of the pulp discharge state during the stirring operation of the pulp obtained from the cutting operation, adjust the environmental conditions corresponding to the stirring operation, specifically:

[0066] Visually identify the process of stirring the pulp obtained from the cutting operation to obtain the characteristics of the slurry output state during the stirring operation; among them, the characteristics of the slurry output state include the slurry generation rate and the slurry color change state obtained from the stirring operation of the pulp.

[0067] Based on the slurry color change state, determine whether the slurry undergoes an oxidation reaction; when an oxidation reaction occurs, adjust the output flow rate of the protective gas to the environment corresponding to the stirring operation based on the slurry generation rate.

[0068] After the cutting operation cuts the pulp from the fruit in pieces, the pulp needs to be further stirred and mashed into a slurry state to ensure sufficient mixing with ingredients such as granulated sugar and citric acid and to form the proper texture of jam. Fruit pulp is rich in active substances such as polyphenol oxidase. When these active substances come into contact with oxygen in the air, an oxidative browning reaction occurs, causing the color of the pulp to turn brown. For example, the "rusting" of a cut apple is caused by the oxidative browning reaction. After the pulp is stirred into a slurry, the contact area and probability of active substances such as polyphenol oxidase in it coming into contact with oxygen in the air also increase accordingly. If the contact between the active substances and oxygen is not isolated in time, the entire slurry will turn brown, affecting the appearance and even the taste of the slurry. Therefore, during the process of visually identifying the stirring operation of the pulp, the characteristics of the slurry output state after the pulp is stirred are obtained, so as to accurately identify and characterize the slurry generation rate (i.e., the amount of slurry generated per unit time) and the slurry color change state obtained from the stirring operation of the pulp, providing a basis for subsequent oxygen isolation of the slurry.

[0069] From the above analysis, it can be seen that the degree of the oxidative browning reaction of the slurry is directly reflected in the slurry color change. Analyze the slurry color change state to determine whether there are sporadic brown areas inside the slurry, so as to determine whether the slurry undergoes an oxidation reaction. When it is determined that the slurry has undergone an oxidation reaction, it indicates that the oxygen concentration in the environment where the stirring operation is currently located is high enough to stimulate the active substances in the slurry to undergo oxidation. And as the stirring operation continues, the more slurry is generated, and the more active substances come into contact with oxygen, which will further exacerbate the oxidation and deterioration of the slurry. In order to timely inhibit the oxidative browning of the slurry, adjust the output flow rate of the protective gas to the environment corresponding to the stirring operation according to the slurry generation rate obtained from the stirring operation of the pulp, so as to use the protective gas to replace the oxygen in the environment and timely reduce the oxygen concentration in the environment; generally speaking, the greater the slurry generation rate, the greater the output flow rate of the protective gas; among them, the protective gas can be but is not limited to nitrogen. Through the above method, the contact between the slurry and oxygen can be effectively isolated, and the intensity of the oxidative browning reaction in the slurry can be inhibited.

[0070] S300. Adjust the negative pressure adsorption filtration treatment of the slurry based on the particle state characteristics of the slurry obtained from the stirring operation.

[0071] Further, based on the particle state characteristics of the slurry obtained from the stirring operation, the negative pressure adsorption filtration treatment of the slurry is adjusted, specifically as follows:

[0072] Perform visual recognition on the slurry obtained from the stirring operation to obtain the change characteristics of the particle matter content inside the slurry; wherein, the change characteristics of the particle matter content refer to the change characteristics of the proportion of the particle matter content in the newly generated slurry during the stirring operation per unit time; based on the change characteristics of the particle matter content, adjust the negative pressure of the negative pressure adsorption filtration treatment of the slurry.

[0073] When there are a large number of large particle substances (such as large particle pulp fibers) inside the slurry, when the slurry is mixed with sugar and citric acid and heated, the sugar will agglomerate or even caramelize with the large particle substances as the core. In order to avoid agglomeration and caramelization during the subsequent heating of added ingredients, it is necessary to filter the large particle substances in the slurry. As the stirring operation continues, the content of large particle substances in the stirred slurry will also increase. In order to avoid the continuous accumulation of large particle substances, it is necessary to screen and filter the slurry in a timely manner. For this reason, first perform visual recognition on the slurry obtained from the stirring operation to obtain the change characteristics of the particle matter content inside the slurry (that is, the change characteristics of the proportion of the particle matter content with a particle size exceeding the preset size in the newly generated slurry during the stirring operation per unit time), so as to quantitatively characterize the change in the content of large particle substances inside the slurry. In order to filter the large particle substances in the slurry in a timely manner, the slurry can be extracted under negative pressure, and the negative pressure makes the slurry pass through the filter screen at a certain speed. The greater the negative pressure, the greater the speed of the slurry passing through the filter screen; when the speed of the slurry passing through the filter screen is greater, the filtering efficiency of the filter screen for the larger particle substances in the slurry is also greater. For this reason, based on the change characteristics of the particle matter content, adjust the negative pressure of the negative pressure adsorption filtration treatment of the slurry. For example, when the change characteristics of the particle matter content indicate that the content of larger particle substances in the slurry gradually increases, the negative pressure of the negative pressure adsorption filtration treatment of the slurry can be appropriately increased, so that the slurry passes through the filter screen at a higher speed under the action of negative pressure adsorption, ensuring that the filter screen effectively filters the large particle substances therein.

[0074] Please refer to Figure 2 As shown, the present invention provides a jam pulping control device, which includes the following modules:

[0075] A suitable cutting area determination module for determining the suitable cutting area of the fruit based on the shape characteristics of the fruit;

[0076] A blade position adjustment module for adjusting the relative position between the blade and the fruit;

[0077] A blade cutting action adjustment module for adjusting the action state of the blade during the cutting operation based on the pressure change characteristics during the cutting operation of the blade on the fruit;

[0078] A stirring environment adjustment module, which is used to adjust the environmental conditions corresponding to the stirring operation based on the slurry discharge state characteristics during the stirring operation on the pulp obtained from the cutting operation;

[0079] A negative pressure adsorption filtration adjustment module, which is used to adjust the negative pressure adsorption filtration treatment of the slurry based on the particle state characteristics of the slurry obtained from the stirring operation.

[0080] Further, a suitable cutting area determination module is used to determine the suitable cutting area of the fruit based on the shape characteristics of the fruit, specifically:

[0081] Visually identify the fruit to obtain the shape characteristics of the fruit; among them, the shape characteristics include the global outer surface contour of the fruit and the distribution positions of abnormal parts on the global outer surface;

[0082] Based on the distribution positions of the abnormal parts and the blade edge size, determine the maximum contact size between each area on the fruit outer surface without abnormal parts and the blade edge, so as to determine the suitable cutting area on the fruit outer surface;

[0083] A blade position adjustment module is used to adjust the relative position between the blade and the fruit, specifically:

[0084] Based on the outer surface contour corresponding to the suitable cutting area, determine the average arc radian of the outer surface arc corresponding to the suitable cutting area; based on the average arc radian of the outer surface arc, adjust the attitude angle of the blade edge relative to the suitable cutting area;

[0085] A blade cutting action adjustment module is used to adjust the action state of the blade during the cutting operation on the fruit based on the pressure change characteristics during the cutting operation of the blade on the fruit, specifically:

[0086] Obtain the pressure distribution change data on both sides of the blade during the cutting operation of the blade on the fruit, analyze the pressure distribution change data, and obtain the pressure magnitude distribution airspace change characteristics of both sides of the blade due to contact with the fruit; among them, the pressure magnitude distribution airspace change characteristics refer to the pressure magnitude distribution characteristics exerted by the fruit when different positions on the blade surface come into contact with the fruit;

[0087] Based on the pressure magnitude distribution airspace change characteristics, identify the types of fruit tissue parts contacted by both sides of the blade and the change characteristics of their contact area sizes, so as to adjust at least one of the action path, action direction, and cutting depth of the blade during the cutting operation.

[0088] Further, the stirring environment adjustment module is used to adjust the environmental conditions corresponding to the stirring operation based on the slurry discharge state characteristics during the stirring operation on the pulp obtained from the cutting operation, specifically:

[0089] Perform visual recognition on the pulp obtained from the cutting operation during the stirring operation process to obtain the slurry discharge state characteristics of the stirring operation process; wherein, the slurry discharge state characteristics include the slurry generation rate and the slurry color change state obtained from the pulp stirring operation.

[0090] Based on the slurry color change state, determine whether the slurry undergoes an oxidation reaction; when an oxidation reaction occurs, adjust the output flow rate of the protective gas to the environment corresponding to the stirring operation based on the slurry generation rate.

[0091] Furthermore, the negative pressure adsorption and filtration adjustment module is used to adjust the negative pressure adsorption and filtration treatment of the slurry based on the particle state characteristics of the slurry obtained from the stirring operation, specifically:

[0092] Perform visual recognition on the slurry obtained from the stirring operation to obtain the change characteristics of the particle substance content inside the slurry; wherein, the change characteristics of the particle substance content refer to the change characteristics of the proportion of the particle substance content in the newly generated slurry during the stirring operation per unit time; based on the change characteristics of the particle substance content, adjust the negative pressure of the negative pressure adsorption and filtration treatment of the slurry.

[0093] The jam beating control device of the present invention corresponds to the operation and effect of the above-mentioned jam beating control method, and the description of the jam beating control device will not be repeated here.

[0094] Please refer to Figure 3 As shown, the present invention provides an automated production system, which includes a cleaning device, a jam beating control device, a jam processing device, and a canning device arranged on the production line. Among them, the cleaning device may include a cleaning tank and an ultrasonic device. The ultrasonic device generates ultrasonic waves in the clear water in the cleaning tank, thereby using ultrasonic vibration to clean the fruits in the tank, effectively removing dirt and stains on the fruit surface, etc.; the jam beating control device can be the jam beating control device mentioned in the above embodiment, which can peel and core the cleaned fruits, cut the pulp into pieces, stir and beat the pulp to make slurry, and perform negative pressure adsorption and filtration on the slurry to obtain slurry rich in pulp tissue; the jam processing device adds ingredients such as granulated sugar and citric acid to the slurry output by the jam beating control device, cooks the slurry with added ingredients at an appropriate temperature to make the slurry become a viscous jam, and cools the jam; the canning device quantitatively cans and seals the jam output by the jam processing device. The structures and working processes of the above cleaning device, jam processing device, and canning device belong to conventional technical means in the art and will not be described in detail here.

[0095] There is a computer program, and when the computer program is executed by a processor, it implements the method as described above.

[0096] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of adding a necessary general hardware platform, and of course, it can also be implemented by a combination of hardware and software. Based on such an understanding, the above technical solutions, in essence, or the part that contributes to the prior art can be embodied in the form of a computer product. The present invention can be implemented in the form of a computer program product on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) that contain computer-usable program codes.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Other embodiments can also be adopted. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements on some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling jam pulping, characterized in that, The method includes the following steps: Based on the external shape characteristics of the fruit, determine the suitable cutting area of the fruit, and adjust the relative position of the blade and the fruit accordingly; based on the pressure change characteristics during the cutting operation of the fruit by the blade, adjust the action state of the blade during the cutting operation; Based on the pulp discharge state characteristics during the stirring operation of the pulp obtained from the cutting operation, adjust the environmental conditions corresponding to the stirring operation; Based on the particle state characteristics of the slurry obtained from the stirring operation, adjust the negative pressure adsorption filtration treatment of the slurry.

2. The method according to claim 1, wherein: The step of determining the suitable cutting area of the fruit based on the external shape characteristics of the fruit and adjusting the relative position of the blade and the fruit accordingly is specifically as follows: Perform visual recognition on the fruit to obtain the external shape characteristics of the fruit; wherein, the external shape characteristics include the global outer surface contour of the fruit and the distribution positions of abnormal parts on the global outer surface; Based on the distribution positions of the abnormal parts and the blade edge size, determine the maximum contact size between each area on the outer surface of the fruit without abnormal parts and the blade edge, and thereby determine the suitable cutting area on the outer surface of the fruit; Based on the outer surface contour corresponding to the suitable cutting area, determine the average arc radian of the outer surface arc corresponding to the suitable cutting area; based on the average arc radian of the outer surface arc, adjust the attitude angle of the blade edge relative to the suitable cutting area.

3. The method according to claim 2, wherein: The step of adjusting the action state of the blade during the cutting operation based on the pressure change characteristics during the cutting operation of the fruit by the blade is specifically as follows: Obtain the pressure distribution change data on both sides of the blade during the cutting operation of the fruit by the blade, and analyze the pressure distribution change data to obtain the change characteristics of the pressure magnitude distribution airspace on both sides of the blade due to contact with the fruit; wherein, the pressure magnitude distribution airspace change characteristics refer to the pressure magnitude distribution characteristics exerted by the fruit when different positions on the blade surface come into contact with the fruit; Based on the pressure magnitude distribution airspace change characteristics, identify the types of fruit tissue parts contacted by both sides of the blade and the change characteristics of their contact area sizes, and thereby adjust at least one of the action path, action direction, and cutting depth of the blade during the cutting operation.

4. The method according to claim 1, wherein: The step of adjusting the environmental conditions corresponding to the stirring operation based on the pulp discharge state characteristics during the stirring operation of the pulp obtained from the cutting operation is specifically as follows: Perform visual recognition on the process of stirring the pulp obtained from the cutting operation to obtain the pulp discharge state characteristics of the stirring operation process; wherein, the pulp discharge state characteristics include the slurry generation rate and the slurry color change state obtained from the stirring operation of the pulp. Based on the color change state of the slurry, determine whether the slurry undergoes an oxidation reaction; when an oxidation reaction occurs, adjust the output flow rate of the protective gas to the environment corresponding to the stirring operation based on the slurry generation rate.

5. The method according to claim 1, wherein adjusting the negative pressure adsorption filtration treatment of the slurry based on the particle state characteristics of the slurry obtained from the stirring operation specifically includes: performing visual recognition on the slurry obtained from the stirring operation to obtain the change characteristics of the content of particulate matter inside the slurry; wherein, the change characteristics of the content of particulate matter refer to the change characteristics of the proportion of the content of particulate matter in the newly generated slurry during the stirring operation per unit time; based on the change characteristics of the content of particulate matter, adjust the negative pressure of the negative pressure adsorption filtration treatment of the slurry.

6. A jam pulping control device, characterized in that, The device includes the following modules: a suitable cutting area determination module for determining the suitable cutting area of the fruit based on the shape characteristics of the fruit; a blade position adjustment module for adjusting the relative position between the blade and the fruit; a blade cutting action adjustment module for adjusting the action state of the blade performing the cutting operation based on the pressure change characteristics during the cutting operation of the fruit by the blade; a stirring environment adjustment module for adjusting the environmental conditions corresponding to the stirring operation based on the slurry output state characteristics during the stirring operation of the pulp obtained from the cutting operation; a negative pressure adsorption filtration adjustment module for adjusting the negative pressure adsorption filtration treatment of the slurry based on the particle state characteristics of the slurry obtained from the stirring operation.

7. The device according to claim 6, wherein the suitable cutting area determination module is used to determine the suitable cutting area of the fruit based on the shape characteristics of the fruit, specifically: performing visual recognition on the fruit to obtain the shape characteristics of the fruit; wherein, the shape characteristics include the global outer surface contour of the fruit and the distribution positions of abnormal parts on the global outer surface; based on the distribution positions of the abnormal parts and the blade edge size, determine the maximum contact size between each area on the outer surface of the fruit without abnormal parts and the blade edge, so as to determine the suitable cutting area on the outer surface of the fruit; the blade position adjustment module is used to adjust the relative position between the blade and the fruit, specifically: based on the outer surface contour corresponding to the suitable cutting area, determine the average arc radian of the outer surface arc corresponding to the suitable cutting area; based on the average arc radian of the outer surface arc, adjust the attitude angle of the blade edge relative to the suitable cutting area; the blade cutting action adjustment module is used to adjust the action state of the blade performing the cutting operation based on the pressure change characteristics during the cutting operation of the fruit by the blade, specifically: Obtain the data of the change in the pressure distribution on both surfaces of the blade during the cutting operation of the blade on the fruit, and analyze the data of the change in the pressure distribution to obtain the spatial variation characteristics of the pressure magnitude distribution on each of the two surfaces of the blade due to contact with the fruit; wherein, the spatial variation characteristics of the pressure magnitude distribution refer to the pressure magnitude distribution characteristics exerted by the fruit when different positions on the blade surface come into contact with the fruit. Based on the spatial variation characteristics of the pressure magnitude distribution, identify the types of fruit tissue parts contacted by each of the two surfaces of the blade and the change characteristics of their contact area sizes, and thereby adjust at least one of the action path, action direction, and cutting depth of the blade during the cutting operation.

8. The device according to claim 6, wherein The stirring environment adjustment module is used to adjust the environmental conditions corresponding to the stirring operation based on the slurry discharge state characteristics during the stirring operation of the pulp obtained from the cutting operation, specifically: Perform visual recognition on the process of stirring the pulp obtained from the cutting operation to obtain the slurry discharge state characteristics during the stirring operation; wherein, the slurry discharge state characteristics include the slurry generation rate and the slurry color change state obtained from the stirring operation of the pulp. Based on the slurry color change state, judge whether the slurry undergoes an oxidation reaction; when an oxidation reaction occurs, adjust the output flow rate of the protective gas to the environment corresponding to the stirring operation based on the slurry generation rate.

9. The device according to claim 6, wherein The negative pressure adsorption filtration adjustment module is used to adjust the negative pressure adsorption filtration treatment of the slurry based on the particle state characteristics of the slurry obtained from the stirring operation, specifically: Perform visual recognition on the slurry obtained from the stirring operation to obtain the change characteristics of the content of particulate matter inside the slurry; wherein, the change characteristics of the content of particulate matter refer to the change characteristics of the proportion of the content of particulate matter in the newly generated slurry during the stirring operation per unit time; based on the change characteristics of the content of particulate matter, adjust the negative pressure of the negative pressure adsorption filtration treatment of the slurry.

10. An automated production system, comprising: A cleaning device, a jam pulping control device, a jam processing device, and a canning device arranged on a production line, characterized in that the jam pulping control device is the jam pulping control device according to any one of claims 6-9 above.

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