Automatic canning control method and system for fruit and vegetable cans

Abstract

The invention discloses an automatic canning control method and system for fruit and vegetable cans, relates to the technical field of automatic canning, and solves the problem that the injection angle of filling liquid is not adaptively changed according to the storage state of goods in a filling bottle in the original filling treatment process. The sound wave detection technology is introduced in the filling liquid filling stage, and the optimal spraying angle is determined by analyzing detection data, so that when the filling liquid is sprayed in a fan shape, filling objects can be avoided to the maximum extent, secondary damage to the filling objects is reduced, and the completeness and quality of the filling objects such as fruits and vegetables are guaranteed; meanwhile, the adjustability of the spraying angle adapts to the distribution states of different filling materials in the bottle, the stability of the canning effect is further improved, the whole control method achieves automation and intelligentization of the whole process from bottle body recognition, volume calculation, quality control to filling liquid spraying adjustment, manual intervention is reduced, and the working efficiency is improved. And the canning efficiency and consistency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic canning, in particular to a fruit and vegetable can automatic canning control method and system. BACKGROUND

[0002] In the field of fruit and vegetable can production, automatic canning technology is a key link to improve production efficiency and ensure product quality stability. In the traditional canning process, due to the diversity of bottle specifications (such as glass bottles or metal cans of different diameters, heights, and shapes), the physical properties of the filled material (such as blocky fruits and vegetables, granular food materials) and the filled liquid (such as sugar water, salt water) differ, and often face many technical challenges.

[0003] The ratio control of the filled material and the filled liquid is difficult. Fruit and vegetable cans usually need to be filled with solid materials and liquids in a specific ratio. If only experience values or fixed volumes are used for control, the influence of the actual filling volume of the filled material on the liquid containing space is ignored, which may result in waste of liquid overflow or affect the shelf life of the product due to insufficient liquid. At the same time, during the spraying process of the filled liquid, if the angle is not appropriate, it is easy to impact the filled material and cause damage (such as fragmentation of blocky fruits and vegetables), affecting the appearance of the product.

[0004] Especially some relatively fragile fruits and vegetables, such as orange cans or relatively fragile fruits and vegetables, are easily damaged in some areas due to excessive impact of the filled liquid during the filling process, so an automatic canning control process is needed to complete the automatic filling process of the corresponding fruit and vegetable cans and fully protect the filling effect during the filling process. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a fruit and vegetable can automatic canning control method and system, which solves the problem of not adapting the filling liquid spraying angle according to the storage state of the filled bottles in the original filling process.

[0006] To achieve the above purpose, the present application is implemented by the following technical scheme: a fruit and vegetable can automatic canning control method, comprising the following steps:

[0007] Step 1: According to the image of the bottle body that needs to be filled by the visual monitoring device, confirm the multi-directional image of the bottle body, and generate a model body of the filled bottle body based on the image features;

[0008] Step 2: According to the confirmed model body, lock the bottle mouth feature, and confirm the feature volume belonging to the current model body according to the bottle mouth feature, and confirm the filling quality of the filled object according to the preset density of the filled object, in particular:

[0009] According to the confirmed model body, lock the bottle mouth position, and confirm the inner circle radius R1 and the outer circle radius R2 from the bottle mouth position, using: R12 ÷R2 2 =JY confirming the check ratio JY, and then confirming the total volume ZR associated with the external contour of the corresponding model body according to the confirmed model body, and using: ZR x JY=NR to confirm the internal volume NR that can be held by the corresponding model body;

[0010] using: NR x 0.6=WR to confirm the object volume WR, and using: NR x 0.4=YR to confirm the liquid volume YR, and according to the preset densities P1 and P2 of the filling object and the filling liquid, confirming the mass M1 and M2 of the filling object and the filling liquid, wherein M1=WR x P1 and M2=YR x P2;

[0011] Step three, according to the confirmed filling quality of the filling object, confirming the mass of the filling object, and in the object filling process, controlling the filling process and confirming the mass error, and based on the mass error, controlling the mass of the subsequent filling liquid, the specific processing process is:

[0012] According to the confirmed mass M1 of the filling object, continuously adding the filling object in the preparation process of the filling object, and stopping when the total mass of the whole filling object after adding exceeds M1, filling the prepared filling object into the filling bottle body, and confirming the mass error, the mass error=M1-filling object total mass;

[0013] According to the confirmed mass error, the mass of the filling liquid is verified again, using: M2-mass error=JM2 to confirm the actual filling mass JM2 of the filling liquid in the subsequent filling process, and according to JM2 to fill the filling liquid;

[0014] Step four, in the actual filling verification process of the filling liquid, the filling object in the filling bottle body is detected by sound wave, the sound wave detection data is confirmed, the injection angle of the filling liquid is confirmed according to the sound wave detection data, and the filling liquid is filled according to the injection angle, and the specific way is:

[0015] When the filling bottle body reaches the specified filling position, the sound wave detection equipment is started, the sound wave detection of the internal space of the filling bottle body is carried out, the distance value of the filling bottle body from the nozzle at different space positions is confirmed, the distance value is recorded as the sound wave detection data associated with the corresponding space position, and according to the sound wave detection data of several groups of different space position points generated in the detection process, the position of the corresponding space position in the model body is confirmed, and the confirmed position point is marked;

[0016] Confirming different radiation circles associated with different spray angles of the filling nozzle, and confirming circle points on different radiation circles, recording the filling nozzle as a starting point, and recording corresponding circle points as travel points, starting from the starting point to the travel points, confirming the travel direction, and recording the position points traveled by different travel directions, and confirming the travel distance L of the corresponding position points from the starting point i Wherein i represents different position points recorded by different travel directions, and a plurality of groups of travel distances L associated with a single spray angle corresponding radiation circle i Performing mean value processing, confirming the mean value distance, and recording the confirmed mean value distance as the spray characteristics associated with the corresponding spray angle;

[0017] The different radiation circles associated with different spray angles are processed in sequence, and the spray characteristics associated with different radiation circles are confirmed in sequence, and the maximum value is selected from the confirmed several spray characteristics, and the spray angle associated with the maximum value is recorded as the execution angle, and subsequent filling liquid is sprayed according to the execution angle, and the total mass of the spray is JM2, and the filling process of the corresponding filling liquid is completed.

[0018] Preferably, an automatic canning control system for fruit and vegetable cans comprises:

[0019] A model generation end generates a model body of a filling bottle based on images of the bottle body to be filled by a visual monitoring device, confirms multi-directional images of the bottle body, and generates a model body of the filling bottle based on image characteristics;

[0020] A filling quality confirmation end locks the bottle mouth feature based on the confirmed model body, confirms the feature volume belonging to the current model body based on the bottle mouth feature, and confirms the filling quality of the filling object based on the preset density of the filling object;

[0021] A filling processing end confirms the filling quality of the filling object based on the confirmed filling quality of the filling object, controls the filling process and confirms the quality error in the object filling processing process, and controls the quality of the subsequent filling liquid based on the quality error;

[0022] An angle adjustment end performs sound wave detection on the filling object in the filling bottle during the actual filling verification process of the filling liquid, confirms the sound wave detection data, confirms the spray angle of the filling liquid based on the sound wave detection data, and performs filling processing on the filling liquid based on the spray angle.

[0023] The present application provides an automatic canning control method and system for fruit and vegetable cans.

[0024] The present application locks the bottle mouth feature of the model body and calculates the built-in volume, determines the filling quality in combination with the preset density of the filling material and the filling liquid, and corrects the volume through the check ratio JY, effectively ensuring the accuracy of the ratio of the filling material and the filling liquid; at the same time, the filling quality of the filling liquid is dynamically adjusted according to the actual quality error of the filling material, avoiding the problem of filling liquid overflow caused by excessive filling material, reducing material waste, and improving the material utilization rate and cost control level of the canning process;

[0025] The sound wave detection technology is introduced in the filling liquid filling stage, the optimal injection angle is determined by analyzing the detection data, so that the filling liquid can maximize avoid the filling material when injected in a fan shape, reducing the secondary damage to the filling material, and ensuring the integrity and quality of the fruit and vegetable filling material; at the same time, the adjustability of the injection angle adapts to the distribution state of different filling materials in the bottle, further improving the stability of the canning effect;

[0026] The whole control method realizes the full-process automation and intelligentization from bottle body identification, volume calculation, quality control to filling liquid injection adjustment, reduces manual intervention, improves the canning efficiency and consistency, and provides a strong guarantee for the scaling and standardization of fruit and vegetable can production. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a method flowchart of the present application;

[0028] Figure 2 It is a principle framework diagram of the present application. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0030] First embodiment

[0031] Please refer to Figure 1 The present application provides an automatic canning control method for fruit and vegetable cans, comprising the following steps:

[0032] Step one, according to the image of the bottle body that needs to be filled by the visual monitoring device, confirm the multi-directional image of the bottle body, and generate the model body of the filling bottle based on the image characteristics, wherein the specific way to generate the model body is:

[0033] The bottle body contour line (such as the bottle mouth edge, the bottle body side edge, and the bottle bottom edge) is identified by the Canny edge detection algorithm and fitted into a mathematical curve. Based on the conversion relationship between the pixel and the actual size (calibrated by the calibration plate), the key size parameters such as the bottle mouth diameter, the bottle body height, and the bottle neck length are calculated, and the connection relationship of each part of the bottle body (such as the transition arc of the bottle mouth and the bottle neck, and the vertical angle of the bottle body and the bottle bottom) is determined.

[0034] The same feature points (such as a specific notch of the bottle mouth edge and a marked line of the bottle body) are identified in images at different angles by the SIFT (Scale-Invariant Feature Transform) or SURF (Speeded-Up Robust Features) algorithm, and the corresponding relationship between the orientations is established to provide spatial coordinate correlation for three-dimensional splicing.

[0035] The coordinates of all matched feature points are calculated to form a discrete three-dimensional point cloud, which preliminarily presents the spatial distribution of the bottle body. Based on the camera pose and the feature point matching result, the three-dimensional point coordinates are optimized by the Bundle Adjustment method to generate a globally consistent point cloud model. The point cloud is connected to a triangular mesh by the Delaunay triangulation or the Poisson surface reconstruction algorithm to form the surface contour of the bottle body (such as the thread groove of the bottle mouth and the curved surface of the bottle body). According to the feature relationship, the surface contours of different surfaces are integrated to generate a model body belonging to the current filling bottle body.

[0036] Based on the obtained multi-angle images, the corresponding filling model body is generated, which is common in the prior art, so this place will not be described in detail. The related introductions are included in the related applications with publication numbers CN120219530A, CN112365553A, CN120147446A, and CN102308320A.

[0037] Step two, according to the confirmed model body, lock the bottle mouth feature, and according to the bottle mouth feature, confirm the feature volume belonging to the current model body, and according to the preset density of the filling object, confirm the filling quality of the filling object. The specific sub-steps for confirming the filling quality are as follows:

[0038] According to the confirmed model body, the bottle mouth position is locked, and the inner circle radius R1 and the outer circle radius R2 are confirmed from the bottle mouth position (when the radius is confirmed, the parameters can be directly obtained from the model body). The following is adopted: R1 2 ÷ R2 2 = JY to confirm the verification ratio JY. According to the confirmed model body, the total volume ZR associated with the corresponding external contour of the corresponding model body is confirmed, and the following is adopted: ZR x JY = NR to confirm the built-in volume NR that the corresponding model body can hold.

[0039] Adopt: NRx0.6=WR to confirm the object volume WR, and then adopt: NRx0.4=YR to confirm the liquid volume YR, and according to the preset densities P1 and P2 of the filling object and the filling liquid, confirm the mass M1 and M2 of the filling object and the filling liquid, wherein M1=WRxP1, M2=YRxP2;

[0040] Specifically, during the filling process, when the object occupies three-fifths of the volume of the corresponding container and the liquid occupies two-fifths of the volume of the corresponding container, the mass characteristics during the corresponding filling process can be confirmed based on the confirmed volume characteristics and density characteristics, and effective control can be performed in the subsequent filling process to ensure the filling accuracy during the filling process;

[0041] Step three, according to the confirmed filling mass of the filling object, confirm the mass of the filling object, and control the filling process and confirm the mass error in the object filling process, and control the mass of the subsequent filling liquid based on the mass error, wherein the control process of the filling process specifically includes:

[0042] According to the confirmed mass M1 of the filling object, continuously add the filling object in the preparation process of the filling object, and stop when the total mass of the whole filling object after addition exceeds M1 (that is, during the preparation process, the corresponding mass gradually increases, and the mass of the corresponding filling object gradually increases during the increasing process, and when the increased mass exceeds M1, the preparation process is stopped, and the confirmed filling object is filled into the filling bottle), and the prepared filling object is filled into the filling bottle, and the mass error is confirmed, which is equal to the total mass of the filling object minus M1;

[0043] According to the confirmed mass error, the mass of the filling liquid is verified again, that is, M2-mass error=JM2, the actual filling mass JM2 of the filling liquid in the subsequent filling process is confirmed, and the filling liquid is filled according to JM2;

[0044] Specifically, in order to ensure the corresponding filling process, when the mass data associated with the corresponding filling object exceeds, the volume in the corresponding bottle will be correspondingly reduced, and when the filling liquid still maintains the original filling mass, it will cause the actual filling process to overflow, which will cause liquid waste, so according to the filling process of the filling object, the mass error is confirmed, and then the filling mass of the filling liquid is adjusted again according to the corresponding mass error, so as to ensure the corresponding filling process;

[0045] Step four, in the actual filling verification process of filling liquid, the filling liquid in the filling bottle is detected by sound wave, the sound wave detection data is confirmed, the injection angle of the filling liquid is confirmed according to the sound wave detection data, and the filling liquid is filled according to the injection angle. The angle of the filling liquid in the filling process can be adjusted, and the filling liquid is injected and filled in the form of a fan. The angle of the injection ring can be changed according to the adjustment of the corresponding injection nozzle, that is, the injection circle of the corresponding filling liquid can be changed;

[0046] The specific way of filling is:

[0047] When the filling bottle reaches the specified filling position (in the filling process, the corresponding baffle is blocked to make the corresponding filling bottle be placed in the specified position, and the corresponding filling nozzle can carry out the filling process of the filling liquid), the sound wave detection device (which is arranged on one side of the filling nozzle and can detect the sound wave of the filling bottle to confirm the distance feature of the filling liquid from the nozzle) is started to detect the sound wave of the space inside the filling bottle, confirm the distance value of the space position in the filling bottle from the nozzle (some space positions are empty positions, and some space positions correspond to the filling liquid), record the distance value as the sound wave detection data associated with the corresponding space position, and confirm the position of the corresponding space position in the model body according to the sound wave detection data of several groups of different space positions generated in the detection process, and mark the confirmed position points;

[0048] Confirm the different radiation circles associated with different injection angles of the filling nozzle, and confirm the circle points on the different radiation circles. The filling nozzle is recorded as the starting point, and the corresponding circle points are recorded as the travel points. Starting from the starting point to the travel points, the travel direction is confirmed, and the position points traveled by different travel directions are recorded. The travel distance L of the corresponding position point from the starting point is confirmed i Where i represents different position points recorded by different travel directions, and several groups of travel distances L associated with a single injection angle and a radiation circle are recorded i The mean value is processed to confirm the mean value distance, and the confirmed mean value distance is recorded as the injection feature associated with the corresponding injection angle;

[0049] The different radiation circles associated with different injection angles are processed in turn, and the injection features associated with different radiation circles are confirmed in turn. From the confirmed several injection features, the maximum value is selected, the injection angle associated with the maximum value is recorded as the execution angle, and the subsequent injection process of the filling liquid is carried out according to the execution angle. The total mass of the injection is JM2, and the filling process of the corresponding filling liquid is completed;

[0050] Specifically, when the filling bottle stores the filling, the sound wave detection will exist different reflection points, and the emission points are the confirmed spatial positions. Then, according to the generated model, the related points in the same spatial position can be recorded, and the recorded points are the rebound points in the spraying process.

[0051] When the filling liquid is filled, the spraying angle can be changed to change the radiation range of the corresponding spray head radiation circle. When the angle is small, the spraying radiation range of the liquid is small, that is, the spraying circle generated during spraying is small. When the angle is large, the spraying circle generated is large. The spraying rebound during spraying is different. During the filling of the filling, there is a situation of object disorder. In order to avoid secondary damage of the filling liquid to the filling, the spraying distance between the filling liquid and the filling should be as large as possible. According to the processing process, the optimal filling process of the corresponding filling liquid during filling can be effectively guaranteed, and the filling effect is effectively guaranteed.

[0052] Second embodiment

[0053] Combined Figure 2 An automatic canning control system for fruit and vegetable cans, comprising:

[0054] A model generation end generates a model of the filling bottle according to the image of the bottle to be filled by the visual monitoring device, confirms the multi-directional image of the bottle, and generates a model of the filling bottle based on the image characteristics;

[0055] A filling quality confirmation end locks the bottle mouth feature according to the confirmed model, confirms the feature volume belonging to the current model according to the bottle mouth feature, and confirms the filling quality of the filling object according to the preset density of the filling object;

[0056] A filling processing end confirms the quality of the filling object according to the confirmed filling quality of the filling object, controls the filling process and confirms the quality error during the object filling processing process, and controls the quality of the subsequent filling liquid based on the quality error;

[0057] An angle adjustment end performs sound wave detection on the filling in the filling bottle during the actual filling verification process of the filling liquid, confirms the sound wave detection data, then confirms the spraying angle of the filling liquid according to the sound wave detection data, and performs filling processing on the filling liquid according to the spraying angle.

[0058] Some data in the above formula are dimensionless numerical calculations, and the contents not described in detail in the specification all belong to the existing technology known to those skilled in the art.

[0059] The above examples are only used to illustrate the technical method of the present application but not limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical method of the present application.

Claims

1. A method for automated canning control of fruits and vegetables, characterized in that, Includes the following steps: Step 1: Using visual monitoring equipment, images of the bottles to be filled are captured, confirming the multi-angle images of the bottles, and generating a model of the bottles based on the image features. Step 2: Based on the confirmed model body, lock the bottle mouth feature, and based on the bottle mouth feature, confirm the feature volume belonging to the current model body, and based on the preset density of the filling object, confirm the filling quality of the filling object. Step 3: Based on the confirmed filling quality of the filling object, confirm the quality of the filling object, control the filling process and confirm the quality error during the filling process, and control the quality of the subsequent filling liquid based on the quality error. Step 4: During the actual filling and verification process of the filling liquid, the filling material in the filling bottle is subjected to acoustic wave detection to confirm the acoustic wave detection data. Then, the spray angle of the filling liquid is confirmed based on the acoustic wave detection data, and the filling liquid is filled according to the spray angle.

2. The automated canning control method for fruit and vegetable canned goods according to claim 1, characterized in that, In step two, the specific method for confirming the filling quality of the filled object is as follows: Based on the confirmed model, the bottle neck position is locked, and the inner radius R1 and outer radius R2 are determined from the bottle neck position. R1 is used as follows: 2 ÷R2 2 =JY confirms the verification ratio JY, and then based on the confirmed model body, confirms the total volume ZR associated with the corresponding outer contour of the model body, and uses: ZR×JY=NR to confirm the built-in volume NR that the corresponding model body can hold; The volume WR of the object is determined by NR×0.6=WR, and the volume YR of the liquid is determined by NR×0.4=YR. Based on the preset densities P1 and P2 of the filling material and the filling liquid, the masses M1 and M2 of the filling material and the filling liquid are determined, where M1=WR×P1 and M2=YR×P2.

3. The automated canning control method for fruit and vegetable canned goods according to claim 1, characterized in that, In step three, the specific process of filling the bottles is as follows: Based on the confirmed mass M1 of the filling material, the filling material is continuously added during the preparation process. When the total mass of the filling material exceeds M1 after adding, the process stops. The prepared filling material is then filled into the filling bottle, and the mass error is confirmed. The mass error is equal to the total mass of the filling material minus M1. Based on the confirmed quality error, the quality of the filling liquid is checked a second time. The formula is: M2 - quality error = JM2. The actual filling quality JM2 of the filling liquid in the subsequent filling process is confirmed, and the filling liquid is filled according to JM2.

4. The automated canning control method for fruit and vegetable canned goods according to claim 1, characterized in that, In step four, the specific method for confirming the acoustic wave detection data is as follows: When the bottle reaches the designated filling position, the acoustic detection equipment is activated to detect the internal space of the bottle, confirm the distance value from the nozzle at different spatial positions inside the bottle, record the distance value as the acoustic detection data associated with the corresponding spatial position, and based on the several sets of acoustic detection data belonging to different spatial positions generated during the detection process, confirm the location of the corresponding spatial position in the model and mark the confirmed position point.

5. The automated canning control method for fruit and vegetable canned goods according to claim 4, characterized in that, In step four, the specific method for filling the filling liquid according to the spray angle is as follows: Identify the different radiation circles associated with different spray angles from the filling nozzle, and determine the positions of the points on each radiation circle. Mark the filling nozzle as the starting point and the corresponding circle positions as the travel points. Starting from the starting point, proceed towards the travel points, determine the direction of travel, and record the positions traveled in different directions. Determine the distance L traveled from the starting point to each corresponding position. i Where i represents different position points recorded in different directions of travel, and a single jet angle is associated with several sets of travel distances L corresponding to the radiation circle. i Perform mean processing, confirm the mean distance, and record the confirmed mean distance as the spray feature associated with the corresponding spray angle; The different radiation circles associated with different spray angles are processed sequentially, and the spray features associated with different radiation circles are confirmed sequentially. From the confirmed spray features, the maximum value is selected, and the spray angle associated with the maximum value is recorded as the execution angle. Subsequently, the filling liquid is sprayed according to this execution angle. The total mass of the spray is JM2, and the filling process of the corresponding filling liquid is completed.

6. An automated canning control system for canned fruits and vegetables, the system operating according to any one of claims 1-5 of the automated canning control method for canned fruits and vegetables, characterized in that, include: On the model generation end, the visual monitoring equipment captures images of the bottles to be filled, confirms the multi-angle images of the bottles, and generates a model of the filling bottles based on the image features. The filling quality confirmation end locks the bottle mouth features based on the confirmed model body, confirms the feature volume belonging to the current model body based on the bottle mouth features, and confirms the filling quality of the filling object based on the preset density of the filling object. At the filling processing end, the quality of the filling material is confirmed based on the confirmed filling quality of the filling material, and the filling process is controlled and the quality error is confirmed during the filling process. The quality of the subsequent filling liquid is controlled based on the quality error. The angle adjustment end performs acoustic wave detection on the contents of the bottle during the actual filling and verification process of the filling liquid. The acoustic wave detection data is then confirmed, and the spray angle of the filling liquid is determined based on the acoustic wave detection data. The filling liquid is then processed according to the spray angle.

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