Juicer control method and system, intelligent terminal and storage medium

Abstract

The application relates to a juicer control method and system, an intelligent terminal and a storage medium, and relates to the technical field of juicers. The method comprises the following steps: acquiring image information in a juicing barrel; acquiring a fruit and vegetable category and a fruit and vegetable quantity corresponding to the fruit and vegetable category according to the image information; determining a fruit and vegetable combination according to the fruit and vegetable category and the fruit and vegetable quantity; acquiring a target production mode from a preset juicing mode list according to the fruit and vegetable combination; generating a to-be-confirmed signal corresponding to the target production mode; generating an allowing instruction of the target production mode when a manual production mode signal is not received within a preset waiting time or a confirmation signal of the to-be-confirmed signal is received within a preset time; and controlling the juicer to work according to the target production mode in response to the allowing instruction. The application has the effect of improving the consistency of the production of fruits and vegetables after juicing operation.

Description

Technical Field

[0001] This application relates to the field of juicers, and in particular to a juicer control method, system, smart terminal, and storage medium. Background Technology

[0002] With the development of the freshly made beverage industry, juicers are widely used in commercial settings, such as beverage shops in shopping malls, chain restaurants, and self-service beverage terminals. In these applications, juicers typically need to operate in a high-frequency, fast-paced environment, placing high demands on production efficiency, operational stability, and product consistency.

[0003] Existing commercial juicing equipment typically operates by manually selecting the juicing mode. Operators place fruits and vegetables into the juicing tank and, based on experience or menu requirements, manually press the corresponding mode button to start the juicing process. Different modes usually correspond to preset cutting parameters, speed parameters, or working sequences to accommodate different types or combinations of fruits and vegetables. However, in commercial environments, operators often handle multiple orders and may find it difficult to promptly and accurately determine whether the actual type and quantity of fruits and vegetables in the juicing tank match the selected mode. This can easily lead to incorrect mode selection or omissions in confirmation, resulting in low overall juicing efficiency and inconsistent output. Summary of the Invention

[0004] To improve the consistency of fruit and vegetable juice output after juicing, this application provides a juicer control method, system, smart terminal, and storage medium.

[0005] Firstly, this application provides a juicer control method, which adopts the following technical solution: A juicer control method, comprising: Acquire image information from inside the juicing container; Obtain the fruit and vegetable category and the corresponding quantity of fruit and vegetables based on the image information; Determine the combination of fruits and vegetables based on their type and quantity; The target juicing mode is retrieved from the list of preset juicing modes based on the combination of fruits and vegetables. Generate a confirmation signal corresponding to the target production mode; If no manual production mode signal is received within the preset waiting time, or if a confirmation signal for a pending confirmation signal is received within the preset time, a permission command for the target production mode is generated. In response to the permission command, control the juicer to operate according to the target production mode.

[0006] By adopting the above technical solution, the image information inside the juicing bucket is acquired and the types and quantities of fruits and vegetables are identified based on the image information. This determines the combination of fruits and vegetables inside the juicing bucket, and the target production mode that matches the combination of fruits and vegetables is automatically obtained from the preset juicing mode list. This allows the production mode of the juicer to correspond to the actual raw materials of fruits and vegetables put in, thereby reducing the uncertainty caused by manual judgment and manual selection of production mode, and improving the consistency of the output of fruits and vegetables after juicing.

[0007] Optionally, at the initial stage of the target working mode, the angle of attack of the juicing cutter is adjusted to the first stirring angle of attack; Control the juicing cutter to rotate at the first stirring speed to make the fruits and vegetables in the juicing bucket rotate; Obtain surface feature information of fruits and vegetables based on image information; Obtain decay characteristic values ​​based on surface feature information of fruits and vegetables; Determine whether there are rotten areas on the surface of fruits and vegetables that exceed a preset rot threshold based on rot characteristic values; If present, a fruit and vegetable spoilage alarm will be generated and the target production mode will be suspended. If it does not exist, then execute the pre-juicing stage in the target production mode.

[0008] By adopting the above technical solution, the fruits and vegetables are stirred and turned in the initial stage of the target production mode, and the presence of rotten areas on the surface of the fruits and vegetables is detected based on image information. This enables the juicer to automatically identify whether the fruits and vegetables are rotten before entering the pre-juicing stage, reducing the probability that the rotten surface of the fruits and vegetables will not be detected in time due to the busy work of the operators in the commercial environment. This prevents rotten fruits and vegetables from entering the subsequent juicing process and ensures the food safety of freshly made beverages.

[0009] Optionally, the pre-juicing stage in the target production mode includes: The juicing cutter is controlled to cut the fruit and vegetables in contact with the juicing cutter at a first cutting angle and a first rotation speed, so that a part of the fruit and vegetables is cut into fruit and vegetable particles. Real-time acquisition of decay characteristic values ​​of fruit and vegetable particles; Determine whether there are rotten particles greater than the preset rot threshold based on the rot characteristic value; If so, generate a juice contamination alarm and suspend the target production mode; If not, control the juicing cutter to stir the fruit and vegetable particles at the second cutting angle and the second speed, so that the fruit and vegetable particles move up along the wall of the juicing bucket and the uncut fruits and vegetables move down. Repeat all the above steps until the fruits and vegetables have been completely cut. Perform the juicing stage in the target production mode.

[0010] By adopting the above technical solution, the fruits and vegetables are partially cut during the pre-juicing stage and the decay characteristics of the fruit and vegetable particles are detected in real time. This allows the juicer to identify whether there are rotten particles before the fruits and vegetables are completely juiced. When an abnormality is detected, a juice contamination alarm is generated in time and the production is suspended to prevent rotten particles from being mixed into the juice, thereby ensuring the food safety of freshly made juice.

[0011] Optionally, after generating a juice contamination alarm and pausing the execution of the target production mode, the method further includes: Obtain the fruit or vegetable to which the rotten particles belong, and obtain the size of the fruit or vegetable to which the particles belong; Determine the target filter pore size based on the size of the fruits and vegetables and the amount of rotten particles, select the target filter based on the target filter pore size, and perform the tilting filtration action; Determine the fruit and vegetable addition requirements based on the fruit and vegetable combination and the filtered fruit and vegetable combination; Generate fruit and vegetable addition prompts based on fruit and vegetable addition requirements; In response to the detection that fruits and vegetables have been added based on image information, the preset cleaning mode is executed; In response to the end signal of the preset cleaning mode, continue to execute the target production mode.

[0012] By adopting the above technical solution, after detecting juice contamination and pausing the target production mode, the system determines the fruits and vegetables to which the rotten particles belong and their size, then selects a matching target filter and performs a pouring filtration action to effectively remove the rotten particles from the juicing tank. Based on this, the system compares the fruit and vegetable combinations before and after filtration to determine the required addition of fruits and vegetables. After replenishing the fruits and vegetables, a preset cleaning mode is executed, and then the target production mode continues. This removes contaminants while restoring the juicing environment, preventing residual rotten substances from affecting subsequent juicing and ensuring the food safety of freshly made juice.

[0013] Optionally, the target filter pore size is determined based on the size of the fruits and vegetables and the amount of decaying particles, and a target filter is selected based on the target filter pore size. The tilting filtration action is then performed, including: Get the size type of the fruit and vegetable, including the first size and the second size; When the size type is the first size, select the target filter with small filter holes and perform the tilting filter action to filter out the juicer bucket through the small filter holes. Generate a first-dimensional fruit and vegetable rot alert; When the size type is the second size, determine whether the fruits and vegetables of the first size have been cut based on the image information; If so, select the target filter according to the filtration method corresponding to the first size of fruit and vegetables; If not, select the target filter with large-sized filter holes and perform the tilting filter action to keep the first-sized fruits and vegetables in the juicing bucket and allow the second-sized fruits and vegetables and their corresponding fruit and vegetable particles to be filtered out of the juicing bucket through the large-sized filter holes. Generate a second-size indicator for fruit and vegetable rot.

[0014] By adopting the above technical solution, the size type of the fruits and vegetables to which the rotten particles belong is distinguished, and the state of whether the first-sized fruits and vegetables have been cut is considered. Target filters with different specifications of filter holes are selected to perform the tilting filtration action, so that the rotten particles can be removed in a targeted manner according to their actual contamination path. During this process, by generating fruit and vegetable rot prompts corresponding to the size type, the treatment method for rotten fruits and vegetables or fruits and vegetables to be treated is clearly indicated, guiding operators or implementing agencies to further remove or recycle the remaining fruits and vegetables. This effectively removes rotten substances while preventing uncontaminated fruits and vegetables from being mistakenly disposed of.

[0015] Optionally, after issuing a fruit and vegetable spoilage alarm and pausing the execution of the target production mode, the following steps are included: Mark the target rotten fruits and vegetables whose surface has rotten areas larger than a preset rot threshold; Obtain the particle size classification of the target rotten fruits and vegetables; Determine if the particle size class is smaller than the preset minimum particle size class; If so, control the juicing cutter to stir the fruits and vegetables at the second stirring angle and the second stirring speed, so that the fruits and vegetables move up along the wall of the juicing bucket; The real-time location of the target rotten fruits and vegetables is obtained based on image information; In response to the real-time location being above the fruits and vegetables, the juicing and cutting blades are controlled to pause operation. Generate location hints for the target rotten fruit.

[0016] By adopting the above technical solution, after detecting rotten fruits and vegetables and pausing production, the target rotten fruits and vegetables are marked and directionally stirred based on their particle size, causing the target rotten fruits and vegetables to move to the upper position of the juicing bucket. After obtaining their position information, the juicing cutter is paused and a position prompt is generated, which facilitates the accurate removal of rotten fruits and vegetables and prevents them from continuing to participate in the juicing process.

[0017] Optionally, during the juicing stage in the target production mode, the spatial distribution of the fruit and vegetable mixture within the juicing bucket is analyzed based on image information. Based on the spatial distribution, obtain the layering characteristic parameters of the fruit and vegetable mixture at different heights on the inner wall of the juicing bucket; Based on the stratification characteristic parameters, determine whether there is a stratified accumulation area formed by the mixture of fruits and vegetables on the inner wall of the juicing bucket; If so, obtain the stacking height of the layered stacking region; Match the corresponding target pulse speed from the preset pulse speed list based on the stacking height; The juicing cutter is controlled to enter pulse rotation mode and rotate at the target pulse speed, so that the liquid in the juicing bucket forms turbulence in the area corresponding to the stacking height, thereby flushing the layered stacking area.

[0018] By adopting the above technical solution, the spatial distribution of the fruit and vegetable mixture in the juicing bucket is analyzed during the juicing stage to identify whether there are stratified accumulation areas. The juicing cutter is controlled to enter the pulse rotation mode according to the corresponding pulse speed matched with the accumulation height, forming turbulence in the accumulation area to wash it, thereby reducing the stratification and accumulation of the fruit and vegetable mixture on the bucket wall, promoting uniform juice mixing, improving the stability of the juicing process and the consistency of the finished juice.

[0019] Secondly, this application provides a juicer control system, which adopts the following technical solution: A juicer control system, comprising: The acquisition module is used to acquire image information; A memory for storing the program of the juicer control method; The processor and the program in the memory can be loaded and executed by the processor to implement the juicer control method.

[0020] By adopting the above technical solution, the image information inside the juicing bucket is acquired and the types and quantities of fruits and vegetables are identified based on the image information. This determines the combination of fruits and vegetables inside the juicing bucket, and the target production mode that matches the combination of fruits and vegetables is automatically obtained from the preset juicing mode list. This allows the production mode of the juicer to correspond to the actual raw materials of fruits and vegetables put in, thereby reducing the uncertainty caused by manual judgment and manual selection of production mode, and improving the consistency of the output of fruits and vegetables after juicing.

[0021] Thirdly, this application provides a smart terminal, which adopts the following technical solution: A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of the above methods.

[0022] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates improving the consistency of fruit and vegetable juice output after juicing. The technical solution is as follows: A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the juicer control methods described above.

[0023] In summary, this application includes at least one of the following beneficial technical effects: 1. By acquiring image information inside the juicing bucket and identifying the fruit and vegetable categories and corresponding quantities based on the image information, the combination of fruits and vegetables inside the juicing bucket is determined. Based on this, the target production mode matching the combination of fruits and vegetables is automatically obtained from the preset juicing mode list, so that the production mode of the juicer can correspond to the actual fruit and vegetable raw materials put in, thereby reducing the uncertainty caused by manual judgment and manual selection of production mode, and thus improving the consistency of the output of fruits and vegetables after juicing operation. 2. In the initial stage of the target production mode, the fruits and vegetables are stirred and turned, and the presence of rotten areas on the surface of the fruits and vegetables is detected based on image information. This enables the juicer to automatically identify whether the fruits and vegetables are rotten before entering the pre-juicing stage, reducing the probability that the rotten surface of the fruits and vegetables will not be detected in time due to the busy work of the operators in the commercial environment. This prevents rotten fruits and vegetables from entering the subsequent juicing process and ensures the food safety of freshly made beverages. 3. After detecting rotten fruits and vegetables and pausing the juicing process, the target rotten fruits and vegetables are marked and directionally stirred based on their particle size. This causes the target rotten fruits and vegetables to move to the upper part of the juicing bucket. After obtaining their position information, the juicing cutter is paused and a position prompt is generated, which facilitates the accurate removal of rotten fruits and vegetables and prevents them from continuing to participate in the juicing process. Attached Figure Description

[0024] Figure 1 This is a flowchart illustrating a juicer control method according to an embodiment of this application.

[0025] Figure 2 This is a flowchart illustrating a method for removing rotten fruits and vegetables in an embodiment of this application.

[0026] Figure 3 This is a flowchart illustrating the pre-juicing stage in the target production mode of this application embodiment.

[0027] Figure 4 This is a schematic flowchart of a method for filtering rotten fruits and vegetables in an embodiment of this application.

[0028] Figure 5 This is a flowchart illustrating a method for obtaining a target filter according to an embodiment of this application.

[0029] Figure 6 This is a flowchart illustrating a second method for removing rotten fruits and vegetables in an embodiment of this application.

[0030] Figure 7 This is a schematic flowchart of a pulse juicing method according to an embodiment of this application. Detailed Implementation

[0031] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1 - Appendix Figure 7 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0032] This application discloses a juicer control method. (Refer to...) Figure 1 Juicer control methods include: Step S101: Obtain image information inside the juicing bucket.

[0033] In this embodiment, the juicing container is made of transparent material, and the image information can be acquired by multiple cameras located on the outside of the juicing container. The combined shooting range of the multiple cameras can cover the surrounding surface and top surface of the fruits and vegetables inside the juicing container.

[0034] In actual commercial applications, juicers are used to juice a variety of fruits and vegetables. Usually, the fruits and vegetables are manually put into the juicing tank for juicing. Juicers need to use different juicing modes for different fruits. For example, for fruits and vegetables with large pieces and hard fibers, such as apples and carrots, they usually need to be pre-cut before entering the juicing stage. For fruits and vegetables with small pieces or high water content, such as grapes and cherries, it is more suitable to directly enter the low-speed blending or gentle juicing mode.

[0035] Therefore, in commercial continuous operation scenarios, relying solely on manual selection or preset fixed juicing modes makes it difficult to balance efficiency and stability, and can easily lead to inconsistent juicing results due to changes in the combination of fruits and vegetables. Based on this, this embodiment acquires image information of the fruits and vegetables inside the juicing container, providing basic data support for subsequent automatic identification of fruit and vegetable categories, determination of fruit and vegetable proportions, and identification of corresponding fruit and vegetable combinations. This allows the juicer to automatically match a target juicing mode suitable for the current fruit and vegetable combination without manual intervention.

[0036] Furthermore, small robotic arms can be used to put fruits and vegetables into the juicing bucket for juicing.

[0037] Step S102: Obtain the fruit and vegetable category and the corresponding quantity of fruit and vegetables based on the image information.

[0038] Fruit and vegetable categories refer to the types of fruits and vegetables distinguished in the juicing container based on their appearance, color, and size characteristics, such as apples, grapes, and cherries.

[0039] Fruit and vegetable quantity refers to the amount of the same type of fruit and vegetable in the juicing container, used to characterize the proportion of that fruit and vegetable in the current juicing combination.

[0040] Image recognition technology is used to process image information for fruit and vegetable target identification, identifying individual fruit and vegetable targets from the image; for each identified fruit and vegetable target, the fruit and vegetable category to which the target belongs is determined based on its appearance and color characteristics; after completing the fruit and vegetable category identification, the number of fruit and vegetable targets under the same category is counted to obtain the quantity of fruits and vegetables corresponding to different fruit and vegetable categories.

[0041] For example, during a juicing process, several grapes and one apple were manually added to the juicing tank at the same time: Image information recognition can determine that the juicing container contains at least two types of fruits and vegetables: "grapes" and "apples". Furthermore, by counting the number of grapes and apples in the image, the proportion of grapes and apples in this juicing operation can be determined.

[0042] Step S103: Determine the combination of fruits and vegetables based on their type and quantity.

[0043] Fruit and vegetable combination refers to the combination scheme of fruits and vegetables used for this juicing process, which is determined based on the identified fruit and vegetable categories in the juicing tank and the corresponding quantity of each category. It is used to characterize the types of fruits and vegetables and their quantity ratios included in this juicing.

[0044] For example, during a juicing process, image recognition determines that the juicing bucket contains 6 grapes and 1 apple: "6 grapes" and "1 apple" are used as the fruit and vegetable distribution information; based on this fruit and vegetable distribution information, the fruit and vegetable combination for this juicing is determined to be a composite fruit and vegetable combination of "6 grapes + 1 apple".

[0045] Step S104: Obtain the target juicing mode from the preset juicing mode list according to the fruit and vegetable combination.

[0046] The juicing mode list refers to a collection of juicing modes pre-stored in the juicer control system. Each juicing mode corresponds to a set of preset juicing control parameters to adapt to the juicing needs of different fruit and vegetable combinations.

[0047] The target juicing mode refers to the juicing mode selected from the list of juicing modes that matches the current fruit and vegetable combination.

[0048] In one feasible embodiment, the juicing mode list pre-stores multiple juicing modes, each of which corresponds to different fruit and vegetable matching rules. The fruit and vegetable matching rules are used to at least limit the combination of fruit and vegetable categories that the juicing mode can match and the range of the number of each fruit and vegetable category. When it is detected that the current combination of fruit and vegetables meets the fruit and vegetable matching rules of a certain juicing mode, the juicing mode is determined as the target mode. If there are multiple juicing modes that meet the conditions, one of them can be selected as the target mode according to a preset priority rule.

[0049] Step S105: Generate a confirmation signal corresponding to the target production mode.

[0050] The pending confirmation signal is a prompt signal used to indicate that the target production mode has been automatically matched and is waiting for manual confirmation or intervention. It is used to show the operator the juice production plan to be executed before the juicer starts working.

[0051] In one feasible embodiment, the juicer is equipped with a display screen to show a confirmation signal. This signal is presented visually, including a description of the fruit and vegetable combination and the corresponding juicing mode. In commercial continuous operation scenarios, the operator can quickly determine whether the currently automatically matched juicing mode meets actual needs based on the displayed confirmation signal, and then choose to confirm or make manual adjustments. This approach ensures automation while preventing incorrect execution of the juicing mode due to abnormal fruit and vegetable additions or recognition errors.

[0052] Step S106: If no manual production mode signal is received within the preset waiting time, or if a confirmation signal for a pending confirmation signal is received within the preset time, a permission command for the target production mode is generated.

[0053] The preset waiting time refers to the time window during which the system waits for operators to confirm or manually intervene after a confirmation signal is generated. It can be adjusted according to actual needs.

[0054] A permission instruction is a control instruction used to instruct the juicer to enter the actual working mode according to the target production mode.

[0055] In this embodiment, after a confirmation signal is generated, the system starts timing a preset waiting time. During the timing process, it monitors in real time whether a manual production mode signal or a confirmation signal for the confirmation signal input by the operator is received. If a confirmation signal for the confirmation signal is received within the preset waiting time, an authorization command for the target production mode is directly generated. If no manual production mode signal is received within the preset waiting time, an authorization command for the target production mode is automatically generated when the preset waiting time ends.

[0056] Step S107: In response to the permission command, control the juicer to operate according to the target production mode.

[0057] When the system receives the permission command, it starts the juicing control process corresponding to the target production mode. The juicing control process is used to sequentially call each preset working stage in the target production mode. In different working stages, the juicer's execution components work according to the control parameters corresponding to the target production mode, thereby completing the juicing process adapted to the current combination of fruits and vegetables.

[0058] This application provides a method for removing rotten fruits and vegetables, referring to... Figure 2 The method includes: Step S201: At the initial stage of the target working mode, adjust the angle of attack of the juicing cutter to the first stirring angle of attack.

[0059] The juicing cutter is a blade located at the bottom of the juicing container and is used to cut the fruits and vegetables inside the container.

[0060] The first stirring angle refers to the state after the juicing cutter rotates at a preset angle relative to the rotating plane. At this angle, the juicing cutter mainly pushes and flips the fruits and vegetables, rather than mainly cuts them.

[0061] The angle of attack of the juicing cutter can be adjusted as needed. At the first stirring angle, the rotating juicing cutter mainly pushes and tumbles the fruits and vegetables, causing them to rotate as a whole within the juicing container.

[0062] For example, during a juicing process, once the juicer enters the target production mode, the angle of attack of the juicing cutter is first adjusted to the first stirring angle of attack. At this time, the juicing cutter mainly drives the apples, grapes and other fruits and vegetables to tumble in the juicing bucket during rotation, without immediately cutting the fruits and vegetables. Through this initial stirring process, the surface of the fruits and vegetables is exposed as much as possible, creating conditions for subsequent decay detection based on image information.

[0063] Step S202: Control the juicing cutter to rotate at a preset stirring speed, so that the fruits and vegetables in the juicing bucket rotate.

[0064] The preset stirring speed refers to the preset rotation speed of the juicing cutter when the juicing cutter is in a preset stirring angle state. This speed is used to make the fruits and vegetables tumble and move in the juicing bucket without producing a significant cutting effect.

[0065] In this embodiment, when the angle of attack of the juicing cutter is adjusted to the preset stirring angle of attack, the system sends a speed control command to the drive motor that drives the juicing cutter to rotate. The speed control command is used to control the speed of the juicing cutter within the preset stirring speed range. At this speed, the main force exerted by the juicing cutter on the fruits and vegetables is the pushing force and the tumbling force, so that the fruits and vegetables in the juicing bucket rotate with the blade and generate overall tumbling.

[0066] Step S203: Obtain surface feature information of fruits and vegetables based on image information.

[0067] Fruit and vegetable surface feature information refers to image feature information that can reflect the state of the fruit and vegetable surface and is used to characterize whether there are abnormal areas on the fruit and vegetable surface. This feature information includes color features, texture features and morphological features.

[0068] In this embodiment, during the process of the juicing cutter rotating at a preset stirring speed and the fruits and vegetables continuously tumbling, image information inside the juicing bucket is collected in real time; the collected image information is processed by image analysis to extract color information, texture information and morphological information of the fruit and vegetable surface; the extracted information is used as the surface feature information of the fruit and vegetable to characterize the overall state of the fruit and vegetable surface.

[0069] In one feasible embodiment, since fruits and vegetables are in a state of overall tumbling during the stirring stage, different surfaces of the fruits and vegetables will sequentially enter the camera's field of view. The system comprehensively analyzes multiple frames of images collected at different time points to obtain feature information of multiple surfaces of the fruits and vegetables. In this way, judgments are avoided based solely on images of a single surface of the fruits and vegetables, thereby improving the comprehensiveness of the acquisition of surface feature information. For example, color changes and texture distribution information of an apple's surface can be extracted from multiple frames of images. The extracted information is used as the fruit and vegetable surface feature information of that apple for subsequent acquisition of decay feature values.

[0070] Step S204: Obtain rot characteristic values ​​based on the surface characteristic information of fruits and vegetables.

[0071] The decay characteristic value refers to a numerical index calculated based on the surface characteristic information of fruits and vegetables, used to characterize the degree of decay on the surface of fruits and vegetables.

[0072] In one feasible embodiment, the surface feature information of fruits and vegetables includes at least the color features, texture features, and morphological features of the fruit and vegetable surface; by using image acquisition and feature recognition technology, the color features, texture features, and morphological features contained in the surface feature information of fruits and vegetables are analyzed, rot feature information related to the rot state is extracted, and the corresponding rot feature value is calculated based on the rot feature information.

[0073] For example, statistical analysis can be performed on the color distribution of each pixel in an image of the fruit and vegetable surface to obtain color feature parameters that reflect the proportion of discolored areas on the fruit and vegetable surface; grayscale changes or texture distribution in the image of the fruit and vegetable surface can be analyzed to obtain texture feature parameters that reflect the degree of softening and mottledness of the fruit and vegetable surface; and the contour or local morphological changes of the fruit and vegetable surface can be identified to obtain morphological feature parameters that reflect the degree of collapse or irregular changes of the fruit and vegetable surface; and the color feature parameters, texture feature parameters, and morphological feature parameters can be weighted and fused to obtain rot feature values ​​used to characterize the degree of rot on the fruit and vegetable surface.

[0074] Step S205: Determine whether there are rotten areas on the surface of fruits and vegetables that exceed the preset rot threshold based on the rotten characteristic value.

[0075] The preset decay threshold is a threshold parameter used to distinguish between the juicable and non-juicable states of fruit and vegetable surfaces under the current decay characteristic value. It can be preset according to actual usage needs or configured during equipment initialization.

[0076] In this embodiment, by comparing the rot feature value with a preset rot threshold, when the rot feature value is greater than the preset rot threshold, it is determined that there is a rotten area with a large area ratio or a severe degree on the surface of the fruit and vegetables; when the rot feature value is not greater than the preset rot threshold, it is determined that there is no rotten area on the surface of the fruit and vegetables that would affect the quality of juicing.

[0077] Step S206: If it exists, generate a fruit and vegetable rot alarm and suspend the execution of the target production mode.

[0078] The fruit and vegetable rot alarm is a prompt signal generated and output by the juicer when a rotten area larger than the preset rot threshold is detected on the surface of the fruit and vegetables. It is used to indicate that there are fruit and vegetable conditions in the current juicing tank that do not meet the production requirements.

[0079] After determining that there is a rotten area on the surface of fruits and vegetables that exceeds the preset rot threshold, the system responds to the determination result by immediately generating a fruit and vegetable rot alarm signal and outputting the alarm signal to the display screen along with a fruit and vegetable rot prompt message. It can also issue an alarm through sound and light. At the same time, the system sends a pause command to the juicer's actuator, putting the current target production mode into a pause state to stop subsequent juicing, cutting, or stirring actions.

[0080] Step S207: If it does not exist, then execute the pre-juicing stage in the target production mode.

[0081] The pre-juicing stage refers to the working stage in the target production mode, which is located before the formal juicing stage. It is used for preliminary cutting, turning, and condition testing of fruits and vegetables. Specific steps can be found in [reference needed]. Figure 3 The details in the embodiments are not repeated here.

[0082] Reference Figure 3 The pre-juicing stage in the target production mode includes: Step S301: Control the juicing cutter to cut the fruit and vegetables in contact with the juicing cutter at the first cutting angle and the first rotation speed, so that part of the fruit and vegetables is cut into fruit and vegetable particles.

[0083] The first cutting angle of attack refers to the blade angle set by the juicing cutter relative to the plane of rotation of the cutter, which is used to achieve localized cutting. This angle of attack is configured to allow fruits and vegetables to be cut rather than completely crushed.

[0084] The first rotational speed is the rotational speed of the juicing cutter that matches the first cutting angle of attack.

[0085] Specifically, after the juicing cutter cuts the local part of the fruit and vegetables in contact with the juicing cutter at the first cutting angle and the first rotation speed for a preset pre-cutting time, the juicing cutter is controlled to stop rotating.

[0086] In one feasible embodiment, when fruits and vegetables are added to the juicing tank, only the bottom portion of the fruits and vegetables comes into contact with the juicing cutter. By adjusting the angle of attack of the juicing cutter to a first cutting angle of attack, the blade enters the interior of the fruits and vegetables at a relatively gentle angle of incidence when the cutter rotates. Combined with a first rotational speed to limit the cutting energy, the fruits and vegetables are cut into smaller particles but not directly ground into a slurry. This method ensures that the fruits and vegetables retain a granular structure suitable for subsequent testing before being completely crushed.

[0087] For example, taking an apple as an example, when the whole apple is placed in the juicing bucket and in contact with the blade, the juicing blade runs at the first cutting angle and the first speed and after reaching the pre-cutting time, it only cuts off about one-fifth of the apple flesh from the bottom. This flesh will be cut into apple pieces with a size close to the preset particle threshold, while the remaining uncut apple body remains intact, waiting for subsequent turning and cutting.

[0088] Fruits and vegetables can be categorized into first-size and second-size fruits and vegetables based on their size. Examples of first-size fruits and vegetables include apples and oranges, while examples of second-size fruits and vegetables include grapes and cherries. The size of a fruit or vegetable is determined by comparing its longest dimension with a preset size threshold. When second-size fruits and vegetables are cut, the portion that is cut off becomes fruit and vegetable granules. Furthermore, because second-size fruits and vegetables are smaller, the remaining portion that has not yet been cut is also defined as fruit and vegetable granules. In other words, whenever second-size fruits and vegetables are cut, the corresponding portion becomes fruit and vegetable granules.

[0089] Step S302: Obtain the decay characteristic values ​​of fruit and vegetable particles in real time.

[0090] In one method of juicer control, only fruits and vegetables with surface rot can be detected. However, some fruits and vegetables may have rot that is difficult to detect visually on the surface, while the inside of the fruit or vegetable may be rotten. If only the surface rot is used as the basis for judgment, it is easy to misjudge fruits and vegetables that are rotten inside as normal fruits and vegetables. As a result, the rotten fruits and vegetables will be completely crushed and mixed into the juice during the subsequent juicing process, which will affect the taste, safety and overall quality of the juice.

[0091] Since the image information inside the juicing container can be acquired in real time, the step of obtaining the surface feature information of the fruit and vegetable particles based on the image information can also be performed in real time, thereby obtaining the surface feature information of the fruit and vegetable particles. The specific steps can be referred to in step S203. After obtaining the surface feature information of the fruit and vegetable particles, the decay feature value of the fruit and vegetable particles is obtained based on the surface feature information of the fruit and vegetable particles. The specific steps can be referred to in step S204.

[0092] Based on image processing and feature extraction technology, the color features, texture features and surface morphology features of fruit and vegetable particles are analyzed. For example, it detects whether there are abnormal discoloration areas, local collapse areas or irregular texture areas, and maps the extracted decay-related features to corresponding numerical parameters. Then, based on the combination results of multiple decay-related features, the decay feature value of the fruit and vegetable particles is calculated.

[0093] For example, after an apple is cut into multiple apple pieces, some apple pieces may expose areas that are locally browned, blackened, or have soft tissue during the tumbling process. The system can collect surface images of these apple pieces in real time during the stirring process and calculate the corresponding decay characteristic values ​​based on the above abnormal features, so as to determine whether decay has been triggered.

[0094] Step S303: Determine whether there are rotten particles greater than the preset rot threshold based on the rot characteristic value.

[0095] After acquiring the decay characteristic values ​​of multiple fruit and vegetable particles in real time, the control module compares the decay characteristic value of each fruit and vegetable particle with the preset decay threshold one by one. When the decay characteristic value of at least one fruit and vegetable particle is greater than the preset decay threshold, it is determined that there are decaying particles in the juicing bucket and a corresponding judgment result is generated. If the decay characteristic values ​​of all fruit and vegetable particles are less than or equal to the preset decay threshold, it is determined that the current fruit and vegetable particles are all in an acceptable state.

[0096] For example, after an apple is cut into multiple apple pieces in stages, the corresponding decay characteristic value is calculated for each apple piece. If an apple piece exposes an abnormal color or tissue structure after cutting due to internal decay, its decay characteristic value will be significantly higher than that of other pieces. When the decay characteristic value exceeds the preset decay threshold, it can be determined that there are rotten particles in the juicing bucket.

[0097] Step S304: If yes, generate a juice contamination alarm and pause the execution of the target production mode.

[0098] When rotten particles are detected in the chopped fruit and vegetable granules, it indicates that the internal structure of the fruit and vegetable has been exposed as rotten, and the rotten fruit and vegetable will contaminate the current juice. Therefore, a juice contamination alarm is immediately generated, and the current target production mode is suspended to prevent rotten fruit and vegetable from continuing to participate in the subsequent juicing process, and to provide a safety window for subsequent fruit and vegetable processing or manual intervention.

[0099] Step S305: If not, control the juicing cutter to stir the fruit and vegetable particles at the second cutting angle and the second rotation speed, so that the fruit and vegetable particles move up along the wall of the juicing bucket and the uncut fruits and vegetables move down.

[0100] The second cutting angle of attack refers to the angle of attack of the blade disc that is more suitable for generating stirring and pushing effects compared to the first cutting angle of attack. It is used to guide the fruit and vegetable particles to move along the wall of the juicing barrel, rather than primarily for cutting.

[0101] The second rotation speed is the rotation speed of the juicing cutter that matches the second cutting angle of attack. It is used to enhance the stirring and pushing effect on the fruit and vegetable particles when the juicing cutter is working at the second cutting angle of attack. This allows the cut fruit and vegetable particles to move upward along the wall of the juicing bucket under the combined action of centrifugal force and stirring, while providing downward space for the uncut fruits and vegetables, thereby achieving the vertical circulation distribution of fruits and vegetables in the juicing bucket.

[0102] If no rotten particles are detected, adjust the angle of attack of the juicing cutter to the second cutting angle and the rotation speed to the second rotation speed, changing the working state of the juicing cutter from one primarily cutting to one primarily stirring and pushing. In this state, the fruit and vegetable particles generate tangential force and upward thrust along the juicing barrel wall as the juicing cutter rotates. This causes the already cut fruit and vegetable particles to move upward along the juicing barrel wall under centrifugal force and the pushing action of the cutter disc. At the same time, because the lower space is freed up, the uncut fruits and vegetables move downward under gravity, thus coming into contact with the juicing disc again, forming a cyclical state of "cut particles moving upward and uncut fruits and vegetables moving downward".

[0103] Step S306: Repeat all the above steps until the complete cutting of fruits and vegetables is finished.

[0104] Complete cutting means that all fruits and vegetables in the juicing bucket have completed the preset cutting requirements, and there are no longer any fruits or vegetables larger than the preset particle threshold that have not been cut.

[0105] For example, when juicing a whole apple, the system first cuts a portion of the apple into larger pieces. After confirming that no rot is detected, it stirs the apple to move the cut pieces upwards and the uncut portions downwards. Then, the downward-moving apple portions are cut and inspected again. By repeatedly performing the above steps until the entire apple is cut into pieces of the required size, the system determines that the complete cutting process is finished.

[0106] Step S307: Perform the juicing stage in the target production mode.

[0107] The juicing stage refers to the work stage after the fruits and vegetables have completed the pre-juicing stage, which involves cutting and checking their condition in stages. The fruits and vegetables are then continuously crushed and mixed according to the target production mode to obtain the finished juice.

[0108] After generating a juice contamination alarm and pausing the target production mode, this application embodiment also provides a method for filtering rotten fruits and vegetables, referring to... Figure 4 The method includes: Step S401: Obtain the fruit or vegetable to which the rotten particles belong, and obtain the size of the fruit or vegetable to which the particles belong.

[0109] The term "corresponding fruit and vegetable" refers to the original fruit and vegetable individual that has been identified as a rotten particle, that is, the fruit and vegetable object to which the rotten particle belonged before it was cut.

[0110] Fruit and vegetable size refers to the volume of the fruit or vegetable.

[0111] The system can obtain the outer contour area of ​​fruits and vegetables based on image information and image recognition technology, and calculate the length, width or equivalent diameter of the fruits and vegetables based on the coverage of the outer contour area in the image, thereby obtaining the size of the fruits and vegetables.

[0112] Step S402: Determine the target filter pore size based on the size of the fruits and vegetables and the amount of rotten particles, select the target filter based on the target filter pore size, and perform the tilting filter action.

[0113] The target filtration aperture refers to the filtration aperture size determined based on the size of the fruits and vegetables and the characteristics of the rotten particles, and is used for selective filtration of rotten fruits and vegetables during the filtration process.

[0114] A target filter is a filter assembly whose pore size matches the defined target pore size.

[0115] After selecting the target filter, connect the target filter to the upper inlet of the filter bucket, so that the material in the juicing bucket can be filtered by the target filter during the pouring process.

[0116] The tilting filtration action refers to the process of tilting the juicing container at a preset tilting angle after the target filter and the juicing container are connected, so that the material in the juicing container flows to the target filter under the action of gravity and completes the filtration process during the flow.

[0117] The specific steps for determining the target filter pore size based on the size of the fruits and vegetables and the amount of rotten particles, selecting the target filter based on the target pore size, and performing the tilting filtration action can be found in [reference needed]. Figure 5 The steps described in the embodiments are not repeated here.

[0118] Step S403: Determine the fruit and vegetable addition requirements based on the fruit and vegetable combination and the filtered fruit and vegetable combination.

[0119] The filtered fruit and vegetable combination refers to the state of the fruit and vegetable composition that remains in the juicing bucket after the pouring and filtering action is performed, and is used to continue the target production mode.

[0120] Fruit and vegetable addition requirements refer to the information on the types and quantities of fruits and vegetables that need to be added to ensure that the juicing results meet the requirements of the target production mode when the original fruit and vegetable combination changes due to filtration.

[0121] For example, if the target production mode corresponds to the fruit and vegetable combination of "apple + grape", the juicing tank contains whole apples and grapes before the filtration operation. After filtration, if the amount of fruit and vegetable corresponding to grapes is lower than the preset requirement value of the target production mode, the system determines that grapes are the fruit and vegetable category that needs to be supplemented, and determines the corresponding amount of grapes to be added based on the difference, thereby generating the fruit and vegetable addition requirement for grapes.

[0122] Step S404: Generate fruit and vegetable addition prompts based on the fruit and vegetable addition requirements.

[0123] Fruit and vegetable addition prompts are prompt messages generated based on the determined fruit and vegetable addition needs. They are used to guide users to add the corresponding types and quantities of fruits and vegetables to the juicing container so that the combination of fruits and vegetables in the juicing container is restored to a state that meets the requirements of the target production mode.

[0124] Step S405: In response to the detection that the addition of fruits and vegetables has been completed based on the image information, execute the preset cleaning mode.

[0125] "Fruit and vegetable addition complete" means that after analyzing the state of the fruits and vegetables in the juicing container based on image information, it is confirmed that the types and quantities of fruits and vegetables in the juicing container meet the requirements for adding fruits and vegetables.

[0126] The preset cleaning mode refers to the cleaning mode that is set in advance after the fruits and vegetables are added, in order to remove rotten particles, residues or contaminants remaining on the inner wall of the juicing bucket, the juicing blade and during the filtration process. It includes the cleaning sequence, cleaning action, pouring of filtered water and corresponding control parameters.

[0127] In one feasible embodiment, the preset cleaning mode may include adjusting the angle of attack of the juicing cutter to a preset cleaning and stirring angle of attack, and operating with a short-time pulse rotation cleaning action to enhance the removal effect of residues inside the juicing bucket.

[0128] Step S406: In response to the end signal of the preset cleaning mode, continue to execute the target production mode.

[0129] The end signal of the cleaning mode refers to the status signal used to indicate that the preset cleaning mode has been completed according to the predetermined cleaning sequence and cleaning actions. It can be triggered by the cleaning duration, the completion status of the cleaning action, or the end marker of the cleaning process.

[0130] After the cleaning mode ends, the control flow for the target production mode is restored, so that the juicer works according to the target production mode.

[0131] Reference Figure 5 The target filter pore size is determined based on the size of the fruits and vegetables and the amount of rotten particles. A target filter is then selected based on the target pore size, and a tilting filtration process is performed, including: Step S501: Obtain the size type of the fruit and vegetable, which includes the first size and the second size.

[0132] Size type refers to the classification result of fruits and vegetables after categorizing or ranking their sizes based on their dimensions, and is used to characterize the category attributes of the fruits and vegetables at the size level.

[0133] The first size and the second size refer to two different size types obtained by classifying fruits and vegetables according to preset size classification thresholds. The longest size of the fruit or vegetable can be compared with the preset size classification threshold; fruits and vegetables with a longest size greater than the preset threshold are classified as the first size, while fruits and vegetables with a longest size not greater than the preset size classification threshold are classified as the second size.

[0134] For example, if the longest dimension of an apple is greater than a preset size classification threshold, the apple's fruit and vegetable size is classified as the first size; if the longest dimension of a grape is less than the preset size classification threshold, the grape's fruit and vegetable size is classified as the second size.

[0135] Step S502: When the size type is the first size, select the target filter with small filter holes and perform the tilting filter action to filter out the juicer bucket through the small filter holes.

[0136] In this step, since the fruits and vegetables corresponding to the first size are the same as those belonging to the rotten particles (i.e., the rotten particles originate from fruits and vegetables of the first size), a small-sized filter hole is selected and a filtration and pouring action is performed, allowing the rotten particles and fruit and vegetable particles to be filtered to the outside of the juicing container. The diameter of the small-sized filter hole is smaller than that of the second size of fruits and vegetables but larger than the size of the fruit and vegetable particles, allowing whole fruits and vegetables to remain in the juicing container. However, since the rotten fruits and vegetables belong to the first size type, these fruits and vegetables still remain in the juicing container, but their size is relatively large. The operator can directly remove these fruits and vegetables from the juicing container, thus completing the complete removal of the rotten fruit and vegetable particles and their corresponding fruits and vegetables.

[0137] Step S503: Generate a first-size fruit and vegetable rot alert.

[0138] The "First Size Fruit and Vegetable Rot Warning" is a notification generated when the fruit or vegetable is classified as "First Size" and rotten particles have been filtered out of the juicing container during the filtration process. It informs the user that the rotten particles still exist in the juicing container and need to be removed.

[0139] Furthermore, in practical applications, small robotic arms can be used to grab and remove rotten fruits and vegetables from the juicing tank.

[0140] Step S504: If the size type is the second size, determine whether the fruits and vegetables of the first size have been cut based on the image information.

[0141] When the fruit and vegetable size type is designated as "second size," it indicates that the rotten particles originate from smaller fruits and vegetables, such as grapes and cherries. However, when partially cutting the fruit and vegetables, there is a possibility that first-size fruits and vegetables may be cut as well. If the rotten particles originate from second-size fruits and vegetables, and a portion of the first-size fruit and vegetable has already been cut, the rotten particles will contaminate the first-size fruit and vegetable, even if the first-size fruit and vegetable is not rotten.

[0142] In one feasible embodiment, the outline shape of fruits and vegetables in the juicing bucket is analyzed by image recognition; if the complete outline of the first size type of fruits and vegetables disappears and multiple fruit and vegetable particle features corresponding to the first size of fruits and vegetables appear, it is determined that the first size of fruits and vegetables has been cut.

[0143] Step S505: If so, select the target filter according to the filtration method corresponding to the first size of fruit and vegetables.

[0144] If so, it means that in the case of size type 2, the fruits and vegetables of size 1 have been cut according to the image information.

[0145] Selecting the target filter according to the filtration method corresponding to the first size of fruits and vegetables means selecting the target filter according to step S602. In other words, if the first size of fruits and vegetables is contaminated by rotten particles, the first size of fruits and vegetables can be regarded as the fruits and vegetables to which the rotten particles belong, and therefore the target filter can be selected according to step S602.

[0146] Step S506: If not, select the target filter with large-sized filter holes and perform the tilting filter action to keep the first-sized fruits and vegetables in the juicing bucket and allow the second-sized fruits and vegetables and their corresponding fruit and vegetable particles to be filtered out of the juicing bucket through the large-sized filter holes.

[0147] If not, it means that when the size type is the second size, the image information indicates that the fruits and vegetables of the first size have not been cut, that is, the fruits and vegetables of the first size have not been contaminated by rotten particles.

[0148] The large-diameter filter pores are larger than the size of the second-sized fruits and vegetables. After the pouring and filtering operation, the second-sized fruits and vegetables and their corresponding particles are filtered out of the juicing container through the large-diameter filter pores. These particles include rotten particles. The first-sized fruits and vegetables, being larger than the large-diameter filter pores, remain in the juicing container. Because the second-sized fruit and vegetable particles are smaller, they are better separated from the chopped particles by the filter. Therefore, after the second-sized fruits and vegetables and their corresponding rotten particles are filtered out of the juicing container through the large-diameter filter pores, it is necessary to sort the second-sized fruits and vegetables and their particles to remove any unchopped second-sized fruits and vegetables.

[0149] Step S507: Generate a second-size fruit and vegetable rot indicator.

[0150] The "Second Size Fruit and Vegetable Rot Warning" indicates that if the fruit and vegetable size is second-size, and the fruit and vegetable particles (including rotten particles) have been filtered out of the juicing container during the filtration process, the first-size fruit and vegetables remain in the juicing container. The second-size fruit and vegetables and their particles have been filtered out, and the undone fruit and vegetables need to be removed from the granules. After removing these undone fruits and vegetables, they should be placed back into the juicing container.

[0151] Furthermore, in practical applications, small robotic arms can be used to select uncut fruits and vegetables using image recognition technology, and then pick these uncut fruits and vegetables out of the fruit and vegetable granules.

[0152] This application embodiment provides a second method for removing rotten fruits and vegetables after issuing a fruit and vegetable rot alarm and pausing the target production mode, referring to... Figure 6 The method includes: Step S601: Mark the target rotten fruits and vegetables whose surface has a rotten area greater than the preset rot threshold.

[0153] The target rotten fruits and vegetables refer to those fruits and vegetables that are determined to have rotten areas on their surface that exceed the preset rot threshold during the detection process.

[0154] After determining that there are rotten areas on the surface of fruits and vegetables exceeding a preset rot threshold, the image recognition results generate a corresponding anomaly detection box for the fruit or vegetable in the currently acquired image. This anomaly detection box is then used to select and mark the fruit or vegetable, thus identifying it as the target rotten fruit or vegetable. Since the image information is continuously acquired, the anomaly detection box can be updated in real time based on the movement changes of the fruit or vegetable in subsequent acquired images, thereby achieving continuous selection and tracking of the target rotten fruit or vegetable.

[0155] For example, when multiple grapes are present in the juicing container, if one grape is identified as having a clearly rotten area on its surface, the system generates an anomaly detection box for that grape in the image corresponding to the current image information. As the fruits and vegetables in the juicing container tumble or change position, the system continuously updates the position of the anomaly detection box in subsequent images, ensuring that the grape is always marked, facilitating its subsequent location and removal.

[0156] Step S602: Obtain the particle size grade of the target rotten fruits and vegetables.

[0157] Particle size grade refers to the grade label that divides the target rotten fruit and vegetable into multiple preset particle size ranges based on the size information of the target rotten fruit and vegetable. It is used to characterize the size level of the target rotten fruit and vegetable in the current state, including large particle size, medium particle size, and small particle size. For example, apples are large particle size and grapes are small particle size.

[0158] Step S603: Determine whether the particle size grade is smaller than the preset large particle size grade.

[0159] When the particle size is not smaller than the preset large particle size level, it indicates that the target rotten fruit or vegetable is large in volume, while the juicing tank can only hold a small number of fruits or vegetables of that particle size. Therefore, an alarm for large-particle-size rotten fruit or vegetable can be generated to inform the operator that there are rotten fruits or vegetables in the juicing tank. The operator only needs to pick out the small number of large-particle-size fruits or vegetables to remove the target rotten fruit or vegetable. When the particle size is smaller than the preset large particle size level, it indicates that the target rotten fruit or vegetable is small in volume, and the juicing tank can hold a large number of fruits or vegetables of that particle size. Moreover, multiple fruits or vegetables are prone to obstructing each other during tumbling and stacking, making it difficult for the operator to directly locate and accurately identify the target rotten fruit or vegetable manually. If the juicing process is directly interrupted and the juicing tank is emptied at this time, it will significantly increase the waste of fruits and vegetables and reduce the efficiency of continuous production.

[0160] Step S604: If so, control the juicing cutter to stir the fruits and vegetables at the second stirring angle and the second stirring speed, so that the fruits and vegetables move up along the wall of the juicing bucket.

[0161] The second angle of attack refers to a non-cutting orientation angle of the juicing cutter relative to the plane of rotation. This angle of attack is used to weaken the cutting action and enhance the pushing and stirring action, so that the fruits and vegetables are mainly affected by centrifugal force and axial thrust and change position, rather than being further shredded.

[0162] The second stirring speed refers to the rotation speed of the juicing cutter that matches the second stirring angle of attack. This speed is lower than the speed during the cutting stage, and is used to ensure that the fruits and vegetables tumble and flow together while avoiding significant secondary cutting of small-diameter fruits and vegetables.

[0163] After determining that the particle size of the target rotten fruits and vegetables is smaller than the preset large particle size, the angle of attack of the juicing cutter is switched from the cutting angle to the stirring angle, and the juicing cutter is driven to rotate at the corresponding second stirring speed. Specifically, during the rotation of the juicing cutter, the fruits and vegetables are pushed against the inner wall of the juicing barrel under the action of centrifugal force, causing the fruits and vegetables close to the barrel wall to move upward along the barrel wall direction under the constraint of the barrel wall; at the same time, the fruits and vegetables located in the middle area of ​​the juicing barrel form a downward falling trend due to the backflow compensation effect, thus forming a circulating flow field of "rising along the barrel wall on both sides and falling downward in the middle" in the juicing barrel.

[0164] This circulating flow field can continuously break the stable accumulation of fruits and vegetables in the juicing tank, allowing small-diameter fruits and vegetables to constantly exchange positions at different heights, so that the target rotten fruits and vegetables can appear at the very top.

[0165] Step S605: Obtain the real-time location of the target rotten fruits and vegetables based on the image information.

[0166] By continuously acquiring image information from inside the juicing tank and based on the generated anomaly detection box, the positional changes of the target rotten fruits and vegetables in consecutive image frames are tracked and analyzed.

[0167] Specifically, by comparing the position changes of the anomaly detection box in adjacent image frames, the position parameters of the target rotten fruit and vegetable in the current image are updated in real time, thereby obtaining the real-time position of the target rotten fruit and vegetable in the juicing bucket; when the target rotten fruit and vegetable undergoes a height change due to stirring disturbance, the corresponding anomaly detection box is updated synchronously, so that the system can always grasp its current position status.

[0168] For example, when multiple grapes are present in the juicing container, once one grape is identified as the target rotten fruit / vegetable, image information of the juicing container is continuously acquired during subsequent stirring. As the juicing cutter operates at a second stirring angle, a circulating flow field is formed inside the container, causing the target rotten grape to continuously tumble and change height. As the grape moves upward along the container wall, its anomaly detection box in the image gradually moves upward, thereby updating its position information in real time.

[0169] Step S606: In response to the real-time position being located above the fruits and vegetables, control the juicing cutter to pause operation.

[0170] The upper layer of fruits and vegetables refers to the position at the top of the overall stack of fruits and vegetables in the juicing container at the current moment.

[0171] In one feasible embodiment, the system acquires detection box information of multiple fruits and vegetables in the juicing bucket in the image, and sorts them according to the occlusion relationship and relative vertical position of each detection box. When the detection box corresponding to the target rotten fruit or vegetable is located above the other detection boxes and is not covered by other detection boxes, it is determined that the target rotten fruit or vegetable is located in the upper layer of fruits and vegetables.

[0172] If the judgment result is true, the juicing cutter is stopped to keep the current stacking state of fruits and vegetables in the juicing bucket stable, providing safe and intuitive operating conditions for the subsequent manual removal of the target rotten fruits and vegetables.

[0173] Step S607: Generate a location hint for the target rotten fruit.

[0174] When the target rotten fruit is detected to be located on the top layer of the fruit and vegetable stack, a prompt message is generated to indicate that the target rotten fruit is on top of the fruit and vegetable stack, and the prompt message is displayed on the device's display screen.

[0175] This application provides a pulse juicing method, referring to... Figure 7 The method includes: Step S701: During the juicing stage in the target production mode, analyze the spatial distribution of the fruit and vegetable mixture in the juicing bucket based on the image information.

[0176] Spatial distribution is used to reflect the degree of concentration of the fruit and vegetable mixture at different locations on the inner wall of the juicing bucket.

[0177] During the juicing stage, image information inside the juicing bucket is continuously acquired, and the inner wall area of ​​the juicing bucket is analyzed based on the image recognition results to determine the distribution of the fruit and vegetable mixture at various locations on the inner wall, thereby determining the spatial distribution of the fruit and vegetable mixture on the inner wall of the juicing bucket.

[0178] Among them, the spatial distribution status is mainly reflected in whether the fruit and vegetable mixture exhibits obvious concentrated, aggregated or attached distribution characteristics in local areas of the inner wall of the juicing bucket.

[0179] For example, during the juicing process, if the image information shows that there is a relatively dense area of ​​fruit and vegetable mixture at a certain height on the inner wall of the juicing bucket, then the spatial distribution state corresponding to that position can be determined as a concentrated distribution state of fruit and vegetable mixture.

[0180] Step S702: Obtain the layering characteristic parameters of the fruit and vegetable mixture at different heights on the inner wall of the juicing bucket based on the spatial distribution.

[0181] After obtaining the spatial distribution of the fruit and vegetable mixture, the spatial distribution is further quantified to obtain the corresponding hierarchical feature parameters.

[0182] Layered feature parameters are used to characterize the concentration of fruit and vegetable mixtures at different heights on the inner wall of the juicing bucket, and their values ​​reflect the strength of aggregation of the fruit and vegetable mixtures at the corresponding heights.

[0183] In one feasible embodiment, the system determines the corresponding concentration parameters for different height positions of the inner wall of the juicing bucket based on the concentration of the fruit and vegetable mixture reflected in the image information, and uses the concentration parameters as the layering feature parameters for the corresponding height positions.

[0184] For example, when image information shows a significant and continuous accumulation of fruit and vegetable mixture in the upper part of the inner wall of the juicing bucket, the system assigns a larger stratification feature parameter to this upper part, thus indicating a higher concentration of the fruit and vegetable mixture at this height. As another example, during grape juicing, the system's spatial distribution analysis reveals a continuous and significant accumulation of fruit and vegetable mixture in the middle and upper height analysis sections of the inner wall of the juicing bucket, while the lower height analysis section shows a smaller distribution. Further analysis of the stratification feature parameters for the middle, upper, and lower height analysis sections reveals that the stratification feature parameters for the middle and upper sections are significantly higher than those for the lower section, indicating that the fruit and vegetable mixture forms a clear stratified distribution along the height direction on the inner wall of the juicing bucket.

[0185] Step S703: Based on the layering characteristic parameters, determine whether there is a layered accumulation area formed by the fruit and vegetable mixture on the inner wall of the juicing bucket.

[0186] The stratified accumulation area refers to a region within a certain height range of the inner wall of the juicing bucket where the concentration of the fruit and vegetable mixture is significantly higher than at other heights, and it exhibits a layered adhesion or continuous accumulation along the bucket wall.

[0187] The system compares and analyzes the layering feature parameters corresponding to different height positions on the inner wall of the juicing bucket to determine whether there is a layering feature parameter at at least one height position that is continuously greater than the preset accumulation judgment threshold; if so, it determines that the inner wall area corresponding to that height position forms a layered accumulation area composed of fruit and vegetable mixture.

[0188] In one feasible embodiment, the system pre-sets a preset accumulation judgment threshold to characterize the abnormal concentration state of the fruit and vegetable mixture. When the layering feature parameter corresponding to a certain height position is greater than the accumulation judgment threshold in multiple consecutive image acquisition cycles, it is determined that the fruit and vegetable mixture at that height position has not effectively participated in cutting or flowing during the juicing process, but has adhered to and remained on the inner wall of the juicing bucket, thereby forming a layered accumulation area.

[0189] Step S704: If yes, then obtain the stacking height of the layered stacking region.

[0190] Stacking height refers to the height range covered by the layered stacking area along the height direction on the inner wall of the juicing bucket, and is used to characterize the stacking position of the fruit and vegetable mixture on the wall of this area.

[0191] Given that a layered accumulation area has been identified, the starting and ending positions of the height of the layered accumulation area are determined based on the upper and lower boundary positions of the layered accumulation area on the inner wall of the juicing bucket in the image information, and the accumulation height of the layered accumulation area is calculated accordingly.

[0192] Step S705: Match the corresponding target pulse speed from the preset pulse speed list according to the stacking height.

[0193] Pulse speed refers to the rotational speed pattern of the juicing cutter, which alternates between high and low speeds within a preset time period, to create periodic liquid disturbance and scouring effects within the juicing container.

[0194] A pulse speed list is a pre-established set of speed parameters that associates different stacking heights with corresponding pulse speed parameters.

[0195] After obtaining the stacking height of the layered stacking area, the stacking height is compared with the preset stacking height range. Based on the height range to which the stacking height belongs, the pulse speed parameter corresponding to that height range is selected from the pulse speed list as the target pulse speed.

[0196] In one feasible embodiment, the system divides the stacking height of the layered stacking region into multiple height levels, each height level corresponding to a set of pulse rotation speed parameters. When the stacking height is low, the corresponding pulse rotation speed parameters use a smaller rotation speed amplitude and a shorter pulse period; when the stacking height is high, the corresponding pulse rotation speed parameters use a larger rotation speed amplitude and a longer pulse period to enhance the scouring ability of the high-level stacking region. Based on the currently acquired stacking height, the system automatically matches and determines the corresponding target pulse rotation speed.

[0197] For example, when the system detects that the layered accumulation area of ​​the fruit and vegetable mixture on the inner wall of the juicing bucket is located in the upper part of the bucket, the system matches a set of medium-to-high intensity pulse speed parameters from the pulse speed list; the juicing cutter corresponding to the pulse speed parameter rapidly increases its speed in a short time and periodically decreases, thereby creating obvious liquid turbulence in this height area, effectively rinsing the fruit and vegetable mixture attached to the inner wall.

[0198] Step S706: Control the juicing cutter to enter the pulse rotation mode and rotate at the target pulse speed, so that the liquid in the juicing bucket forms turbulence in the area corresponding to the stacking height, so as to flush the layered stacking area.

[0199] Pulse rotation mode refers to a rotation mode in which the juicing cutter no longer maintains a constant speed during the juicing stage, but instead periodically switches between high and low speed ranges according to the target pulse speed.

[0200] Turbulence refers to the change in the liquid flow state caused by a sudden change in rotation speed, which causes irregular flow and shear impact of the liquid in the juicing bucket within a local height area.

[0201] After determining the target pulse speed, the juicing cutter is controlled to alternate between high-speed and low-speed rotation within one pulse cycle. Because there is liquid inside the juicing container, the rapid change in speed between high and low will cause the liquid flow field to accelerate and decelerate periodically, thus forming obvious turbulence in the inner wall area corresponding to the accumulation height, causing the fruit and vegetable mixture attached to that height to be repeatedly washed.

[0202] For example, during the juicing process of apples and grapes, the system detects a layered accumulation area formed on the upper inner wall of the juicing tank and matches it with a corresponding target pulse rotation speed. When executing the pulse rotation mode, the juicing cutter rotates at a high speed for a short period, causing the liquid to be rapidly lifted and impact the upper inner wall; subsequently, the speed decreases, the liquid falls back and changes direction. Through this repeated switching between high and low speeds, the fruit and vegetable mixture adhering to the upper inner wall is continuously washed away and detached, re-entering the juicing tank to participate in cutting and juicing, thereby improving the uniformity of juicing.

[0203] Based on the same inventive concept, embodiments of this application provide a juicer control system, including: The acquisition module is used to acquire image information; A memory for storing the program for the juicer control method described above; The processor and the program in the memory can be loaded and executed by the processor to implement the juicer control method described above.

[0204] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0205] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a juicer control method.

[0206] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0207] Based on the same inventive concept, embodiments of this application provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as a juicer control method.

[0208] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0209] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A juicer control method, characterized in that, include: Acquire image information from inside the juicing container; Obtain the fruit and vegetable category and the corresponding quantity of fruit and vegetables based on the image information; Determine the combination of fruits and vegetables based on their type and quantity; The target juicing mode is retrieved from the list of preset juicing modes based on the combination of fruits and vegetables. Generate a confirmation signal corresponding to the target production mode; If no manual production mode signal is received within the preset waiting time, or if a confirmation signal for a pending confirmation signal is received within the preset time, a permission command for the target production mode is generated. In response to the permission command, control the juicer to operate according to the target production mode.

2. The juicer control method according to claim 1, characterized in that, The method further includes: At the initial stage of the target working mode, adjust the angle of attack of the juicing cutter to the first stirring angle of attack; Control the juicing cutter to rotate at the first stirring speed to make the fruits and vegetables in the juicing bucket rotate; Obtain surface feature information of fruits and vegetables based on image information; Obtain decay characteristic values ​​based on surface feature information of fruits and vegetables; Determine whether there are rotten areas on the surface of fruits and vegetables that exceed a preset rot threshold based on rot characteristic values; If present, a fruit and vegetable spoilage alarm will be generated and the target production mode will be suspended. If it does not exist, then execute the pre-juicing stage in the target production mode.

3. The juicer control method according to claim 2, characterized in that, The pre-juicing stage in the target production mode includes: The juicing cutter is controlled to cut the fruit and vegetables in contact with the juicing cutter at a first cutting angle and a first rotation speed, so that a part of the fruit and vegetables is cut into fruit and vegetable particles. Real-time acquisition of decay characteristic values ​​of fruit and vegetable particles; Determine whether there are rotten particles greater than the preset rot threshold based on the rot characteristic value; If so, generate a juice contamination alarm and suspend the target production mode; If not, control the juicing cutter to stir the fruit and vegetable particles at the second cutting angle and the second speed, so that the fruit and vegetable particles move up along the wall of the juicing bucket and the uncut fruits and vegetables move down. Repeat all the above steps until the fruits and vegetables have been completely cut. Perform the juicing stage in the target production mode.

4. The juicer control method according to claim 3, characterized in that, After generating a juice contamination alarm and pausing the target production mode, the method further includes: Obtain the fruit or vegetable to which the rotten particles belong, and obtain the size of the fruit or vegetable to which the particles belong; Determine the target filter pore size based on the size of the fruits and vegetables and the amount of rotten particles, select the target filter based on the target filter pore size, and perform the tilting filtration action; Determine the fruit and vegetable addition requirements based on the fruit and vegetable combination and the filtered fruit and vegetable combination; Generate fruit and vegetable addition prompts based on fruit and vegetable addition requirements; In response to the detection that fruits and vegetables have been added based on image information, the preset cleaning mode is executed; In response to the end signal of the preset cleaning mode, continue to execute the target production mode.

5. The juicer control method according to claim 4, characterized in that, Determine the target filter pore size based on the size of the fruits and vegetables and the amount of decaying particles, select the target filter based on the target filter pore size, and perform the tilting filtration action, including: Get the size type of the fruit and vegetable, including the first size and the second size; When the size type is the first size, select the target filter with small filter holes and perform the tilting filter action to filter out the juicer bucket through the small filter holes. Generate a first-dimensional fruit and vegetable rot alert; When the size type is the second size, determine whether the fruits and vegetables of the first size have been cut based on the image information; If so, select the target filter according to the filtration method corresponding to the first size of fruit and vegetables; If not, select the target filter with large-sized filter holes and perform the tilting filter action to keep the first-sized fruits and vegetables in the juicing bucket and allow the second-sized fruits and vegetables and their corresponding fruit and vegetable particles to be filtered out of the juicing bucket through the large-sized filter holes. Generate a second-size indicator for fruit and vegetable rot.

6. The juicer control method according to claim 2, characterized in that, After issuing a fruit and vegetable spoilage alarm and pausing the target production mode, the process includes: Mark the target rotten fruits and vegetables whose surface has rotten areas larger than a preset rot threshold; Obtain the particle size classification of the target rotten fruits and vegetables; Determine if the particle size class is smaller than the preset minimum particle size class; If so, control the juicing cutter to stir the fruits and vegetables at the second stirring angle and the second stirring speed, so that the fruits and vegetables move up along the wall of the juicing bucket; The real-time location of the target rotten fruits and vegetables is obtained based on image information; In response to the real-time location being above the fruits and vegetables, the juicing and cutting blades are controlled to pause operation. Generate location hints for the target rotten fruit.

7. The juicer control method according to claim 3, characterized in that, The method further includes: During the juicing stage in the target production mode, the spatial distribution of the fruit and vegetable mixture in the juicing bucket is analyzed based on image information. Based on the spatial distribution, obtain the layering characteristic parameters of the fruit and vegetable mixture at different heights on the inner wall of the juicing bucket; Based on the stratification characteristic parameters, determine whether there is a stratified accumulation area formed by the mixture of fruits and vegetables on the inner wall of the juicing bucket; If so, obtain the stacking height of the layered stacking region; Match the corresponding target pulse speed from the preset pulse speed list based on the stacking height; The juicing cutter is controlled to enter pulse rotation mode and rotate at the target pulse speed, so that the liquid in the juicing bucket forms turbulence in the area corresponding to the stacking height, thereby flushing the layered stacking area.

8. A juicer control system, characterized in that, The system is used to perform the juicer control method as described in any one of claims 1 to 7, including: The acquisition module is used to acquire image information; A memory for storing the program of the juicer control method; The processor and the program in the memory can be loaded and executed by the processor to implement the juicer control method.

9. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and execute the method as described in any one of claims 1 to 7.

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