Posture-adjustable walnut directional shell breaking device and control method

Abstract

The application discloses a posture-adjustable walnut directional shell breaking device and a control method, and the device comprises a rack, a pneumatic shell breaking device, a posture adjusting device, a correction clamping device, a pretreatment device, an image recognition device and an air compressor. The control method can realize multi-directional posture adjustment and accurate orientation of the walnut. The joint line angle of the walnut is adjusted by a rudder, so that the joint line of the walnut is always consistent with the transportation direction of the walnut. The left-right inclination angle and the front-back inclination angle of the walnut are adjusted by rotating a friction wheel, so that the joint line is always perpendicular to the horizontal plane, and the long axis of the walnut is parallel to the horizontal plane. The adjusted walnut is clamped and fixed, and then pretreatment and directional shell breaking are sequentially performed. The application always performs transverse shell breaking operation in a standard posture, so that the shell breaking effect of the walnut is improved, and the walnut has the advantages of easy separation of the shell and the kernel, high shell breaking rate and high kernel exposure rate.

Description

Technical Field

[0001] This invention relates to the field of walnut processing technology, and in particular to a walnut directional shell-breaking device and control method with adjustable posture. Background Technology

[0002] my country is the world's largest producer and grower of walnuts, and the walnut industry plays a vital role in driving economic development in mountainous areas and increasing farmers' income. With the continued growth in consumer demand for healthy foods, the walnut industry is placing higher demands on the efficiency and quality of its deep processing stages.

[0003] The key process in the deep processing of walnuts is the shelling and kernel extraction. Walnuts are typically irregular in shape, especially deep-textured walnuts, whose shells have deep grooves and are roughly oblate spheroids in shape. The gap between the shell and kernel is small, and the supporting core is relatively large, resulting in a tight fit between the shell, kernel, and core. When using conventional extrusion or impact-type shelling equipment, the force direction on the walnut is difficult to match with its structural characteristics, easily leading to problems such as insufficient shelling, kernel breakage, and difficulty in separating the shell and kernel. Existing walnut shelling equipment usually focuses more on the shelling mechanism itself, such as extrusion, impact, or shearing structures, but lacks sufficient control over the spatial posture of the walnut before it enters the shelling station. After the walnut randomly enters the shelling station, there may be deviations in its seam line, head ridge line, walnut tip direction, and left-right and front-back tilt angles. If shelling is performed directly, the blade's position and force direction cannot stably correspond to the easily cracked parts of the walnut, resulting in large fluctuations in shelling quality. Furthermore, the core of deep-textured walnuts provides support and insulation for the kernel; if targeted pretreatment is not performed before shelling, the shelling force needs to be increased, which can easily increase kernel damage.

[0004] Therefore, how to identify the key morphological features of walnuts before cracking, and how to perform multi-degree-of-freedom posture adjustment, secondary correction after clamping, and pretreatment of the tail core wood based on the identification results are important technical issues for improving the directional cracking effect of walnuts. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to provide a walnut directional shell-breaking device and control method with adjustable posture. It can classify and judge the target ridge line, tip and tilt angle of the walnut based on image recognition results, and sequentially complete the coarse adjustment of the directional tray, multi-directional posture adjustment of the friction wheel, secondary correction after clamping, pretreatment of the tail core wood and lateral directional shell breaking, thereby improving the stability of walnut shell breaking, the rate of intact kernels and the effect of shell-kernel separation.

[0006] Technical Solution: The first aspect of this invention provides a posture-adjustable contour-following walnut shell-breaking device, including a frame, a pneumatic shell-breaking device, a posture adjustment device, an image recognition device, a correction clamping device, a pre-processing device, an air compressor, and a controller. The posture adjustment device is installed in the middle of the upper layer of the frame to support the walnut and adjust its posture. The image recognition device is located in front of the posture adjustment device to acquire images of the walnut and identify the target ridge line and tip of the walnut. The correction clamping device is located above the posture adjustment device to clamp the walnut after posture adjustment and perform secondary correction. The pneumatic shell-breaking devices are arranged in pairs on both sides of the posture adjustment device for laterally oriented shell breaking of the walnut. The pre-processing device is installed in the lower layer of the frame and located behind the posture adjustment device for pre-processing the walnut's tail shell and septum. The air compressor is installed on the frame and connected to the pneumatic shell-breaking device. The controller is electrically connected to the image recognition device, posture adjustment device, correction clamping device, pre-processing device, and pneumatic shell-breaking device, and is used to control the walnut's posture adjustment, clamping, secondary correction, pre-processing, and shell-breaking actions based on the image recognition results.

[0007] Furthermore, the attitude adjustment device includes a downward adjustment base plate, a shaft support, gear I, gear II, gear III, stepper motor I, an adjustment tray, rear friction wheels, gear IV, stepper motor II, a tray support, a servo motor, front friction wheels, and a walnut tray. The downward adjustment base plate is fixed on the frame, the adjustment tray is mounted on the output shaft of the servo motor, and the walnut tray is connected to the downward adjustment base plate via the tray support. The two rear friction wheels are mounted on the same rotating shaft and are connected to stepper motor II via gear IV. The two front friction wheels are mounted on different rotating shafts and are connected to gear I and gear III respectively. Gears I, II, and III mesh sequentially, and stepper motor I drives the two front friction wheels to rotate in the same direction and at the same angle through gear transmission.

[0008] Furthermore, the two front friction wheels and the two rear friction wheels are symmetrically arranged about the same plane, and the centers of the four friction wheels are located on the same circumference and at the same height; the upper surface of the directional tray is lower than the support height of the front and rear friction wheels; the walnut support plate has a round hole and a groove in the middle, the groove is used to limit the front edge of the walnut and reserve a gap to prevent the walnut tip from curling upwards; the center of the directional tray, the center of the round hole in the middle of the walnut support plate and the center of the circles containing the centers of the four friction wheels are collinear.

[0009] Furthermore, the correction clamping device includes a lower rotating shaft, an upper rotating shaft, a meshing bevel gear, a stepper motor, a gear rack, a connecting plate, and a clamping disk; the stepper motor is connected to the upper rotating shaft via the meshing bevel gear, and the lower rotating shaft cooperates with the upper rotating shaft and can move up and down along the axial direction of the upper rotating shaft; one end of the connecting plate is connected to the lower rotating shaft, and the other end is connected to the rack of the gear rack, which is used to drive the connecting plate, the lower rotating shaft, and the clamping disk to move up and down; the clamping disk includes an upper clamping disk plate, bolts, a spring, a lower clamping disk plate, and a correction column, the upper clamping disk plate and the lower clamping disk plate are connected by bolts, and the spring is sleeved on the bolts and located between the upper clamping disk plate and the lower clamping disk plate.

[0010] Furthermore, four correction posts are provided on the lower plate of the clamping disk, and the tips of the four correction posts correspond to the center positions of the two front friction wheels and the two rear friction wheels, respectively; the tips of the correction posts are provided with anti-slip structures to limit the posture deviation of the walnut when clamping it; the stepper motor drives the upper rotating shaft, the lower rotating shaft and the clamping disk to rotate through meshing bevel gears, and performs secondary correction on the target ridge direction of the walnut in the clamping state.

[0011] Furthermore, the pretreatment device includes a servo motor, a ball screw, an electric motor, and a drill bit. The servo motor drives the ball screw to perform linear feed motion. The electric motor is mounted on the nut of the ball screw, and the drill bit is mounted at the front end of the electric motor. The drill bit includes a shell drill and a split-wood drill. The shell drill is used to break the shell at the tail of the walnut, and the split-wood drill adopts a stepped drill structure and is used to break the split wood of the walnut. The pneumatic shell-breaking device includes a cylinder and a contouring cutter. The profile of the contouring cutter is adapted to the curve of the walnut shell, and the cutter has a serrated structure. When breaking the shell, two oppositely arranged cylinders push the contouring cutter to move towards each other, so that the walnut is subjected to lateral shearing action and the shell is broken.

[0012] A second aspect of the present invention provides a method for controlling the shell-breaking of walnuts with adjustable posture, comprising the following steps: S1: Create a target ridge template and a walnut tip template, and process the target ridge template and the walnut tip template into template rectangles respectively; S2: Acquire images of the walnuts to be shelled using an image recognition device, and identify the target ridges and tips of the walnuts to be shelled; S3: Based on the lateral centroidal deviation between the target ridge rectangle of the walnut to be cracked and the target ridge template rectangle, control the servo motor to drive the adjustment tray to rotate, and make the first adjustment to the target ridge direction of the walnut. S4: Based on the longitudinal centroid deviation between the rectangular tip of the walnut to be cracked and the rectangular template of the walnut tip, and the deviation angle between the direction vector of the target ridge line of the walnut to be cracked and the direction vector of the target ridge line template, control stepper motor I and stepper motor II to drive the front friction wheel and the rear friction wheel to rotate, and make a second adjustment to the left and right tilt angle and front and back tilt angle of the walnut. S5: When the walnut reaches the preset posture condition, control the gear rack to drive the clamping plate to move down and clamp the walnut; S6: After clamping, the image of the walnut is acquired again. Based on the lateral centroid deviation of the target edge, the stepper motor is controlled to drive the clamping disk to rotate, and the walnut is corrected again under the clamping state. S7: After the second correction is completed, the pretreatment device is controlled to pretreat the walnut tail shell and septum, and then the pneumatic shell-breaking device is controlled to break the walnut in a horizontal direction.

[0013] Furthermore, in steps S1 and S2, the coordinates of the upper left endpoint of the target ridge template rectangle are and the coordinates of the lower right endpoint are ; the coordinates of the upper left endpoint of the walnut tip template rectangle are and the coordinates of the lower right endpoint are ; after acquiring the image of the walnut to be cracked through the image recognition device, the target ridge and walnut tip of the walnut to be cracked are edge extracted and converted into a test rectangle through Hough line transformation; the coordinates of the upper left endpoint of the target ridge test rectangle are and the coordinates of the lower right endpoint are ; the coordinates of the upper left endpoint of the walnut tip test rectangle are and the coordinates of the lower right endpoint are .

[0014] Furthermore, steps S3 and S4 include: Calculate the lateral centroid coordinates X1 = 2 for the target edge rectangle to be measured, and calculate the lateral centroid coordinates X2 = 2 for the target edge template rectangle; when |X1-X2| > |x a1 -x b1 At | / 4, the servo motor drives the directional tray to rotate, and the image is reacquired after each adjustment until |X1-X2|≤|x a1 -x b1 | / 4; Calculate the longitudinal centroid coordinates Y1 = / 2 of the rectangle to be measured (the walnut tip), and calculate the longitudinal centroid coordinates Y2 = / 2 of the template rectangle (the walnut tip). Calculate the direction vector v1 = of the rectangle to be measured along the target edge, and calculate the direction vector v2 = of the template rectangle along the target edge. Then, calculate the deviation angle based on v1 and v2. When |Y1-Y2|≤|y a2 -y b2 | / 4 or When the angle is greater than 2°, stepper motors I and II are controlled to drive the front and rear friction wheels to adjust the walnut's posture, and the image is re-acquired after each adjustment until |Y1-Y2|≤|y a2 -y b2| / 4 and ≤2°.

[0015] Furthermore, when the image recognition device fails to identify the target ridge line and tip of the walnut to be cracked, the control servo motor rotates the directional tray 180° and re-acquires the image; after the clamping plate clamps the walnut, the walnut image is acquired again and the lateral centroid coordinate X1 of the rectangle to be measured for the target ridge line is recalculated. When |X1-X2|>|x a1 -x b1 At 8 o'clock, control the stepper motor to drive the clamping disk to rotate, and re-acquire the image after each adjustment until |X1-X2|≤|x a1 -x b1 | / 8; Subsequently, the pretreatment device is controlled to pretreat the walnut tail shell and septum, and the pneumatic shell-breaking device is controlled to complete the shell-breaking.

[0016] Beneficial effects: Compared with the prior art, the present invention has the following advantages: (1) The image recognition device of the present invention recognizes the target ridge line and the tip of the walnut and judges the posture by combining the deviation of the template rectangle centroid and the deviation angle of the target ridge line, which enables the walnut to be adjusted to a standard posture suitable for lateral orientation before shelling; (2) The present invention adopts graded posture adjustment with the coordination of the orientation tray and friction wheel, which can realize the multi-degree-of-freedom posture adjustment of the walnut; (3) The present invention collects images again after clamping and performs secondary correction by rotating the clamping plate, which can reduce the impact of the slight displacement of the walnut during clamping on the shelling accuracy; (4) The present invention pre-processes the walnut tail shell and septum with the shell drill and the septum drill, which can reduce the subsequent shelling resistance and improve the shell-kernel separation effect without directly squeezing the kernel; (5) The present invention uses a contour cutter to perform lateral shearing shelling, and the blade profile is adapted to the curve of the walnut shell, which is conducive to improving the shelling stability and reducing kernel damage. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the pneumatic shell-breaking mechanism in this invention; Figure 3 This is a schematic diagram of the internal structure of the attitude adjustment device in this invention; Figure 4 This is a top view schematic diagram of the attitude adjustment device in this invention; Figure 5 This is a schematic diagram of the correction clamping device in this invention; Figure 6 This is a schematic diagram of the pretreatment device structure in this invention; Figure 7 This is a schematic diagram illustrating the principle of directional shell breaking of walnuts in this invention; Figure 8This is a schematic diagram of the directional shell-breaking process for walnuts in this invention.

[0018] Explanation of reference numerals in the attached drawings: 1-Frame; 2-Pneumatic shell-breaking device, 201-Cylinder, 202-Contouring cutter; 3-Attitude adjustment device, 301-Adjustable lower seat plate, 302-Shaft support, 303-Gear I, 304-Gear II, 305-Gear III, 306-Stepper motor I, 307-Adjustable tray, 308-Rear friction wheel; 309-Gear IV, 310-Stepper motor II, 311-Pattern support, 312-Servo motor, 313-Screw, 314-Front friction wheel, 315-Walnut tray; 4-Image recognition device; 5-Correction clamping device 501-Lower rotating shaft, 502-Upper rotating shaft, 503-Meshing bevel gear, 504-Stepper motor, 505-Gear rack, 506-Connecting plate, 507-Screw, 508-Clamping plate, 5081-Clamping plate upper plate, 5082-Bolt, 5083-Spring, 5084-Clamping plate lower plate, 5085-Correction column, 509-Screw; 6-Walnut; 7-Pre-treatment device, 701-Servo motor, 702-Ball screw, 703-Motor, 704-Drill bit, 7041-Shell drill, 7042-Divider wood drill; 8-Air compressor. Detailed Implementation

[0019] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0020] Example 1

[0021] This embodiment provides a walnut-oriented shell-cracking device with adjustable posture, such as... Figure 1As shown, the system includes a frame 1, a pneumatic shell-cracking device 2, a posture adjustment device 3, an image recognition device 4, a correction clamping device 5, a pre-processing device 7, an air compressor 8, and a controller. The posture adjustment device 3 is installed in the middle of the upper layer of the frame 1. The image recognition device 4 is placed directly in front of the posture adjustment device 3. The correction clamping device 5 is placed directly above the posture adjustment device 3. The pneumatic shell-cracking device 2 is symmetrically placed on both sides of the posture adjustment device 3. The pre-processing device 7 is installed on the lower layer of the frame 1 and located directly behind the posture adjustment device 3. The air compressor 8 is installed on the support frame of the frame 1. The image recognition device 4 is used to acquire image information of the walnut 6 to be tested. The posture adjustment device 3 is used to perform multi-directional posture adjustment of the walnut 6 to be tested. The correction clamping device 5 is used to clamp and fix the walnut 6 to be tested after posture adjustment and to perform final posture correction of the walnut 6 to be tested. The pre-processing device 7 is used to perform pre-cracking pre-treatment on the tail shell and septum of the walnut 6 to be tested. The pneumatic shell-cracking device 2 is used to perform lateral directional shell cracking on the pre-processed walnut 6 to be tested. The controller is connected to the image recognition device 4, the posture adjustment device 3, the correction and clamping device 5, the preprocessing device 7, and the pneumatic shell-breaking device 2 respectively. The image recognition device 4 sends the recognition result to the controller. The controller drives the servo motor 312, stepper motor I306, stepper motor II310, stepper motor 504, servo motor 701, electric motor 703 and cylinder 201 to perform posture adjustment, clamping, secondary correction, preprocessing and shell breaking in sequence.

[0022] like Figure 2 As shown, the pneumatic shell-cracking device 2 includes a cylinder 201 and a contour cutter 202. The contour cutter 202 has a blade profile that fits the curve of the walnut shell, and the blade has evenly distributed serrations. During shell cracking, the air compressor 8 provides power, and the opposing cylinders 201 push the contour cutter 202 to move towards both sides of the walnut 6 to be tested. The shearing force generated by the contour cutters 202 on both sides acts on the walnut 6 to be tested, causing the walnut 6 to be tested to crack laterally.

[0023] The contouring curve of the contouring tool 202 can be described by, but is not limited to, a quartic polynomial curve equation, the mathematical expression of which is: Where x represents the position on the horizontal coordinate axis, and y represents the contour height on the vertical coordinate axis. The coefficients are polynomials, obtained through spline fitting or least squares method. During shell breaking, the opposing cylinders 201 push the contour cutter 202, using the generated shearing force to act on the walnut, causing the walnut to crack in half laterally.

[0024] like Figure 3-4As shown, the attitude adjustment device 3 includes a lower base plate 301, a shaft support 302, gear I 303, gear II 304, gear III 305, stepper motor I 306, a steering tray 307, a rear friction wheel 308, gear IV 309, stepper motor II 310, a tray support 311, a servo motor 312, screws 313, a front friction wheel 314, and a walnut tray 315. The lower base plate 301 is fixed to the frame 1 by screws. The steering tray 307 is mounted on the output shaft of the servo motor 312 and fixed in the middle part of the lower base plate 301. The servo motor 312 can drive the steering tray 307 to rotate, thereby causing the walnut 6 to be tested placed on the steering tray 307 to rotate in the vertical direction, which is used to adjust the center seam angle of the walnut 6 to be tested, so that the center seam of the walnut gradually aligns with the walnut transportation direction.

[0025] Two rear friction wheels 308 are interference-fitted on the same shaft, whose ends are connected to shaft brackets 302 via bearings. Gear IV 309 is mounted at the end of this shaft. Two front friction wheels 314 are mounted on different shafts, with gears I 303 and III 305 mounted on each shaft respectively. Gears I 303 and III 305 have the same gear parameters. Both ends of each shaft are connected to shaft brackets 302 via bearings. Gear II 304 is interference-fitted with its corresponding shaft, and the ends of the shaft containing gear II 304 are connected to shaft brackets 302 via bearings. All shaft brackets 302 are fixed to the adjusting lower seat plate 301 by screws 313. During installation, gear I 303 meshes with gear II 304, and gear II 304 meshes with gear III 305.

[0026] The posture adjustment device 3 also includes stepper motor I306, stepper motor II310, tray bracket 311, and walnut tray 315. The tray bracket 311 connects and fixes the adjusting lower seat plate 301 to the walnut tray 315 with screws. The output gear of stepper motor I306 meshes with gear III305, and the output gear of stepper motor II310 meshes with gear IV309. Gear I303 and gear III305 have the same number of teeth. Stepper motor I306 controls the two front friction wheels 314 to rotate in the same direction and angle via gear transmission. Stepper motor II310 controls the two rear friction wheels 308 to rotate via gear transmission. The front friction wheels 314 and rear friction wheels 308 work together on the walnut 6 to be tested, adjusting the left-right and front-back tilt angles of the walnut 6, so that the walnut's center seam is perpendicular to the horizontal plane and the walnut's long axis is parallel to the horizontal plane.

[0027] The two front friction wheels 314 and two rear friction wheels 308 are installed symmetrically about the same plane, with the centers of all four friction wheels on the same circumference and at the same height. The directional tray 307 is slightly lower than the support height of the front friction wheels 314 and rear friction wheels 308. The walnut support plate 315 has a circular hole and a slot in the middle. The circular hole is used to cooperate with the directional tray 307 and the friction wheels to support the walnut to be tested 6, and the slot is used to limit the front edge of the walnut to be tested 6 and leave a gap to prevent the tip of the walnut from curling up. The center of the directional tray 307, the center of the circular hole in the middle of the walnut support plate 315, and the center of the circles containing the centers of the four friction wheels are collinear. With the above arrangement, the walnut to be tested 6 can rotate and tilt around the stable center during the posture adjustment process, reducing posture deviation.

[0028] like Figure 5 As shown, the correction clamping device 5 includes a lower rotating shaft 501, an upper rotating shaft 502, a meshing bevel gear 503, a stepper motor 504, a gear rack 505, a connecting plate 506, a screw 507, a clamping plate 508, and a screw 509. The stepper motor 504 is placed on the frame 1. One gear of the meshing bevel gear 503 meshes with the stepper motor 504, and the other gear meshes with the upper rotating shaft 502. The lower rotating shaft 501 meshes with the upper rotating shaft 502. The upper rotating shaft 502 has a slot inside, and the lower rotating shaft 501 can move up and down along the slot.

[0029] The clamping plate 508 includes an upper clamping plate 5081, bolts 5082, springs 5083, a lower clamping plate 5084, and a correction column 5085. The upper clamping plate 5081 and the lower clamping plate 5084 are connected by bolts 5082. A spring 5083 is provided in the middle of each bolt 5082. A connecting plate 506 is installed between the lower rotating shaft 501 and the upper clamping plate 5081. The lower rotating shaft 501 and the upper clamping plate 5081 are connected by screws 509. The other end of the connecting plate 506 is engaged with the rack of the gear rack 505 by screws 507. The gear rack 505 is fixed on the frame 1.

[0030] The rack of the gear rack 505 provides driving force, enabling the connecting plate 506 and the lower rotating shaft 501 to move up and down together, thereby causing the clamping disk 508 to move down or up. The stepper motor 504 controls the rotation of the lower rotating shaft 501 and the upper rotating shaft 502 by a certain angle through meshing bevel gear 503. There is a gap between the connecting plate 506 and the lower rotating shaft 501, so when the stepper motor 504 drives the lower rotating shaft 501 to rotate, the connecting plate 506 will not rotate with the lower rotating shaft 501, ensuring that the clamping disk 508 can move up and down with the lower rotating shaft 501 and rotate with the lower rotating shaft 501 by a certain angle when needed.

[0031] When the clamping disc 508 presses down, the spring 5083 between the upper plate 5081 and the lower plate 5084 of the clamping disc has a buffering effect to prevent a large impact force from acting directly on the walnut 6 to be tested. Four correction posts 5085 are set on the lower plate 5084 of the clamping disc. The tips of the four correction posts 5085 correspond to the four wheel centers of the two front friction wheels 314 and the two rear friction wheels 308, respectively, to ensure that the left-right tilt angle and front-back tilt angle of the walnut 6 to be tested do not easily change when clamping it. The tips of the correction posts 5085 are treated with anti-slip material. After clamping the walnut 6 to be tested, the clamping disc 508 can also rotate a certain angle under the drive of the stepper motor 504 to perform a final correction on the direction of the walnut tip or the direction of the head ridge.

[0032] like Figure 6 As shown, the pretreatment device 7 includes a servo motor 701, a ball screw 702, a motor 703, a drill bit 704, a shell drill 7041, and a splitting wood drill 7042. The servo motor 701 controls the ball screw 702 to move linearly. The motor 703 is placed on the nut of the ball screw 702, and the drill bit 704 is installed at the front end of the motor 703. During pretreatment, the controller drives the servo motor 701 to feed the ball screw 702 and drives the motor 703 to rotate the drill bit 704, so that the drill bit 704 acts on the tail of the walnut 6 to be tested. The drill bit 704 is an efficient walnut shell-breaking drill, including the shell drill 7041 and the splitting wood drill 7042. The shell drill 7041 is used to break the shell at the tail of the walnut to reduce the subsequent shell-breaking force. The septum drill 7042 is designed to break the conical shape of the walnut septum support by using a stepped drill shape. It is used to break the septum and reduce damage to the kernel. The combination of the shell drill 7041 and the septum drill 7042 makes it easier to separate the shell and kernel of the tested walnut 6 after cracking the shell.

[0033] In this embodiment, after the walnut 6 to be tested arrives at the attitude adjustment device 3 in a random posture, the image recognition device 4 acquires an image of the walnut 6 to be tested; the attitude adjustment device 3 first adjusts the center seam angle of the walnut 6 to be tested through the servo motor 312 and the directional tray 307, and then adjusts the left and right tilt angles and front and rear tilt angles of the walnut 6 to be tested through the front friction wheel 314 and the rear friction wheel 308; after the attitude adjustment is completed, the correction clamping device 5 clamps the walnut 6 to be tested and performs the final attitude correction; the pre-processing device 7 pre-processes the tail shell and the septum of the walnut 6 to be tested; the pneumatic shell-breaking device 2 completes the lateral directional shell breaking.

[0034] Example 2

[0035] This embodiment provides a posture-adjustable walnut directional shell-breaking control method, implemented using the posture-adjustable walnut directional shell-breaking device from Embodiment 1, such as... Figure 8As shown, the control method in this embodiment includes walnut image recognition, servo motor steering, friction wheel tilt angle adjustment, clamping and fixing, secondary correction after clamping, preprocessing, and lateral directional shell breaking. The specific steps are as follows: Step 1: Construct a training set for the walnut suture contour based on deep learning, generating pre-trained walnut head ridge template 1 and walnut tip template 2, and processing them into two template rectangles. The direction from the upper left endpoint to the upper right endpoint of template 1 is taken as the Y-axis, and the direction from the upper right endpoint to the lower right endpoint is taken as the X-axis; therefore, the coordinates of the upper left endpoint of template 1 are (x... a1 ,y a1 The coordinates of the lower right endpoint are (x b1 ,y b1 Then the coordinates of the top left endpoint of the rectangle in template 2 are (x a2 ,y a2 The coordinates of the lower right endpoint are (x b2 ,y b2 ); Step 2: The image of the walnut 6 to be tested is acquired by the image recognition device 4. If the head ridge and tip of the walnut 6 to be tested are not recognized, the image recognition device 4 sends an adjustment command to the controller. The controller drives the servo motor 312 to rotate 180° clockwise. The servo motor 312 drives the adjustment tray 307 to rotate, so that the walnut 6 to be tested changes its orientation. Then, step 3 is executed. Step 3: Acquire the image of the walnut to be tested 6 through the image recognition device 4, identify the head edge and the tip of the walnut, extract the image edges of the head edge and the tip of the walnut to be tested, and convert them into a rectangle to be tested through Hough transform. Take the coordinates of the upper left end of the head edge rectangle as (x1, y1) and the lower right end as (x2, y2), and take the coordinates of the upper left end of the walnut tip rectangle as (x3, y3) and the lower right end as (x4, y4). Then execute step 4.

[0036] Step 4, calculate the X-axis coordinate of the centroid of the rectangle of the head edge to be measured: X1 = (x1 + x2) / 2, and calculate the X-axis coordinate of the centroid of the rectangle of template 1: X2 = (x1 + x2) / 2. a1 +x b1 ) / 2, calculate the direction vector v1 of the rectangle of the head edge to be measured = (x2-x1, y2-y1), calculate the direction vector v2 of the rectangle of template 1 = (x b1 -x a1 y b1 -y a1 If |X1-X2|≤|x a1 -x b1 Execute step 6. If |X1-X2|>|x a1 -x b1If | / 4, the image recognition device 4 will send the adjustment command to the controller, the controller will drive the servo motor 312 to rotate, the servo motor 312 will drive the adjustment tray 307 to adjust the posture of the walnut 6 to be tested, and then execute step 5.

[0037] Step 5: Each time the posture of the walnut 6 to be tested is adjusted, the image recognition device 4 re-acquires the image of the walnut 6 to be tested, and repeats steps 3 to 4 until the recognized data satisfies |X1-X2|≤|x a1 -x b1 | / 4, then proceed to step 6. Through steps 4 and 5, the servo motor 312 mainly completes the attitude adjustment of the walnut 6 under test in the vertical direction, so that the walnut's center seam line or head ridge line gradually aligns with the walnut's transport direction.

[0038] Step 6: Calculate the Y-axis coordinate of the center of the rectangle to be measured (y1 = (y3 + y4) / 2), and calculate the Y-axis coordinate of the center of the rectangle of template 2 (y2 = (y3 + y4) / 2). a2 +y b2 ) / 2. Calculate the deviation angle θ based on vectors v1 and v2. This deviation angle θ is the edge inclination angle. θ can be calculated using the following formula: Calculate the deviation angle between vectors v1 and v2 to obtain the edge inclination angle. If |Y1-Y2|≤|y a2 -y b2 If | / 4 and θ≤2°, then proceed to step 8. If |Y1-Y2|≤|y a2 -y b2 If | / 4 or θ>2°, the image recognition device 4 will send the adjustment command to the controller. The controller will drive the stepper motor I306 and the stepper motor II310. The stepper motor I306 will drive the two front friction wheels 314 to rotate, and the stepper motor II310 will drive the two rear friction wheels 308 to rotate. The left and right tilt angles and front and back tilt angles of the walnut 6 to be tested will be adjusted through the friction wheels, and then step 7 will be executed.

[0039] Step 7: Each time the posture of the walnut 6 to be tested is adjusted, the image recognition device 4 re-acquires the image of the walnut 6 to be tested, and repeats steps 3 to 6 until the recognized data satisfies |Y1-Y2|≤|y a2 -y b2 | / 4, and θ≤2°, then proceed to step 8.

[0040] In step 8, the image recognition device 4 sends a clamping signal to the controller, which drives the rack of the gear rack 505 to move downwards. The rack drives the connecting plate 506, the lower rotating shaft 501, and the clamping disk 508 to move downwards, and the clamping disk 508 clamps the walnut 6 to be tested. During the downward pressing of the clamping disk 508, the spring 5083 buffers the clamping impact, and the correction posts 5085 contact the walnut 6 to be tested and limit the change in the posture of the walnut 6. Since the tip positions of the four correction posts 5085 correspond to the four wheel center positions of the two front friction wheels 314 and the two rear friction wheels 308, the changes in the left-right tilt angle and front-back tilt angle of the walnut 6 to be tested can be reduced during clamping.

[0041] Step 9: Acquire an image of the walnut 6 to be tested after it is clamped using the image recognition device 4, and identify the head ridge line of the walnut 6. Extract the head ridge line and the edge of the walnut tip image of the walnut to be tested, and transform them into a rectangle to be tested using Hough transform. Take the coordinates of the upper left endpoint of the head ridge line rectangle as (x1, y1) and the coordinates of the lower right endpoint as (x2, y2). If |X1-X2|≤|x a1 -x b1 | / 8 results in the end, giving the shell breaking instruction; if |X1-X2|>|x a1 -x b1 | / 8, The image recognition device sends the adjustment command to the controller to drive the stepper motor to rotate and adjust the posture of the walnut to be tested, and executes step 10.

[0042] Step 10: Each time the posture of the walnut 6 to be tested is adjusted, the image recognition device 4 re-acquires the image of the walnut 6 to be tested, and repeats step 9 until the recognized data satisfies |X1-X2|≤|x a1 -x b1 | / 8, then give the shell breaking command.

[0043] After the shell-breaking command is given, the controller first drives the pre-processing device 7 to pre-process the tail shell and septum of the walnut to be tested 6. The servo motor 701 drives the ball screw 702 to make linear feed motion, and the motor 703 drives the drill bit 704 to rotate. The shell drill 7041 breaks the tail shell of the walnut to be tested 6 to reduce the subsequent shell-breaking force. The septum drill 7042 breaks the septum of the walnut to be tested 6 to facilitate the separation of the shell and kernel after shell-breaking.

[0044] After pretreatment, the controller drives the pneumatic shell-breaking device 2 to operate. The air compressor 8 provides power to the cylinder 201, and the opposing cylinders 201 push the contour cutter 202 to move towards each other. The contour cutter 202 uses lateral shearing force to act on the walnut 6 to be tested, so that the walnut 6 to be tested completes directional shell breaking in a predetermined direction.

[0045] Using the above control method, after the walnut 6 enters the attitude adjustment device 3 from a random posture, it first undergoes image recognition and servo motor adjustment to align the walnut's center seam with the transport direction; then, it undergoes attitude adjustment via friction wheels to make the center seam perpendicular to the horizontal plane and the walnut's long axis parallel to the horizontal plane; subsequently, it is clamped and fixed by the clamping plate 508, and undergoes secondary correction while in the clamped state; finally, the pretreatment of the tail shell and septum and the lateral directional shell breaking are completed. This embodiment enables the machine to always perform lateral shell breaking operations in a standard posture, thereby improving the walnut shell breaking effect.

[0046] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A walnut-opening device with adjustable posture, characterized in that, The device includes a frame (1), a pneumatic shell-breaking device (2), a posture adjustment device (3), an image recognition device (4), a correction clamping device (5), a pre-processing device (7), an air compressor (8), and a controller. The posture adjustment device (3) is installed in the middle of the upper layer of the frame (1) to support the walnut (6) and adjust its posture. The image recognition device (4) is located in front of the posture adjustment device (3) to collect images of the walnut (6) and identify the target ridge line and tip of the walnut (6). The correction clamping device (5) is located above the posture adjustment device (3) to clamp the walnut (6) after posture adjustment and perform secondary correction. The pneumatic shell-breaking device... The devices (2) are arranged in pairs on both sides of the posture adjustment device (3) for lateral orientation of the walnut (6) to break the shell; the pretreatment device (7) is installed on the lower layer of the frame (1) and located behind the posture adjustment device (3) for pretreatment of the tail shell and septum of the walnut (6); the air compressor (8) is installed on the frame (1) and connected to the pneumatic shell breaking device (2); the controller is electrically connected to the image recognition device (4), posture adjustment device (3), correction clamping device (5), pretreatment device (7) and pneumatic shell breaking device (2) respectively, and is used to control the posture adjustment, clamping, secondary correction, pretreatment and shell breaking actions of the walnut (6) according to the image recognition results.

2. The walnut-oriented shell-breaking device with adjustable posture according to claim 1, characterized in that, The attitude adjustment device (3) includes a downward adjustment base plate (301), a shaft bracket (302), gear I (303), gear II (304), gear III (305), stepper motor I (306), an adjustment tray (307), a rear friction wheel (308), gear IV (309), stepper motor II (310), a tray bracket (311), a servo motor (312), a front friction wheel (314), and a walnut tray (315); the downward adjustment base plate (301) is fixed on the frame (1), the adjustment tray (307) is mounted on the output shaft of the servo motor (312), and the walnut tray (315) is mounted on the output shaft of the servo motor (312). The peach support plate (315) is connected to the adjustable lower seat plate (301) through the support plate bracket (311); the two rear friction wheels (308) are mounted on the same rotating shaft and are connected to the stepper motor II (310) through gear IV (309); the two front friction wheels (314) are mounted on different rotating shafts and are connected to gear I (303) and gear III (305) respectively. Gear I (303), gear II (304) and gear III (305) mesh in sequence. The stepper motor I (306) drives the two front friction wheels (314) to rotate in the same direction and at the same angle through gear transmission.

3. The walnut-oriented shell-breaking device with adjustable posture according to claim 2, characterized in that, The two front friction wheels (314) and the two rear friction wheels (308) are symmetrically arranged about the same plane, and the centers of the four friction wheels are located on the same circumference and at the same height; the upper surface of the directional tray (307) is lower than the support height of the front friction wheels (314) and the rear friction wheels (308); the walnut tray (315) has a round hole and a groove in the middle, and the groove is used to limit the front edge of the walnut (6) and reserve a gap to prevent the walnut tip from curling up; the center of the directional tray (307), the center of the round hole in the middle of the walnut tray (315) and the center of the circles where the centers of the four friction wheels are located are collinear.

4. The walnut-oriented shell-cracking device with adjustable posture according to claim 1, characterized in that, The correction clamping device (5) includes a lower rotating shaft (501), an upper rotating shaft (502), a meshing bevel gear (503), a stepper motor (504), a gear rack (505), a connecting plate (506), and a clamping disk (508). The stepper motor (504) is connected to the upper rotating shaft (502) via the meshing bevel gear (503). The lower rotating shaft (501) cooperates with the upper rotating shaft (502) and can move up and down along the axial direction of the upper rotating shaft (502). One end of the connecting plate (506) is connected to the lower rotating shaft (501), and the other end is connected to the rack of the gear rack (505). The gear rack (505) is used to drive the connecting plate (506), the lower rotating shaft (501) and the clamping plate (508) to move up and down; the clamping plate (508) includes an upper clamping plate (5081), a bolt (5082), a spring (5083), a lower clamping plate (5084) and a correction column (5085). The upper clamping plate (5081) and the lower clamping plate (5084) are connected by the bolt (5082). The spring (5083) is sleeved on the bolt (5082) and located between the upper clamping plate (5081) and the lower clamping plate (5084).

5. The walnut-opening device with adjustable posture according to claim 4, characterized in that, The lower plate (5084) of the clamping disk is provided with four correction posts (5085), the tips of the four correction posts (5085) correspond to the wheel center positions of the two front friction wheels (314) and the two rear friction wheels (308), respectively; the tips of the correction posts (5085) are provided with anti-slip structures to limit the posture deviation of the walnut (6) when clamping it; the stepper motor (504) drives the upper rotating shaft (502), the lower rotating shaft (501) and the clamping disk (508) to rotate through the meshing bevel gear (503), and performs secondary correction on the target ridge direction of the walnut (6) in the clamping state.

6. The walnut-oriented shell-cracking device with adjustable posture according to claim 1, characterized in that, The pretreatment device (7) includes a servo motor (701), a ball screw (702), a motor (703), and a drill bit (704). The servo motor (701) drives the ball screw (702) to perform linear feed motion. The motor (703) is mounted on the nut of the ball screw (702), and the drill bit (704) is mounted on the front end of the motor (703). The drill bit (704) includes a shell drill (7041) and a splitter drill (7042). The shell drill (7041) is used to break the shell at the tail of the walnut. The septum drill (7042) adopts a stepped drill structure and is used to break the septum of the walnut. The pneumatic shell-breaking device (2) includes a cylinder (201) and a contour cutter (202). The profile of the contour cutter (202) is adapted to the curve of the walnut shell. The blade is provided with a serrated structure. When breaking the shell, the two cylinders (201) arranged opposite to each other push the contour cutter (202) to move towards each other, so that the walnut (6) is subjected to transverse shearing action and the shell is broken.

7. A method for controlling the directional shell breaking of walnuts with adjustable posture, characterized in that, The process, employing the walnut-oriented shell-cracking device with adjustable posture as described in any one of claims 1-6, includes the following steps: S1: Create a target ridge template and a walnut tip template, and process the target ridge template and the walnut tip template into template rectangles respectively; S2: The image of the walnut to be cracked (6) is acquired by the image recognition device (4), and the target ridge line and walnut tip of the walnut to be cracked (6) are identified; S3: Based on the lateral centroidal deviation between the target ridge rectangle of the walnut (6) to be cracked and the target ridge template rectangle, control the servo motor (312) to drive the adjustment tray (307) to rotate, and make the first adjustment to the target ridge direction of the walnut (6); S4: Based on the longitudinal centroid deviation between the walnut tip rectangle and the walnut tip template rectangle of the walnut to be cracked (6), and the deviation angle between the target ridge direction vector of the walnut to be cracked (6) and the target ridge template direction vector, control the stepper motor I (306) and the stepper motor II (310) to drive the front friction wheel (314) and the rear friction wheel (308) to rotate, and make a second adjustment to the left and right tilt angle and front and back tilt angle of the walnut (6); S5: When the walnut (6) reaches the preset posture conditions, the control gear rack (505) drives the clamping plate (508) to move down and clamp the walnut (6). S6: After clamping, the image of the walnut (6) is acquired again. The stepper motor (504) is controlled to drive the clamping disk (508) to rotate according to the lateral centroid deviation of the target edge, and the walnut (6) is corrected in the clamping state for a second time. S7: After the second correction is completed, the pretreatment device (7) is controlled to pretreat the tail shell and septum of the walnut (6), and then the pneumatic shell-breaking device (2) is controlled to perform transverse directional shell breaking on the walnut (6).

8. The method for controlling the directional shell breaking of walnuts with adjustable posture according to claim 7, characterized in that, In steps S1 and S2, the coordinates of the upper left endpoint of the target edge template rectangle are (x... a1 ,y a1 The coordinates of the lower right endpoint are (x b1 y b1 The coordinates of the top left endpoint of the walnut tip template rectangle are (x... a2 y a2 The coordinates of the lower right endpoint are (x b2 y b2 After obtaining the image of the walnut to be cracked (6) through the image recognition device (4), the target ridge and the tip of the walnut to be cracked (6) are extracted and transformed into a rectangle to be measured by Hough line transformation; the upper left end point coordinates of the rectangle to be measured of the target ridge are (x1, y1) and the lower right end point coordinates are (x2, y2); the upper left end point coordinates of the rectangle to be measured of the walnut tip are (x3, y3) and the lower right end point coordinates are (x4, y4).

9. The method for controlling the directional shell breaking of walnuts with adjustable posture according to claim 8, characterized in that, Steps S3 and S4 include: Calculate the lateral centroid coordinates of the target edge rectangle to be measured: X1 = (x1 + x2) / 2. Calculate the lateral centroid coordinates of the target edge template rectangle: X2 = (x1 + x2) / 2. a1 +x b1 ) / 2; when |X1-X2|>|x a1 -x b1 When | / 4, the control servo (312) drives the directional tray (307) to rotate, and re-acquires the image after each adjustment until |X1-X2|≤|x a1 -x b1 | / 4; Calculate the longitudinal centroid coordinates of the rectangle to be measured (the walnut tip) Y1 = (y3 + y4) / 2, and calculate the longitudinal centroid coordinates of the template rectangle (the walnut tip) Y2 = (y...). a2 +y b2 ) / 2; Calculate the direction vector v1 = (x2-x1, y2-y1) of the target edge rectangle to be measured, and calculate the direction vector v2 = (x2-x1, y2-y1) of the target edge template rectangle. b1 -x a1 y b1 -y a1 ), and calculate the deviation angle based on v1 and v2. When |Y1-Y2|≤|y a2 -y b2 | / 4 or When the angle is greater than 2°, stepper motor I (306) and stepper motor II (310) are controlled to drive the front friction wheel (314) and the rear friction wheel (308) to adjust the posture of the walnut (6), and the image is re-acquired after each adjustment until |Y1-Y2|≤|y a2 -y b2 | / 4 and ≤2°.

10. The method for controlling the directional shell breaking of walnuts with adjustable posture according to claim 9, characterized in that, When the image recognition device (4) fails to recognize the target ridge line and walnut tip of the walnut to be cracked (6), the control servo motor (312) drives the directional tray (307) to rotate 180° and then re-acquires the image; after the clamping plate (508) clamps the walnut (6), it re-acquires the image of the walnut (6) and recalculates the transverse centroid coordinate X1 of the rectangle to be measured for the target ridge line. When |X1-X2|>|x a1 -x b1 At 8 o'clock, the stepper motor (504) is controlled to drive the clamping disk (508) to rotate, and the image is re-acquired after each adjustment until |X1-X2|≤|x a1 -x b1 | / 8; Subsequently, the pretreatment device (7) is controlled to pretreat the tail shell and septum of the walnut (6), and the pneumatic shell-breaking device (2) is controlled to complete the shell-breaking.

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