A multi-modal perception-based intelligent nut roasting process and a nut roasting machine

Abstract

A kind of nut intelligent roasting process based on multi-modal perception and roasting machine, solve the problem that existing roasting machine heat exchange cylinder is unevenly heated, cannot multidimensional perception roasting state in whole domain;Including casing, roasting drum, circulating fan, electric control control assembly, roasting drum adopts inner drum, heat conducting component, outer drum double-layer nested structure, utilize circumferentially arranged metal heat transfer sheet to form physical heat conduction, cooperate with airflow passage between inner and outer drum to form airflow heat conduction, realize two kinds of heat transfer mode mutual temperature compensation, temperature and humidity sensor are arranged in whole domain in reflux space, drum interior, air outlet pipe, and are matched with visual perception unit to constitute multi-modal perception system, by electric control control assembly self-adapting adjustment heating power, circulating fan speed and drum working state;The present application eliminates roasting temperature dead angle by double-path heat compensation structure, realizes intelligent accurate regulation and control in roasting process by relying on multi-modal whole domain perception, greatly improves the uniformity and quality consistency of nut roasting.

Description

Technical Field

[0001] This invention belongs to the technical field of roasting equipment, and is particularly applicable to the roasting and processing of nuts and seeds. In particular, it relates to an intelligent nut roasting process and roasting machine based on multimodal perception. Background Technology

[0002] In the processing of roasted nuts and seeds, the uniformity of roasting temperature, the stability of temperature and humidity, and the accuracy of sensing the roasting state directly determine the color, crispness, taste, and batch-to-batch consistency of the finished product. These are the core key factors in nut roasting and processing. Currently, traditional intelligent roasting machines on the market have a fixed structural design, mostly using a fixed inner and outer baffle cylinder structure with a single and fixed heat exchange mode. This has obvious defects in actual production and use, making it difficult to meet the needs of high-quality, standardized, and intelligent nut roasting production.

[0003] Existing roasting machines generally suffer from technical defects such as uneven heating within the drum, poor temperature control and insulation, and high energy consumption. Traditional roasting machine drums are mostly single-layer or fixed-layer structures, relying solely on hot air convection or solid-state heat conduction for heating, lacking a bidirectional heat compensation design. During the roasting process, the heat exchange efficiency in the front, rear, center, and edge areas of the drum is significantly affected. The temperature difference is huge, and it is easy to have local high temperature and local low temperature dead zones, which leads to uneven heating of nut materials and the problem of some materials being burnt and some materials being undercooked.

[0004] In addition, existing technologies cannot achieve multimodal and comprehensive perception of the roasting status, and cannot adaptively adjust the fan speed, drum speed and heating power according to the real-time roasting maturity of nuts and changes in ambient temperature and humidity. The adjustment of roasting process parameters is lagging and has low precision, resulting in large differences in color, dryness and crispness of different batches of finished nuts, low product standardization and high defect rate.

[0005] Therefore, there is an urgent need to develop a smart nut roasting machine that can achieve dual-path heat conduction temperature complementarity, full-domain multimodal perception, and intelligent adaptive control, in order to solve the industry pain points of uneven heating, partial perception, and low level of intelligence in existing technologies. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a smart nut roasting process and roasting machine based on multimodal sensing. This solves the technical problems of existing roasting machines that rely solely on a single heat exchange method, resulting in uneven heating inside the drum, poor constant temperature and heat preservation performance, and the inability to perform single-point temperature measurement and comprehensive multimodal sensing of roasting temperature, humidity and material maturity status, leading to inconsistent roasting quality and low precision of intelligent control.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A multimodal sensing-based intelligent nut roasting machine, comprising a casing, a roasting drum, a circulating fan, and an electrical control assembly; the roasting drum is rotatably mounted inside the casing, the roasting drum comprising an inner drum, a heat-conducting component, an outer drum, and a drive shaft; the inner drum forms a roasting space, and a breathable baffle is provided at the rear end of the inner drum, the breathable baffle having several breathable holes; the heat-conducting component comprises multiple metal heat transfer plates evenly distributed along the circumference, the heat transfer plates simultaneously connecting the outer wall of the inner drum and the inner wall of the outer drum, the inner drum and the outer drum being fixed together by the heat transfer plates, forming multiple circumferentially distributed airflow channels between the inner drum and the outer drum; one end of the outer drum is an open end with an installation space, and the other end is a closed end with a central hole; the front end of the inner drum extends from the outside... The open end of the drum extends outward to form an extension section; the extension section is rotatably fitted with a front cover that blocks the front end of the inner drum, and the front cover is fixedly connected to the casing; the side of the outer drum away from the open end, together with the inner drum and the rear end of the heat-conducting component, forms a reflux space; the front cover is provided with an air outlet pipe communicating with the inner cavity of the inner drum, and the other end of the air outlet pipe is connected to a circulating fan; temperature sensors are evenly distributed in the reflux space, inside the inner drum, and inside the air outlet pipe; a humidity sensor is also provided inside the air outlet pipe; a visual sensing unit is fixedly installed on the front cover; the circulating fan, temperature sensor, humidity sensor, and visual sensing unit are electrically connected to an electronic control assembly, which can control and adjust the speed of the circulating fan and the speed of the roasting drum based on the multimodal sensing signals from the temperature sensor, humidity sensor, and visual sensing unit.

[0008] Preferably, the front cover has a viewing window for observation, a protective glass is fixed inside the viewing window, and a visual sensing unit is mounted on the outside of the front cover and at the position corresponding to the protective glass; the air outlet duct includes a detection pipe, and the end of the detection pipe is provided with a detachable end cap, and the humidity sensor and the temperature sensor inside the air outlet duct are fixedly installed on the end cap.

[0009] Preferably, at one end of the extension section corresponding to the heat transfer plate of the heat-conducting component, a plurality of airflow inlets arranged in a ring are provided between the inner roller and the outer roller; at the end of the airflow inlet corresponding to the heat transfer plate, a plurality of airflow outlets arranged in a ring are provided between the inner roller and the outer roller.

[0010] Preferably, the top and bottom edges of the heat transfer plate are bent to form connecting edges, which are respectively attached to the inner circumferential surface of the outer roller and the outer wall of the inner roller; the heat transfer plate is formed into at least one of U-shape, Z-shape or I-shape; the heat transfer plate is at least one of straight fin, inclined fin or spiral fin.

[0011] Preferably, a heating device is installed inside the casing. The heating device is located at the bottom of the roasting drum and its heating power can be adjusted by the electronic control assembly based on the sensing data. The front cover is provided with an inlet and an outlet corresponding to the front end of the roasting drum.

[0012] Preferably, the roasting drum is further provided with a stirring unit; the stirring unit includes a drive end, a rotating end and a stirring blade, the drive end is mounted on the front cover, and the drive shaft is rotatably connected to the rotating end, forming a structure in which the roasting drum and the stirring unit rotate independently.

[0013] Preferably, a number of sets of lifting plate assemblies are fixedly arranged circumferentially on the inner wall of the inner roller, and each set of lifting plate assemblies includes multiple lifting plates with progressively increasing or decreasing heights.

[0014] Preferably, it also includes a heat circulation device, which includes a cyclone separator and a combustion tube. The circulating fan, cyclone separator, and casing are connected end-to-end by pipelines to form a waste heat circulation pipeline. The casing has a return air inlet and an air inlet. The cyclone separator has a heating chamber inside. The heating chamber has a process air inlet on one side and a process air outlet on the other side. The cyclone separator has a vertically coaxial combustion tube running through its center. The lower end of the combustion tube is an air inlet for flue gas, and the upper end of the combustion tube extends out of the cyclone separator and connects to the exhaust chimney. The air outlet pipe is connected to the air inlet of the circulating fan through a first pipeline, and the air outlet of the circulating fan is connected to the process air inlet of the cyclone separator through a second pipeline. The process air outlet of the cyclone separator is connected to the return port of the casing through a third pipeline.

[0015] Preferably, the bottom of the cyclone separator is connected to a conical cavity, and a heat source is coaxially arranged below the flue gas inlet, with the heat source placed entirely inside the conical cavity of the cyclone separator.

[0016] A smart nut roasting process based on multimodal sensing includes the following steps: Hot airflow, heated by a heating device, enters the airflow channel between the inner and outer drums, forming a hot airflow. Physical heat conduction between the inner and outer drums is achieved through the metal heat transfer plates of the heat-conducting component. The hot airflow and physical heat conduction compensate for each other's temperature, maintaining a constant and uniform roasting environment inside the roasting drum. During roasting, temperature and humidity sensors in the return space, inside the inner drum, and at the air outlet, as well as a visual sensing unit, simultaneously collect multimodal sensing signals and transmit them to the electronic control assembly. The electronic control assembly combines the temperature and humidity detection data with the nut surface color image information collected by the visual sensing unit to dynamically adjust the speed of the circulating fan, the speed of the roasting drum, and the power of the heating device. The dust-laden flue gas generated during roasting enters the waste heat circulation pipeline, is de-dusted by a cyclone separator, and then sent to the incineration tube. Under the action of a heat source, the flue gas is incinerated and purified. Part of the purified flue gas is recycled, and the remaining flue gas is discharged through the exhaust chimney.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. The dual heat exchange of physical heat conduction and airflow convection compensates for each other's temperature, resulting in uniform temperature throughout the roasting drum with minimal temperature difference, preventing localized scorching and undercooking; the double-layered inner and outer drums form a sealed insulation layer, reducing heat loss from the drum to the outer casing, thus reducing the energy consumption of the heating device at the same roasting temperature and achieving significant energy-saving effects. 2. Various heat transfer plates, including U-shaped, Z-shaped, and spiral types, are available for replacement, making it suitable for high-moisture nuts such as chestnuts and peanuts, as well as low-moisture nuts such as almonds and walnuts, to meet different airflow heat exchange requirements. The equipment is highly versatile. 3. The annular airflow inlet and outlet, combined with the interlayer airflow channel, allows hot air to cover the entire length of the cylinder, eliminating low-temperature dead zones at the front and rear ends of the drum, ensuring constant and stable temperature throughout the entire process.

[0018] 4. Three-point temperature acquisition completely reproduces the temperature of the entire cylinder, significantly improving temperature control accuracy compared to traditional single-point temperature measurement; real-time humidity monitoring and adaptive adjustment of dehumidification airflow ensure controllable nut dehydration rate, uniform crispness of finished products, and no uneven drying; automatic visual image recognition of maturity eliminates the need for manual judgment of the roasting endpoint based on eyesight and experience, resulting in highly consistent color and taste in each batch of nuts and a high degree of product standardization; multi-parameter fusion for automatic speed and power adjustment eliminates the need for manual supervision throughout the process, reducing the threshold for manual operation and minimizing defects caused by human error.

[0019] 5. The drum and the agitator rotate independently at different speeds, ensuring that the material is turned over without dead corners and that nuts do not stick to the wall and get heated for a long time; the gradually increasing height lifting plate lifts the material in layers, ensuring that the material is fully dispersed, heated and dehydrated evenly, and significantly reducing the defect rate.

[0020] 6. The hot air circulation system recovers waste heat during the roasting process, eliminating the need for the heating device to operate at full power continuously, further reducing the overall energy consumption of the equipment; the cyclone separator separates nut dust and grease, preventing dust from clogging the fan and pipes, and extending the service life of the equipment; oil fumes and odorous exhaust gases are decomposed by high-temperature incineration, significantly reducing exhaust pollutants and meeting the environmental emission standards for food processing, eliminating pungent oil fumes that pollute the workshop environment; the casing is equipped with an air supply vent, which allows for flexible adjustment of the circulating hot air temperature, adapting to various processes such as low-temperature slow roasting and high-temperature fast roasting.

[0021] 7. The temperature and humidity sensor is integrated into the detachable end cover, making it easy to disassemble, clean, and calibrate, resulting in low maintenance costs for the equipment. The external visual sensing unit is equipped with protective glass to isolate it from high-temperature water and gasoline fumes, making the camera lens less prone to damage and extending its service life. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional view of the overall structure of the present invention.

[0023] Figure 2 This is the main view of the overall structure of the present invention.

[0024] Figure 3 This is a first perspective view of the overall internal structure of the casing of the present invention.

[0025] Figure 4 This is a second perspective view of the overall internal structure of the casing of the present invention.

[0026] Figure 5 This is a three-dimensional view of the overall structure of the roasting drum in this invention.

[0027] Figure 6 This is an exploded view of the overall structure of the roasting drum and a schematic diagram of the stirring unit in this invention.

[0028] Figure 7 This is a half-sectional schematic diagram of the overall structure of the roasting drum in this invention.

[0029] Figure 8 This is a front view of the overall structure of the roasting drum in this invention.

[0030] Figure 9 yes Figure 8 Enlarged schematic diagram of part B in the diagram.

[0031] Figure 10 This is a three-dimensional view of the overall structure of the front cover of the present invention.

[0032] Figure 11 This is a front view of the overall structure inside the casing of the present invention.

[0033] Figure 12 This is a schematic diagram of the overall structure of the heat circulation device in this invention.

[0034] In the diagram: 1-Casing, 2-Roasting Roller, 201-Inner Roller, 202-Heat Conducting Component, 203-Outer Roller, 204-Drive Shaft, 3-Circulating Fan, 4-Electrical Control Assembly, 5-Roasting Space, 6-Ventilating Baffle, 7-Ventilating Hole, 8-Heat Transfer Plate, 9-Airflow Channel, 10-Open End, 11-Closed End, 12-Extension Section, 13-Front Cover, 14-Recirculation Space, 15-Outlet Duct, 16-Temperature Sensor, 17-Humidity Sensor, 18-Visual Sensing Unit, 19-Protective Glass 20-Detection pipe, 21-End cap, 22-Airflow inlet, 23-Airflow outlet, 24-Connecting edge, 25-Heating device, 26-Stirring unit, 27-Scraper plate, 28-Cyclone separator, 29-Incineration tube, 30-Heating chamber, 31-Process air inlet, 32-Process air outlet, 33-Flue gas inlet, 34-Exhaust chimney, 35-First pipe, 36-Second pipe, 37-Third pipe, 38-Return port, 39-Air inlet, 40-Conical cavity, 41-Heat source. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0036] Reference Figure 1-12 As shown, the present invention includes a casing 1 that is externally enclosed and supports the entire machine. The casing 1 houses the roasting drum 2 and the heating device 25. An air inlet 39 is provided on the side wall for air to enter. The return outlet 38 is connected to the waste heat circulation system through a third pipeline 37. The casing 1 and the front cover 13 are detachably and fixedly connected to form a sealed roasting chamber, reducing the leakage of internal heat. The sealed insulation isolates high temperature and provides a sealed circulation space for hot air circulation and flue gas recovery, reducing heat loss in the workshop.

[0037] The internal cavity of the inner roller 201 serves as the roasting space 5; a breathable baffle 6 is integrally installed at the rear end, with numerous breathable holes 7; the front end extends outward to form an extension section 12; multiple sets of lifting plates 27 are evenly fixed to the inner circumference of the inner wall of the inner roller 201. The breathable holes 7 allow for the passage and flow of steam and hot air during roasting; the height of the lifting plates 27 increases or decreases sequentially, lifting and dropping the nuts in layers when turning them over, preventing material accumulation; the inner roller 201 directly contacts the nuts, serving as the direct heating carrier for the material.

[0038] One end of the outer roller 203 is an open end 10 for the inner roller extension section 12 to pass through, and the other end is a closed end 11 with a central hole. The closed end 11, the inner roller 201, and the rear end of the heat-conducting component 202 enclose each other to form an annular reflux space 14. The outer roller 203 and the inner roller 201 are nested in a double layer, and the two do not contact each other directly. They are supported and fixed by the heat transfer plate 8. The reflux space 14 stores circulating hot air, so that the temperature at the rear end of the roller is uniformly compensated and enters the interior of the inner roller 201.

[0039] The heat transfer plate 8 is made of metal heat-conducting material and is evenly arranged around the circumference; the upper and lower edges are bent into connecting edges 24, and the two connecting edges are tightly attached to the outer wall of the inner roller 201 and the inner wall of the outer roller 203 respectively; the heat transfer plate 8 can be processed into U-shaped, Z-shaped, and I-shaped; the overall arrangement can be straight fins, inclined fins, or spiral fins.

[0040] At position 12 of the extension section, there is an annular array airflow inlet 22 in the inner and outer cylinder sandwich layer; an annular array airflow outlet 23 on the rear return space side; and a naturally formed airflow channel 9 between adjacent heat transfer plates 8.

[0041] Heat transfer plate 8 achieves solid-state physical heat conduction, and hot air flows through airflow channel 9 to form airflow convection heat conduction. The two heat exchange systems are independent yet coupled with each other. Various bending and arrangement of fins can be adapted to different airflow requirements for roasting nuts, and spiral fins can extend the hot air residence time and improve heat exchange efficiency.

[0042] The drive shaft 204 passes through the center hole of the closed end 11 of the outer drum and is rotatably connected to the rotating end 2602 of the stirring unit 26. The drive shaft 204 is fixedly connected to the inner drum 201 and the outer drum 203 to realize the rotation of the roasting drum 2. The stirring unit 26 is driven separately to realize the dual independent speed regulation of the roasting drum 2 and the stirring unit 26.

[0043] The stirring unit 26 includes a drive end 2601, a rotating end 2602, and a stirring blade 2603. The drive end 2601 is mounted on the front cover 13, and the drive shaft 204 drives the rotating end 2602 to rotate. The stirring blade 2603 and the roasting drum 2 are driven independently and can rotate in opposite directions and at different speeds.

[0044] The roasting drum 2 rotates on its own and works in the opposite direction with the internal stirring plate 2603. Combined with the height-gradient lifting plate 27, the nuts are turned over without dead angles, avoiding the bottom material from sticking to the wall for a long time and being overheated and scorched, and the upper material from being underheated and undercooked.

[0045] The front cover 13 is fixed to the front end of the housing 1 and sleeved on the outside of the extension section 12. The roasting roller 2 can rotate relative to the front cover 13, while the front cover 13 remains stationary. An inlet 42, an outlet 43, and an observation window are provided. A protective glass 19 is embedded in the window. A visual sensing unit 18 is installed on the outside corresponding to the position of the protective glass 19. An air outlet duct 15 is fixedly connected to the middle of the front cover 13.

[0046] The protective glass 19 isolates the high temperature and moisture inside the cylinder, protecting the lens of the visual perception unit and preventing the lens from fogging and accumulating dust; the inlet 42 and outlet 43 are directly connected to the roasting space 5, forming a feeding and unloading channel for finished products; the air outlet 15 is equipped with a detection pipe 20 and a detachable end cover 21, and the temperature sensor 16 and humidity sensor 17 are uniformly installed on the end cover 21, which is convenient for disassembly and maintenance and facilitates regular calibration of sensor accuracy.

[0047] Temperature sensors 16 are positioned at three points: the return space 14, the inner drum 201 (the roasting space), and the outlet duct 15 (the detection pipe 20). These sensors collect temperature data from the front, middle, and rear of the drum, addressing the distortion issues associated with single-point temperature measurement. A humidity sensor 17 is installed on the outlet duct end cap 21 to collect real-time moisture concentration data in the roasting space, determining the degree of nut dehydration. The visual perception unit 18 includes an industrial high-definition camera module that captures real-time images of the nut surface through the protective glass 19, identifying the color depth of the kernels to determine ripeness: light white indicates raw, golden yellow indicates ripe, and dark black indicates over-roasting.

[0048] All three types of sensing devices are electrically connected to the electronic control assembly 4, and all collected data is transmitted to the control system in real time.

[0049] The circulating fan 3 is the power source for hot air circulation. It draws in the hot and humid airflow from the outlet duct 15 through the first pipe 35 and sends it into the cyclone separator 28 through the second pipe 36 to complete the hot air circulation and delivery. The electronic control assembly can steplessly adjust the fan speed to change the hot air flow rate and convective heat transfer intensity.

[0050] The heating device 25 is installed at the bottom of the casing 1 and below the roasting drum 2. It can be either electric or gas heating. The heating power is dynamically adjusted by the electronic control assembly 4 according to multi-modal data. It heats up at full power in the low temperature stage and keeps warm at low power in the constant temperature stage.

[0051] The electronic control assembly 4 incorporates a threshold comparison module and an image recognition module; it receives three types of multimodal signals: temperature, humidity, and image. 1) Threshold comparison: Compare the measured temperature and humidity with the preset process thresholds, and output the heating power, fan speed and dehumidification opening adjustment commands; 2) Image recognition: Analyze images captured by the visual unit, extract RGB color features, and automatically determine the ripeness of nuts; 3) Output control signals: Link control of heating device power 25, circulating fan speed 3, roasting drum speed 2, stirring unit speed 26, to achieve intelligent control of the whole process without human intervention.

[0052] The heat circulation purification device includes a cyclone separator 28, an incineration tube 29, a heat source 41, and a waste heat circulation pipeline; the cyclone separator 28 has a built-in heating chamber 30, with a process air inlet 31 and a process air outlet 32 ​​on both sides; the bottom is connected to a conical cavity 40; the heat source 41 is coaxially arranged inside the conical cavity 40; and the incineration tube 29 is vertically penetrated through the center.

[0053] The lower end of the incineration tube 29 has a flue gas inlet 33 aligned with the heat source 41, and the upper end extends out to connect to the exhaust chimney 34 via a cyclone separator 28; the cooking fumes and dust exhaust gases are incinerated and decomposed at high temperature here.

[0054] The waste heat circulation pipeline includes a first pipeline 35 connecting the air outlet 15 and the circulating fan 3; a second pipeline 36 connecting the circulating fan 3 and the process air inlet 31 of the cyclone separator; a third pipeline 37 connecting the process air outlet 32 ​​of the cyclone separator and the return port 38; and an air inlet 39 is provided on the casing 1 to allow room temperature air to be introduced to regulate the temperature of the circulating hot air.

[0055] The roasting process of the present invention is as follows: The heating device 25 at the bottom of the casing 1 is activated to heat the air inside the casing 1 to form a high-temperature hot airflow; the hot airflow flows into the airflow channel 9 through the annular airflow inlet 22 between the inner roller 201 and the outer roller 203, flows backward along the gap of the heat transfer plate 8, and merges into the rear return space 14 from the airflow outlet 23. The hot airflow in the return space 14 enters the inner roller 201 through the breathable baffle 6, forming airflow convection heat conduction, which fully contacts and roasts the nuts picked up in the inner roller 201, and the heating is uniform.

[0056] In addition, the metal heat transfer plate 8 is tightly connected to the inner and outer rollers. The hot air in the outer roller 203 jacket directly conducts heat to the inner roller 201 cylinder wall through the heat transfer plate 8. The cylinder wall directly contacts the nut, forming solid heat conduction.

[0057] When the convection temperature is greater than the solid thermal conductivity temperature, the excess heat of the hot air is continuously conducted to the inner drum 201 through the heat transfer plate 8, which makes up for the insufficient local heat conduction of the inner drum 201 wall and increases the temperature of the low temperature area. When the solid thermal conductivity temperature is greater than the convective hot air temperature, the heat stored in the heat transfer plate 8 heats the interlayer airflow in the opposite direction, preventing the hot air from cooling down rapidly and maintaining the constant temperature of the circulating airflow. Two sets of heat conduction systems compensate for each other, ensuring a consistent temperature difference across the entire roasting space, achieving a constant, uniform, and low-energy-consumption insulation effect.

[0058] Throughout the frying process, three types of sensors collect data synchronously, and the electronic control assembly performs real-time calculations and adjustments: 16 multi-point temperature sensors monitor the temperature at three locations: the front frying zone of the drum, the rear return zone, and the exhaust duct. If the local temperature is too high, the electronic control reduces the power of the heating device and increases the fan speed to accelerate the circulation and heat dissipation of hot air; if the overall temperature is too low, the heating power is increased and the fan speed is reduced to prolong the heat exchange time of the hot air.

[0059] The humidity sensor 17 detects the water vapor concentration in real time. In the early stage of nut roasting, when the moisture content is high and the humidity value is high, the system automatically increases the fan speed to accelerate the removal of water vapor. In the middle and later stages of roasting, when the kernels have finished dehydrating and the humidity has decreased, the fan speed is reduced to lock in the heat inside the cylinder and save energy.

[0060] The visual perception unit 18 continuously collects images of the nuts' appearance as the roasting process continues. When the image color reaches the preset ripeness standard, the electronic control automatically reduces the heating power and the drum speed to enter the simmering stage. If the kernels are found to be partially blackened, the air volume is immediately increased to cool them down and prevent mass burning.

[0061] The system integrates three sets of data—temperature, humidity, and color—to make a judgment, rather than controlling the temperature with a single parameter. It is suitable for different roasting processes of various nuts such as walnuts, almonds, and pistachios, and does not require real-time manual monitoring and parameter adjustment.

[0062] The hot and humid fumes generated in the roasting space enter the circulating fan 3 through the vent 7, the exhaust pipe 15, and the first pipe 35. After being pressurized, they are sent to the process air inlet 31 of the cyclone separator 28 through the second pipe 36. After the exhaust gas enters the separator, it rotates and centrifuges. Oil fumes and nut dust fall into the bottom conical cavity 40, and clean hot air enters the heating cavity 30 for secondary heating. The heat source 41 inside the conical cavity 40 maintains a high temperature. Dust and oil fumes enter the incineration tube 29 from the flue gas inlet 33. The high temperature decomposes the grease, odors, and harmful gases. The purified residual exhaust gas is discharged with low pollution from the exhaust chimney 34. The purified and reheated hot air in the cyclone separator 28 flows out from the process air outlet 32 ​​and is sent back to the inside of the casing 1 for recycling through the third pipe 37 and the return port 38, which greatly reduces the energy consumption of the heating device 25 for continuous heating. The air inlet 39 can mix in room temperature air as needed to flexibly adjust the temperature of the circulating hot air.

[0063] The roasting drum 2 and the stirring unit 26 are driven independently: the drum rotates at a low speed in the forward direction, and the inner wall gradually lifts the nuts at the bottom to a high place so that they can fall freely; the internal stirring plate 2603 rotates in the opposite direction at a differential speed to break up the clumps of material; the double-layer heat-conducting cylinder provides uniform heating throughout the entire area, and the material is heated in a consistent environment every second, which completely solves the common problems of the bottom being scorched and the upper layer being undercooked in traditional single-layer roasting machines.

[0064] The overall usage process of this invention is as follows: Close the discharge port 43, open the front cover feed port 42, and put the nuts to be roasted into the roasting space 5; close the feed port 42, turn on the main power supply of the whole machine, the electrical control assembly 4 performs a power-on self-test, and automatically calibrates the zero-point threshold of the temperature sensor 16, humidity sensor 17, and visual perception unit 18.

[0065] The equipment automatically starts the heating device 25 and the circulating fan 3; the heating device 25 heats the inner cavity of the casing 1, and the hot air enters the inner and outer cylinder sandwich to form a dual heat conduction; the multi-point temperature sensor 16 provides real-time feedback on the temperature inside the cylinder, and the electronic control assembly 4 automatically adjusts the heating power to quickly preheat the roasting space to the preset initial roasting temperature of the nuts of this type, and completes the preheating and constant temperature.

[0066] Start the drive shaft 204, set the speed of the roasting drum 2 and the stirring unit 26 respectively, and the two rotate in opposite directions at different speeds. The lifting plate 27 and the stirring blade 2603 continuously turn the nuts. During the high humidity stage in the early stage of stir-frying, the electronic control unit 4 increases the speed of the circulating fan 3 to accelerate the discharge of water vapor in the cylinder with the hot air; the dual-path heat conduction continuously compensates for the temperature to prevent water vapor from taking away heat and causing cooling. Once the mid-term dehydration is complete and the humidity level drops, the system reduces the fan speed to minimize heat loss and relies on the solid heat conduction of the heat transfer plates to maintain a stable and constant temperature during simmering. The visual perception unit 18 continuously identifies the color of the kernels. As the roasting process progresses, the kernels gradually turn yellow. The electronic control assembly 4 gradually reduces the heating power and slowly lowers the heating rate to prevent the kernels from burning due to excessive coloring.

[0067] The water vapor, oil fumes, and dust generated during the stir-frying process flow into the waste heat circulation pipeline with the hot air and enter the cyclone separator 28 for centrifugal dust removal; the dust and grease fall into the conical cavity 40, and the heat source 41 continuously burns the waste gas at high temperature to decompose odor pollutants; the purified high-temperature hot air flows back to the casing 1 for circulating heating, and a small amount of qualified exhaust gas is discharged through the chimney.

[0068] When the visual perception unit recognizes that the color of the nuts has reached the preset finished product standard, and the temperature and humidity parameters match the process endpoint threshold, the electronic control assembly automatically sends a completion signal: the heating device 25 is turned off, and the fan is kept at a low speed to circulate heat dissipation and cooling; the roasting drum 2 and the stirring unit 26 continue to turn at a low speed to cool the nuts evenly; after the temperature inside the drum drops to the safe discharge temperature, the discharge port 43 is opened, the roasting drum 2 rotates in the opposite direction, and the finished nuts are automatically unloaded and collected in conjunction with the lifting plate 27.

[0069] After unloading, turn off the power to the whole machine; remove the end cover 21 of the air outlet pipe, take out the temperature and humidity sensor for cleaning and calibration; open the window to clean the oil and soot stains on the surface of the protective glass 19; open the bottom cavity of the cyclone separator 26 to clean the dust and residue after incineration.

[0070] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multimodal sensing-based intelligent nut roasting machine, comprising a casing (1), a roasting drum (2), a circulating fan (3), and an electrical control assembly (4); wherein the roasting drum (2) is rotatably mounted inside the casing (1), characterized in that, The roasting roller (2) includes an inner roller (201), a heat-conducting component (202), an outer roller (203), and a drive shaft (204); the inner roller (201) forms a roasting space (5) inside, and a breathable partition (6) is provided at the rear end of the inner roller (201), with several breathable holes (7) arranged on the breathable partition (6); the heat-conducting component (202) includes multiple metal heat transfer plates (8) evenly distributed along the circumference, and the heat transfer plates (8) are connected to both the outer wall of the inner roller (201) and the inner wall of the outer roller (203). (201) The outer roller (203) is fixed together by heat transfer plates (8), and multiple circumferentially distributed airflow channels (9) are formed between the inner roller (201) and the outer roller (203); one end of the outer roller (203) is an open end (10) with installation space, and the other end is a closed end (11) with a central hole; the front end of the inner roller (201) extends outward from the open end (10) of the outer roller (203) to form an extension section (12); the extension section (12) is rotatably fitted with a front cover that blocks the front end of the inner roller (201). 13), the front cover (13) is fixedly connected to the housing (1); the outer roller (203) away from the opening end (10) and the inner roller (201) and the rear end of the heat conduction component (202) form a reflux space (14); the front cover (13) is provided with an air outlet pipe (15) communicating with the inner cavity of the inner roller (201), and the other end of the air outlet pipe (15) is connected to the circulating fan (3); temperature sensors (16) are evenly distributed in the reflux space (14), inside the inner roller (201) and inside the air outlet pipe (15); the air outlet pipe (15) is also equipped with a humidity sensor (17); a visual sensing unit (18) is fixedly installed on the front cover (13); the circulating fan (3), temperature sensor (16), humidity sensor (17), and visual sensing unit (18) are electrically connected to the electronic control assembly (4). The electronic control assembly (4) can control and adjust the speed of the circulating fan (3) and the speed of the roasting drum (2) based on the multimodal sensing signals of the temperature sensor (16), humidity sensor (17) and visual sensing unit (18).

2. The intelligent nut roasting and nut-roasting machine based on multimodal perception according to claim 1, characterized in that, The front cover (13) has a viewing window for observation, and a protective glass (19) is fixed inside the viewing window. The visual sensing unit (18) is mounted on the outside of the front cover (13) and corresponds to the position of the protective glass (19). The air outlet pipe (15) includes a detection pipe (20), and the end of the detection pipe (20) is provided with a detachable end cap (21). The humidity sensor (17) and the temperature sensor (16) inside the air outlet pipe (15) are fixedly installed on the end cap (21).

3. The intelligent nut roasting and nut-roasting machine based on multimodal perception according to claim 1, characterized in that, The heat transfer plate (8) of the heat conduction component (202) has a plurality of airflow inlets (22) arranged in a ring between the inner roller (201) and the outer roller (203) at one end of the extension section (12); the heat transfer plate (8) has a plurality of airflow outlets (23) arranged in a ring between the inner roller (201) and the outer roller (203) at the end of the airflow inlet.

4. The intelligent nut roasting and nut-roasting machine based on multimodal perception according to claim 1, characterized in that, The top and bottom edges of the heat transfer plate (8) are bent to form connecting edges (24), which are respectively attached to the inner circumferential surface of the outer roller (203) and the outer wall of the inner roller (201); the heat transfer plate (8) is formed into at least one of U-shape, Z-shape or I-shape; the heat transfer plate (8) is at least one of straight fin, inclined fin or spiral fin.

5. A smart nut roasting and nut-roasting machine based on multimodal perception according to claim 1, characterized in that, A heating device (25) is installed inside the casing (1). The heating device (25) is located at the bottom of the roasting drum (2) and the heating power can be adjusted by the electronic control assembly (4) according to the sensing data. The front cover (13) is provided with a feed inlet (42) and a discharge outlet (43) corresponding to the front end of the roasting drum (2).

6. A smart nut roasting and nut-roasting machine based on multimodal perception according to claim 1, characterized in that, The roasting drum (2) is also provided with a stirring unit (26); the stirring unit (26) includes a drive end (2601), a rotating end (2602) and a stirring blade (2603). The drive end (2601) is mounted on the front cover (13), and the drive shaft (204) is rotatably connected to the rotating end (2602), forming a structure in which the roasting drum (2) and the stirring unit (26) rotate independently.

7. A smart nut roasting and nut-roasting machine based on multimodal perception according to claim 1, characterized in that, The inner wall of the inner roller (201) is fixedly provided with several sets of lifting plate assemblies along the circumference. Each set of lifting plate assemblies includes multiple lifting plates (27) with progressively increasing or decreasing heights.

8. A smart nut roasting and nut-roasting machine based on multimodal perception according to claim 1, characterized in that, It also includes a heat circulation device, which includes a cyclone separator (28) and a combustion tube (29). The circulating fan (3), the cyclone separator (28), and the casing (1) are connected end to end by a pipeline to form a waste heat circulation pipeline. The casing (1) is provided with a return air port (38) and an air inlet (39). The cyclone separator (28) is provided with a heating chamber (30) inside. The heating chamber (30) has a process air inlet (31) on one side and a process air outlet (32) on the other side. The cyclone separator (28) is provided with a central... A vertical coaxial combustion tube (29) runs through the combustion tube (29). The lower end of the combustion tube (29) is opened as a flue gas inlet (33). The upper end of the combustion tube (29) extends out of the cyclone separator (28) and connects to the exhaust chimney (34). The air outlet pipe (15) is connected to the air inlet of the circulating fan (3) through the first pipe (35). The air outlet of the circulating fan (3) is connected to the process air inlet (31) of the cyclone separator (28) through the second pipe (36). The process air outlet (32) of the cyclone separator (28) is connected to the return port (38) of the casing through the third pipe (37).

9. A smart nut roasting and nut-roasting machine based on multimodal perception according to claim 8, characterized in that, The bottom of the cyclone separator (28) is connected to a conical cavity (40), and a heat source (41) is arranged coaxially below the flue gas inlet (33). The heat source (41) is placed inside the conical cavity of the cyclone separator (28).

10. A smart nut roasting process based on multimodal perception, characterized in that, The implementation of the intelligent nut roasting machine based on multimodal perception as described in any one of the claims includes the following steps: After being heated by the heating device (25), the hot airflow enters the airflow channel (9) between the inner drum (201) and the outer drum (203) to form a hot airflow. Physical heat conduction between the inner drum (201) and the outer drum (203) is achieved through the metal heat transfer plate (8) of the heat conduction component (202). The heat conduction of the hot airflow and the physical heat conduction compensate for each other to maintain a constant temperature roasting environment inside the roasting drum (2); during the roasting process, temperature sensors in the return space (14), inside the inner drum (201), and at the air outlet pipe (15) are monitored. (16), humidity sensor (17) and visual perception unit (18) synchronously collect multimodal sensing signals and send them to the electronic control assembly (4). The electronic control assembly (4) combines temperature and humidity detection data and the color image information of the nut surface collected by the visual perception unit to dynamically adjust the speed of the circulating fan, the speed of the roasting drum (2) and the power of the heating device (25). The dusty flue gas generated during roasting enters the waste heat circulation pipeline, is sent to the incineration tube (29) after being dusted by the cyclone separator (28), and is purified by the incineration of the flue gas under the action of the heat source (41). The waste heat of the purified flue gas is recycled and reused, and the remaining flue gas is discharged through the exhaust chimney (34).

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