阅读说明：本技术 一种烟把解把装置 (Tobacco bundle releasing device ) 是由 杨继志 宋柳 张华� 路兰卿 于丽君 程潮 成清校 马玉坤 邓若飞 于 2020-04-15 设计创作，主要内容包括：本发明公开了一种烟把解把装置,包括机架；输送单元,安装在所述机架上,所述输送单元具有切割工位；激光切割单元,设置在所述切割工位上,用于切割烟把的捆把；所述输送单元还具有采集工位,所述采集工位设置在所述切割工位的上游,所述采集工位上设置有采集烟把图像的采集单元,所述采集单元与所述激光切割单元连接,所述激光切割单元根据所述采集单元采集的烟把图像信息控制所述激光切割单元的切割动作。本发明采用采集单元定位烟把中捆把的位置,利用激光切割单元对烟把的捆把进行切割,降低人工摆把的精度,减少人工干预,提高解把率。(The invention discloses a tobacco bundle untying device, which comprises a frame; a conveying unit mounted on the frame, the conveying unit having a cutting station; the laser cutting unit is arranged on the cutting station and used for cutting bundles of tobacco bundles; the conveying unit is further provided with a collecting station, the collecting station is arranged on the upstream of the cutting station, a collecting unit for collecting cigarette bundle images is arranged on the collecting station, the collecting unit is connected with the laser cutting unit, and the laser cutting unit controls the cutting action of the laser cutting unit according to the cigarette bundle image information collected by the collecting unit. According to the invention, the collecting unit is adopted to position the bundle in the tobacco bundles, and the laser cutting unit is used for cutting the bundle of the tobacco bundles, so that the precision of manual bundle arrangement is reduced, manual intervention is reduced, and the bundle resolving rate is improved.)

1. A tobacco bundle untying device is characterized in that: comprises that

A frame;

a conveying unit mounted on the frame, the conveying unit having a cutting station;

and the laser cutting unit is arranged on the cutting station and is used for cutting the bundles of the tobacco bundles.

2. A bundle releasing device according to claim 1, wherein:

the conveying unit is further provided with a collecting station, the collecting station is arranged on the upstream of the cutting station, a collecting unit for collecting cigarette bundle images is arranged on the collecting station, the collecting unit is connected with the laser cutting unit, and the laser cutting unit controls the cutting action of the laser cutting unit according to the cigarette bundle image information collected by the collecting unit.

3. A bundle releasing device according to claim 2, wherein:

the collecting unit comprises an image collecting module for collecting the image of the tobacco bundle and a bundle identifying module for identifying the tobacco bundle in the image collected by the image collecting module,

the laser cutting unit comprises a first servo control module and a laser emitting module used for emitting laser, the first servo control module is respectively connected with the bundle identification module and the laser emitting module, and the first servo control module controls the laser emitting module to move to a position emitting cutting laser according to bundle information identified by the bundle identification module.

4. A bundle releasing device according to claim 3, wherein:

the bundle information includes shape information and/or position information of the bundle.

5. A bundle releasing device according to claim 3, wherein:

the acquisition unit also comprises a mildew identification module for identifying mildew parts in the tobacco bundles in the image acquired by the image acquisition module,

the laser cutting unit comprises a second servo control module, the second servo control module is respectively connected with the mildew identification module and the laser emission module, and the second servo control module controls the cutting track of the mildew part cut by the laser emission module according to the mildew part information identified by the mildew identification module.

6. A tobacco bundle unbinding device according to claim 5, wherein:

the information of the mildew part comprises the position of the mildew part on the whole tobacco bundle and/or the outline of the mildew part.

7. A tobacco bundle unbinding device according to claim 5, wherein:

the laser cutting unit further comprises a power control module, the power control module is connected with the laser emitting module, the bundle identification module and/or the mildew identification module, and the power control module controls the power density of laser emitted by the laser emitting module according to bundle information and/or mildew position information identified by the bundle identification module and/or the mildew identification module.

8. A tobacco bundle decoiling apparatus according to any one of claims 3 to 7, wherein:

the conveying unit further comprises a tobacco bundle placing station for placing tobacco bundles and a picking station for picking and cutting tobacco leaves, the tobacco bundle placing station is arranged on the upstream of the collecting station, and the picking station is arranged on the downstream of the cutting station.

9. A bundle releasing device according to claim 8, wherein:

the picking station is provided with a picking unit for picking bundles of tobacco leaves and/or mildewed tobacco leaves, and the picking unit is connected with the bundle identification module and/or the mildewed identification module.

10. A bundle releasing device according to claim 9, wherein:

the collecting unit is wirelessly connected with the laser cutting unit and/or the picking unit.

Technical Field

The invention belongs to the technical field of tobacco manufacturing equipment, and particularly relates to a tobacco bundle removing device.

Background

The tobacco redrying is a finishing and preparing processing process for converting tobacco leaves from agricultural products into industrial production raw materials, and is one of the most important links in the whole processing of tobacco.

Compared with highly automated assembly line operation and clean and tidy operation environment of links such as rolling, packaging and shredding in the tobacco industry, the threshing and redrying process also has a large amount of manual operations such as loading, unloading, sorting and handle arrangement. Is not beneficial to realizing modularized formula, homogenization processing and intelligent manufacturing of threshing and redrying. In the threshing and redrying process, after the original tobacco is remoistened, the tobacco bundles are manually arranged, and then the tobacco bundles are cut by a cutter bundle untying machine, so that the tobacco bundles are untwisted, and the subsequent processing process is convenient to carry out. The tobacco leaf cutting and bundle releasing is an important link in the threshing and redrying process, and the automation degree of the bundle releasing equipment directly influences the automation degree of the redrying process and the modular formula development degree.

The patent with application number CN201611000510.4 provides a noiseless tobacco leaf bundle-removing and cutting machine technical scheme, which comprises a frame, a conveying belt arranged below the frame, and an upper hob and a lower hob arranged at the end part of the conveying belt. The machine frame is provided with an elastic supporting rolling wheel which comprises an inner supporting ring, an elastic supporting piece on the inner supporting ring and a flexible outer ring at the periphery of the supporting piece.

The patent with application number CN02247604.0 provides a solution for cutting and untying the bundle, which includes a frame and a conveying belt, a cutter device, a cigarette pressing chain, and an untying device installed on the frame, wherein the lower part of the upper untying roller is provided with a lower untying roller with roller teeth engaged with the upper untying roller; and a knife grinding device is arranged on the beam at the upper cutter position.

Patent CN200520129798.6 provides a tobacco leaf double-roller bundle releasing machine scheme, which comprises a bundle releasing roller, a scraping roller, a feeding belt conveyor, a discharging belt conveyor, a movable fixed bundle releasing roller, a belt seat bearing and a machine seat, wherein the bundle releasing roller is driven by a transmission system; the separating and separating roller is characterized in that two separating and separating rollers are fixedly arranged horizontally, a plurality of separating and separating blades are arranged on each separating and separating roller, one separating and separating roller and the corresponding scraping roller are fixed on a linear bearing arranged on the machine base, the other separating and separating roller and the corresponding scraping roller are fixed on a bearing with a seat on the machine base, and pistons of two cylinders horizontally fixed on the machine base are connected with sliding parts of the linear bearing; the upper part of the double-releasing-handle roller is a feeding hole, and the lower part of the double-releasing-handle roller is a discharging hole.

Patent CN201220101065.1 provides an inclined self-tidy handle cutting, handle releasing and cutting integrated equipment technical scheme, which comprises a paving material feeding part, a handle cutting, a handle releasing and cutting part, wherein the feeding part comprises a paving material feeding belt and a bottom supporting belt, the paving material feeding belt is obliquely arranged, the bottom supporting belt is vertically arranged with the paving material feeding belt, vertical plates vertical to the paving material feeding belt are uniformly distributed on the paving material feeding belt, the handle cutting, the handle releasing and cutting part comprises a handle, a handle releasing machine, a cutting machine and a support of the cutting machine, the lower part of the handle cutting machine and the lower part of the handle releasing machine form a sliding pair connection with the support through a sliding chute and a sliding rail, the lower part of the cutting machine and the support of the cutting machine are in the same inclined plane with the paving material feeding belt, and driving mechanisms matched with the sliding pair are arranged between the handle cutting machine, the handle releasing machine, the lower part of the cutting machine and the support.

The research on the tobacco bundle separating machine in the scheme is the structural research, but the basic scheme is still the method for cutting off tobacco bundles by adopting the milling cutter, and the problem existing in the prior art is that the position of the milling cutter is fixed, so that the tobacco bundles are required to be placed at a correct position manually, otherwise the tobacco bundle separating efficiency is seriously influenced, and the manual requirement is also high.

Patent application No. CN201210230855.4 provides a solution using compressed air handlebar, comprising a compressed air jet nozzle provided on a mounting frame; a roller conveyor is arranged below the compressed air jet nozzle, a dust removal box is arranged below the roller conveyor, an air inlet is formed in the top wall of the dust removal box corresponding to the position of the compressed air jet nozzle, and the inner cavity of the dust removal box is communicated with an exhaust fan; the compressed air jet nozzle air inlet is communicated with a high-pressure air storage tank, and the high-pressure air storage tank is communicated with an air outlet of a compressed air station through a pneumatic supercharger, a vertical air storage tank and a gas-water separator.

The arrangement position of the tobacco bundle in the scheme has certain self-adaptability, but the tobacco bundle is difficult to realize accurate bundle separation due to the inherent characteristics of the tobacco bundle, and the powerful effect of the compressed air on the tobacco bundle is larger, a certain mechanism for pressing the tobacco bundle is still needed, otherwise the tobacco bundle can be blown away and blown to be broken.

In view of the above, the present invention is particularly proposed.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a tobacco bundle releasing device adopting laser cutting, which has higher adaptability to the position for manually placing tobacco bundles, is more accurate in bundle releasing and small in size.

In order to solve the technical problems, the invention adopts the technical scheme that:

a tobacco bundle releasing device comprises

A frame;

a conveying unit mounted on the frame, the conveying unit having a cutting station;

and the laser cutting unit is arranged on the cutting station and is used for cutting the bundles of the tobacco bundles.

Further, in the above-mentioned case,

the conveying unit is further provided with a collecting station, the collecting station is arranged on the upstream of the cutting station, a collecting unit for collecting cigarette bundle images is arranged on the collecting station, the collecting unit is connected with the laser cutting unit, and the laser cutting unit controls the cutting action of the laser cutting unit according to the cigarette bundle image information collected by the collecting unit.

Further, in the above-mentioned case,

the collecting unit comprises an image collecting module for collecting the image of the tobacco bundle and a bundle identifying module for identifying the tobacco bundle in the image collected by the image collecting module,

the laser cutting unit comprises a first servo control module and a laser emitting module used for emitting laser, the first servo control module is respectively connected with the bundle identification module and the laser emitting module, and the first servo control module controls the laser emitting module to move to a position emitting cutting laser according to bundle information identified by the bundle identification module.

Further, in the above-mentioned case,

the bundle information includes shape information and/or position information of the bundle.

Further, in the above-mentioned case,

the acquisition unit also comprises a mildew identification module for identifying mildew parts in the tobacco bundles in the image acquired by the image acquisition module,

the laser cutting unit comprises a second servo control module, the second servo control module is respectively connected with the mildew identification module and the laser emission module, and the second servo control module controls the cutting track of the mildew part cut by the laser emission module according to the mildew part information identified by the mildew identification module.

Further, in the above-mentioned case,

the information of the mildew part comprises the position of the mildew part on the whole tobacco bundle and/or the outline of the mildew part.

Further, in the above-mentioned case,

the laser cutting unit further comprises a power control module, the power control module is connected with the laser emitting module, the bundle identification module and/or the mildew identification module, and the power control module controls the power density of laser emitted by the laser emitting module according to bundle information and/or mildew position information identified by the bundle identification module and/or the mildew identification module.

Further, in the above-mentioned case,

the conveying unit further comprises a tobacco bundle placing station for placing tobacco bundles and a picking station for picking and cutting tobacco leaves, the tobacco bundle placing station is arranged on the upstream of the collecting station, and the picking station is arranged on the downstream of the cutting station.

Further, in the above-mentioned case,

the picking station is provided with a picking unit for picking bundles of tobacco leaves and/or mildewed tobacco leaves, and the picking unit is connected with the bundle identification module and/or the mildewed identification module.

Further, in the above-mentioned case,

the collecting unit is wirelessly connected with the laser cutting unit and/or the picking unit.

After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects.

1. The invention adopts laser to cut the bundle, and utilizes the laser beam with high energy density to heat the bundle according to the required lines, so that the temperature of the bundle at the light point is rapidly increased, the boiling point of the material is reached in a very short time, and the material begins to vaporize to form steam. The steam is sprayed out at a high speed, a cut is formed on the bundle while the steam is sprayed out, the cutting gap is very narrow and can reach 0.1mm, the cutting speed is very high, the temperature rise does not exist in other parts of the tobacco bundle, and the overall quality of the tobacco bundle is not influenced.

2. The bundle identification module can directly judge the bundle position of the tobacco bundles according to the collected images of the tobacco bundles, and can solve the problem that the position of manually placing the tobacco bundles is high in requirement in the prior art by adopting a milling cutter cutting scheme in cooperation with the bundle cutting of the tobacco bundles by adopting laser.

3. The bundle untying device also comprises a mildew identification module and a second servo control module, and the mildew identification module and the second servo control module are used for cutting out mildew parts of the tobacco bundles by laser, so that the automation of work for cutting out the mildew parts is realized, and the manual labor is saved.

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is a front view of the tobacco bundle untying apparatus of the present invention;

FIG. 2 is a top plan view of the tobacco bundle untying apparatus of the present invention;

FIG. 3 is a schematic view of the connection of the tobacco bundle releasing device of the present invention;

in the figure: 1. a frame; 2. a conveying unit; 3. a laser cutting unit; 4. a collection unit; 5. a tobacco bundle placing station; 6. a picking unit.

It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 3, the invention provides a bundle releasing device, which comprises a frame 1, a conveying unit 2 and a laser cutting unit 3; wherein a conveying unit 2 is mounted on the frame 1, the conveying unit 2 having a cutting station; the laser cutting unit 3 is arranged on the cutting station and is used for cutting bundles of tobacco bundles. Preferably, the conveyor unit 2 comprises a plate chain for conveying the tobacco bundle.

In the invention, the bundle is cut by laser, and the bundle is heated by laser beam with high energy density according to required lines, so that the temperature of the bundle at a light point is rapidly increased, the boiling point of the material is reached in a very short time, and the material begins to vaporize to form steam. The steam is sprayed out at a high speed, a notch is formed in the bundle handle at the same time of steam spraying, the principle of laser cutting of the bundle handle is adopted, the cutting gap is very narrow and can reach 0.1mm, the cutting speed is very high, temperature rise does not exist in other parts of the cigarette handle, and the overall quality of the cigarette handle is not affected.

Further, as shown in fig. 1 and 2, the conveying unit 2 further has a collecting station, the collecting station is arranged at the upstream of the cutting station, a collecting unit 4 for collecting images of the tobacco bundle is arranged on the collecting station, the collecting unit 4 is connected with the laser cutting unit 3, and the laser cutting unit 3 controls the cutting action of the laser cutting unit 3 according to the image information of the tobacco bundle collected by the collecting unit 4.

As an embodiment of the present invention, as shown in fig. 3, the collecting unit 4 includes an image collecting module for collecting an image of a bundle of cigarettes and a bundle identifying module for identifying a bundle of bundles of cigarettes in the image collected by the image collecting module, and preferably, the image collecting module includes a camera, and pixels of the camera are not too high, so that it is avoided that the number of bytes of the image is too high due to the higher pixels, which affects transmission efficiency. The laser cutting unit 3 comprises a first servo control module and a laser emitting module for emitting laser, the first servo control module is respectively connected with the bundle identification module and the laser emitting module, and the first servo control module controls the laser emitting module to move to a position for emitting cutting laser according to bundle information identified by the bundle identification module.

Further, the conveying unit 2 further comprises a tobacco bundle placing station 5 and a picking station, the tobacco bundle placing station 5 is arranged at the upstream of the collecting station, and the picking station is arranged at the downstream of the cutting station.

In detail, on the tobacco bundle placing station 5, the tobacco bundles after being bundled are manually placed on the plate chain of the conveying unit 2, along with the transmission process of the plate chain, the tobacco bundles are conveyed to the next station, namely, the collecting station, the image of the tobacco bundles is collected by the image collecting module arranged on the collecting station, the image of the tobacco bundles is collected by the image collecting module and then sent to the first servo control module, the first servo control module controls the cutting action of the laser cutting unit 3 according to the collected image, the bundle of the tobacco bundles is cut, the bundle removing of the tobacco bundles is completed, the tobacco bundles are removed and then conveyed to the next station, namely, the picking station, and the next flow is carried out. In the whole tobacco bundle processing process, the tobacco bundles are freely placed on the plate chain belt and do not need to be compressed, a compressing device of the tobacco bundles is omitted, the noise is low, and tobacco flakes are low in breakage. .

Further, the bundle information includes shape information and/or position information of the bundle.

In detail, on the collecting station, after the image of the bundle is collected by the image collecting module, the image of the bundle is sent to the bundle identifying module, the bundle identifying module performs binarization processing on the image of the bundle to obtain a binarized image of the bundle, and the binarized image is subjected to edge and shape analysis, so that a position vector of the whole bundle of the bundle is obtained, and shape information and/or position information of the bundle, such as the knotting position of the bundle and the length of the bundle, is obtained at the same time. The bundle identification module sends the bundle information to the first servo control module, the first servo control module controls the laser emission module to run to different positions in a specified route according to the bundle information, and sends out cutting laser after the laser emission module is positioned at the bundle position, so that the bundle is cut open, and bundle opening work of the cigarette bundle is completed.

Further, the laser cutting unit 3 further includes a power control module, the power control module is connected to the laser emitting module and the bundle identification module, and the power control module controls the power density of the laser emitted by the laser emitting module according to the bundle information identified by the bundle identification module. The power density of the cutting laser corresponds to the bundle information, the phenomenon that the bundle cannot be cut due to burning of tobacco leaves caused by overlarge power or due to undersize power is avoided, and reasonable energy consumption is realized by selecting proper laser cutting power density.

The bundle identification module can directly judge the bundle position of the tobacco bundles according to the collected images of the tobacco bundles, and can solve the problem that the position of manually placing the tobacco bundles is high in requirement in the prior art by adopting a milling cutter cutting scheme in cooperation with the bundle cutting of the tobacco bundles by adopting laser. On the other hand, according to different process requirements, different stem-separating processes such as tip cutting and tip non-cutting can be realized on the premise of not changing equipment, the stem bundles longer than 400mm can be subjected to tip cutting processing, the stem bundles shorter than the stem bundles can be subjected to tip non-cutting, a better large sheet rate is obtained, winding is avoided, the process is flexible, the leaf blades can be conveniently divided into leaf-based leaf blades and non-leaf-based leaf blades according to needs, manual setting can be realized, and programs can be allowed to make own judgment.

In another embodiment of the present invention, as shown in fig. 3, the capturing unit 4 further comprises a mildew identification module for identifying a mildew portion in the tobacco bundle in the image captured by the image capturing module,

the laser cutting unit 3 comprises a second servo control module, the second servo control module is respectively connected with the mildew identification module and the laser emission module, and the second servo control module controls the cutting track of the mildew part cut by the laser emission module according to the mildew part information identified by the mildew identification module.

In detail, in the prior art, the removal of the moldy part of the tobacco bundle is generally purely manual, more manual labor is needed, and the seasonal labor of an enterprise is related.

Further, the information of the mildew part comprises the position of the mildew part on the whole tobacco bundle and/or the outline of the mildew part.

In detail, the mildew part is similar to the physical property of normal tobacco leaves, the design of an extraction, identification and classification algorithm for comprehensive characteristic information of foreign body images is the key for realizing the detection of a machine vision method, the image acquisition module can also send the images to the mildew identification module after acquiring the images of the tobacco bundles, the mildew identification module adopts a microstructure description algorithm simulating the human visual perception mechanism and combines a neural network integration and classification algorithm to identify the mildew part information of the tobacco leaves in the tobacco bundles and extract the color and texture information of the images of the tobacco bundles, such as the color information and/or the texture information of the images of the tobacco bundles, finally, the outline of the mildew part is identified, the position and the outline information of the mildew part are sent to a second servo control module, the second servo control module controls the laser emission module to run at any track according to the mildew part information, and then the mildew part is subjected to laser along the outline of the mildew part Cutting off by cutting.

Furthermore, the power control module is connected with the mildew identification module, and the power control module controls the power of the laser emitted by the laser emitting module according to the mildew part information identified by the mildew identification module.

In the scheme, the mildew identification module comprehensively extracts the color and texture information of the image of the tobacco bundle based on a microstructure description algorithm simulating a human visual perception mechanism, combines a neural network integration classification algorithm to generate a mildew part outline, the laser cutting unit 3 performs outline cutting, and after cutting, a subsequent picking station picks the cut mildew part. The scheme of the invention realizes the on-line detection and elimination of the moldy tobacco bundles and realizes the judgment of 90 percent of parts.

In the above scheme, the image acquisition module, bundle identification module and/or the identification module that mildenes and rot are integrated into a holistic first equipment, and first equipment includes first casing, and the image acquisition module, bundle identification module and/or the identification module that mildenes and rot set up in first casing, and is preferred, and conveying unit 2 of gathering station department passes first casing, accomplishes in first casing is inside when making the image of image acquisition module collection cigarette, reduces the influence of environmental factor to image acquisition.

The laser emission module and the first servo control module and/or the second servo control module can be integrated into a whole second device, the second device comprises a second shell, the laser emission module and the first servo control module and/or the second servo control module are arranged in the second shell, preferably, the conveying unit 2 at the cutting station penetrates through the second shell, the laser emission module emits laser to cut bundles of tobacco bundles and/or the mildew part is completed in the second shell, and the safety of laser cutting is improved.

Furthermore, the second equipment also comprises an alarm unit, the alarm unit is connected with the laser emission module, and when the first servo control module and/or the second servo control module control the laser emission module to emit laser, the alarm unit is controlled to be started to emit alarm sound or alarm light, so that the safety of laser cutting is further improved.

In some embodiments of the present invention, as shown in fig. 1 and 2, a picking unit 6 for picking the bundle and/or the moldy tobacco cut by the laser is disposed at the picking station, and the picking unit 6 is connected to the bundle identification module and/or the moldy identification module.

In detail, the picking unit 6 mainly includes a vacuum generating system, a vacuum chuck, and a position servo control mechanism. According to the data of the cutting part transmitted from the cutting station, the servo control mechanism places the vacuum sucker system at the cutting part, sucks the cut tobacco bundles and/or moldy tobacco leaves away by a vacuum suction method, and then places the cut tobacco bundles and/or moldy tobacco leaves into the containing box. Finishing the sorting action, and enabling the sorted tobacco bundles which are already untwisted to enter the next procedure along with the existing process equipment.

In the invention, the bundle identification module and the first servo control module and/or the mildew identification module and the second servo control module and/or the bundle identification module and the picking unit 6 and/or the mildew identification module and the picking unit 6 can be connected through a data line or a wireless network, for example, Bluetooth, WiFi, infrared transmission and the like. By using wireless network connection, wiring can be reduced, and flexibility of arranging positions of each unit can be improved.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.