Automatic steamer-filling robot system for wine making and control method thereof

Abstract

The invention relates to the technical field of wine making automation, in particular to an automatic steamer-filling robot system for wine making and a control method thereof. The robot system comprises a robot, a visual system and a control system, wherein the visual system is used for dividing the area in a steamer into a limited number of coordinate areas and further storing the coordinate areas in the control system through numbering one by one; the visual system comprises a three-dimensional depth camera, a visual induction device and an infrared thermometer; the three-dimensional depth camera is used for measuring the depth of fermenting grain materials in the steamer and the depth difference among different areas, so as to find low-spot areas of fermenting grains in the steamer; the visual induction device is used for sensing smoking, steam breaking spots or areas of fermenting grains in the steamer; the infrared thermometer is used for testing temperature anomaly high spots or areas of fermenting grains in the steamer; the control system is used for receiving feedback information of the three-dimensional depth camera, the visual induction device and the infrared thermometer, judging the priority order thereof, and throwing materials into response coordinate areas in a scattering manner by driving the robot according to the priority order. The automatic steamer-filling robot system for wine making and the control method thereof, provided by the invention, can realize mechanical, automated and visual steamer-filling operation.

Description

technical field [0001] The invention relates to the technical field of brewing automation, and more specifically relates to an automatic steamer loading robot system for brewing and a control method thereof. Background technique [0002] The brewing method of Chinese liquor is gradually changing from traditional manual operation to mechanization and automation. The retort process of fermented wine grains has become one of the most critical bottlenecks in the mechanization and automation of liquor brewing. Since the retort work has always been performed by experienced operators, the labor intensity is high, the technical requirements are high, and the output and quality of steamed wine are affected by human factors and are unstable. With the rapid development of the national economy, liquor companies are facing the dilemma of increasingly difficult recruitment and higher labor costs. There is an urgent need for an automatic steamer loading robot to replace manual steamer load...

AI Technical Summary

Problems solved by technology

Since the work of filling the steamer has always been performed by experienced operators, the labor intensity is high, the technical requirements are high, and the output and quality of steamed wine are affected by human factors and are unstable.

Images