Steaming track extraction method based on speed characteristics

Abstract

The invention discloses a steaming track extraction method based on speed characteristics, which comprises the following steps: A, denoising original data, and calculating the speed at each moment; B,generating a time track by using a dynamic time warping algorithm; C, generating a space alignment matrix by using a typical association algorithm; D, repeating the step B and the step C for multipletimes; and E, averaging the tracks to generate a final fitting track. According to the method, trajectory matching is introduced into a robot steaming action learning process, repeated teaching trajectory point pair matching features are established through a speed space nearest point relationship, time alignment is performed through dynamic time warping, space alignment is performed through typical correlation analysis, and finally point pair matching and steaming action trajectory fitting are realized. According to the method, the noise tolerance of the method can be improved through multi-time steamer feeding action teaching, and the method has high robustness for the problems of action deformation, action acceleration and deceleration and the like in the manual steamer feeding process. According to the invention, the extraction of the steaming track is finally realized, and a good effect is achieved.

Description

technical field [0001] The invention relates to the technical field of track extraction, in particular to a method for extracting a steamer track based on velocity features. Background technique [0002] Chinese baijiu has a long history, and the brewing process of baijiu is constantly developing and innovating with the progress of the times. Among them, the steamer is an extremely important part of the liquor brewing process. The operation quality of the steamer operation will directly determine the quality of the wine. Specifically, the retort operation requires that during the brewing process, the raw materials are evenly and loosely spread in the retort pot layer by layer, and the uniformity and porosity should ensure that the raw materials do not escape or compress steam. Because the retort pot is in the shape of a truncated cone, it is difficult for general charging equipment to realize the retort operation. Therefore, the traditional manual retort method is generall...

AI Technical Summary

Problems solved by technology

[0003] However, the traditional manual steamer is faced with problems such as high labor intensity, poor working environment, and the wine quality and wine production rate vary from person to person.

Images