A robot-based system and method for removing fermented grains from a cellar

Abstract

The present invention belongs to the field of intelligent control technology, and more specifically, relates to a robot-based system and method for unloading mash from a cellar. The robot mobile platform carries the robot to move on the ground rail, and stops at the cellar location where the mash is excavated, automatically obtains the depth of the mash in the cellar, and uses the robot to carry a mechanical grab to excavate layer by layer. The excavated mash is placed in a storage device on the ground rail, and the storage device automatically moves to the distillation area according to instructions after it is filled. The robot-based system and method for unloading mash from a cellar provided by the present invention can realize fully automatic unloading of mash from a cellar, and is used to solve industry pain points such as the need for manual participation, the need for driving, and the risk of damaging the inner wall of the cellar when unloading mash. No manual participation is required throughout the process, and the inner wall of the cellar will not be damaged.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent control technology, and more specifically, relates to a robot-based wine mash unloading system and method. Background Art

[0002] In the liquor brewing process, the mash usually needs to be fermented in a rectangular cellar for a certain period of time, and then it is dug out of the cellar for distillation. At present, the mash is usually dug out by workers manually or by workers and a crane with a grab bucket. Both methods have disadvantages. When workers dig out the mash manually, the labor intensity is high, and it requires multiple people to take over and cooperate to complete the mash. Especially when the cellar is deep, it is a huge test for the workers' physical strength. When workers and a crane with a grab bucket cooperate to dig, it has extremely high requirements for the crane operator. Unstable control may damage the cellar mud on the inner wall of the cellar and affect fermentation. For this reason, a crane grab bucket is usually used to dig only the mash in the middle part of the cellar, and the mash close to the inner wall of the cellar is manually dug out by workers. Although this method can reduce the labor of workers when digging out of the cellar to a certain extent, it still requires workers to dig out manually, and requires the cooperation of the crane, which is costly. There are safety risks and risks of damaging the inner wall of the cellar during the movement of the crane.

[0003] CN113581869A discloses a device for unloading mash from a cellar. The invention requires sufficient space around the cellar, and the mash needs to be moved to a ground storage box. It requires manual participation in the overall movement control of the equipment, and the degree of automation is not high enough. CN116621021A discloses a cellar pressing grab, an intelligent driving device, and an automatic control method. CN220098311U discloses an automatic unloading device for mash from a mud cellar. Both use a driving control grab to complete the unloading of the mash and move it to a storage device. However, the storage device still needs to be moved manually, which poses a safety hazard and is easy to damage the inner wall of the cellar. Summary of the invention

[0004] The invention provides a robot-based wine-wine unloading system and method with a high degree of automation.

[0005] The present invention is obtained by following steps:

[0006] In the first aspect, a robot-based system for removing fermented grains from a cellar comprises:

[0007] Robot mobile platform: used to fix the robot, interact with the control module, receive instructions from the control module, and carry the robot to the designated location;

[0008] Position detection module: installed on the robot mobile platform and mobile storage device, used to detect positioning tags and determine the parking positions of the robot mobile platform and mobile storage device;

[0009] Positioning tags: set around the cellar and in the waiting area, used to be detected by the position detection module to determine the docking position of the robot mobile platform and the mobile storage device;

[0010] Robot: fixed on the robot mobile platform, receives instructions from the control module, executes the action control instructions sent by the control module, moves, and controls the mechanical grab connected to its end to complete position change or corresponding actions;

[0011] Mechanical grab: connected to the end of the robot, it grabs the mash in the cellar and releases it into the mobile storage device under the control of the robot;

[0012] Mobile storage device: used to store the mash grabbed by the mechanical grab and moved to the designated location under the command of the control module.

[0013] Cellar image acquisition module: fixed on the robot mobile platform, used to collect real-time images of the cellar interior and transmit them to the control module;

[0014] Control module: manage the cellar according to the type of material layer in the cellar, feeding time and fermentation conditions; select the robot mobile platform and mobile storage device to move to the corresponding position of the cellar to be unloaded and move to the nearby waiting area to wait according to the position of the robot mobile platform and mobile storage device; obtain the depth of the mash in the cellar to be unloaded based on the collected internal image of the cellar to be unloaded, calculate the amount that needs to be unloaded, calculate the number of times required to grab based on the maximum amount that the mechanical grab can grab, and plan the grabbing path of the mechanical grab according to the position information of the four vertices of the cellar to be unloaded in the robot coordinate system, form the robot's motion control instructions, and transmit them to the robot; after the unloading is completed, control the robot mobile platform and mobile storage device to move to the specified position; adjust the grabbing path of the mechanical grab according to the real-time image of the cellar and the grabbed amount in the mobile storage device, form an updated robot's motion control instructions, and transmit them to the robot.

[0015] The fermented grains unloading system also includes: a wireless communication module, which is arranged on the robot mobile platform, the mobile material storage device, the cellar image acquisition module, and the control module, and is used for information interaction and command transmission.

[0016] The fermented grains unloading system also includes a visual cloud service platform, which displays the position and status of the robot mobile platform and the mobile storage device in real time, and displays the internal image of the cellar transmitted by the cellar image acquisition module in real time.

[0017] The fermented grains unloading system further comprises:

[0018] Ground rails: laid between the pits to provide mobile tracks for the robot's mobile platform and mobile storage device; two positioning tags are installed on the ground rails near each pit, and the distance between the two positioning tags is determined based on the range of motion of the robot's mechanical arm; several waiting areas are set up for docking mobile storage devices that have not performed tasks.

[0019] The control module of the fermented mash unloading system calculates the number of times required to be grabbed based on the maximum amount of the mechanical grab to be grabbed, and plans the grabbing path of the mechanical grab according to the position information of the four vertices of the cellar to be unloaded in the robot coordinate system, specifically including:

[0020] The depth at which the mechanical grab grabs the mash is fixed, the mass of the mash grabbed each time is calculated according to the volume of the mechanical grab, and the mechanical grab is controlled to grab the mash layer by layer in the order from left to right, from front to back, and from top to bottom.

[0021] In a second aspect, a method for removing fermented grains from a cellar based on a robot comprises the following steps:

[0022] S1: Receive the cellar number of the cellar to be taken out, confirm the position of the cellar to be taken out, and control the mobile storage device and the robot mobile platform to move to the corresponding position of the cellar to be taken out;

[0023] S2: Based on the collected internal image of the cellar to be unloaded, the depth of the mash in the cellar to be unloaded is obtained, the amount that needs to be unloaded is calculated, and the number of times that need to be grabbed is calculated based on the maximum amount that the mechanical grab can grab, and the grabbing path of the mechanical grab is planned according to the position information of the four vertices of the cellar to be unloaded in the robot coordinate system, and the motion control instructions of the robot are formed and transmitted to the robot; S3: In the process of the robot carrying the mechanical grab to grab the mash, according to the real-time acquired depth of the mash in the cellar and the grabbed amount in the mobile storage device, the grabbing path of the mechanical grab is adjusted, and the updated motion control instructions of the robot are formed and transmitted to the robot;

[0024] S4: After the grabbing is completed, the mobile storage device and the robot mobile platform are controlled to move to the specified position.

[0025] The robot-based method for removing fermented mash from a cellar preferably calculates the number of times required to be grabbed based on the maximum amount grabbed by the mechanical grab, and plans the grabbing path of the mechanical grab according to the position information of the four vertices of the cellar to be removed in the robot coordinate system, specifically including:

[0026] The depth at which the mechanical grab grabs the mash is fixed, the mass of the mash grabbed each time is calculated according to the volume of the mechanical grab, and the mechanical grab is controlled to grab the mash layer by layer in the order from left to right, from front to back, and from top to bottom.

[0027] The robot-based method for removing fermented grains from a cellar preferably includes adjusting the mechanical grabbing path in S3 according to the fermented grains depth in the cellar obtained in real time and the amount of grains grabbed in the mobile storage device, specifically including:

[0028] After the grabbing path of each layer is completed, it is determined whether the grabbed amount in the mobile storage device is not less than the theoretical grabbing amount at the current stage.

[0029] If it is not less than, continue to crawl according to the preset crawling path.

[0030] If it is less than, determine whether the depth of the mechanical grab to grab the mash is the maximum depth of the mechanical grab. If it is the maximum depth, continue to grab according to the preset grabbing path. If it is not the maximum depth, adjust the depth of the mechanical grab to grab the mash and adjust the grabbing path of the mechanical grab according to the real-time depth of the mash in the cellar.

[0031] The robot-based method for unloading mash from a cellar preferably plans the grabbing path of a mechanical grab bucket on the same layer. If the ratio of the size of the cellar in the first direction to the maximum moving distance of the mechanical grab bucket in the first direction when performing a grabbing action is not an integer, the grabbing route related to the moving distance corresponding to the remainder is set at the center position of the grabbing route in the first direction.

[0032] The robot-based method for unloading mash from a cellar preferably plans the grabbing path of the mechanical grab in the depth direction. If the ratio of the size of the cellar in the depth direction to the maximum moving distance of the mechanical grab in the depth direction when performing a grabbing action is not an integer, the grabbing route related to the moving distance corresponding to the remainder is set in the middle layer of the grabbing layers in the depth direction.

[0033] Beneficial effects of the present invention:

[0034] A mechanical grab is installed at the end of the robot's six axes. The robot's mobile platform carries the robot on the ground rail and stops at the cellar where the mash is being excavated. The detailed information of the cellar is obtained through the positioning tag installed at the cellar. At the same time, the detection device is used to obtain the thickness of the mash in the cellar. The robot carries the mechanical grab to excavate layer by layer, and the excavated mash is placed in the storage device on the ground rail. After the storage device is full, it automatically moves to the distillation area according to instructions. At the same time, an empty storage device is returned from the nearby waiting area to the cellar.

[0035] The robot-based mash unloading system provided by the present invention can realize fully automatic mash unloading, perform strict grasping path planning, and make real-time adjustments according to the actual grasping situation. It is used to solve industry pain points such as the need for manual participation, the need for driving, and the possible risk of damaging the inner wall of the cellar when the mash is unloaded from the cellar. No manual participation is required throughout the process, and the inner wall of the cellar will not be damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic structural diagram of some components of the robot-based fermented grains unloading system of the present invention.

[0037] Among them, 1. Robot mobile platform, 2. Cellar image acquisition module, 3. Robot, 4. Mechanical grab, 5. Ground rail. DETAILED DESCRIPTION

[0038] The technical solution of the present application is described in detail below in conjunction with specific embodiments.

[0039] Embodiment 1:

[0040] A robot-based fermented grains unloading system comprises a robot mobile platform, a position detection module, a positioning tag, a robot, a mechanical grab, a mobile material storage device, a cellar image acquisition module, and a control module.

[0041] Robot mobile platform: used to fix the robot, carry the robot to move, interact with the control module, receive instructions from the control module, and carry the robot to the specified location.

[0042] The robot mobile platform is a relatively common structure in the prior art. For example, a servo motor, rollers, and a brake system can be installed at the bottom. It can be equipped with a wireless communication module, and after receiving the command from the control module, it reaches the location of the cellar to be taken out of the cellar or returns to the empty waiting area; when the robot is not working, the robot mobile platform can automatically move to a nearby empty waiting area under the control of the control module to wait. Before a new cellar-out task appears, the robot mobile platform is waiting in the waiting area and transmits the current position information and status to the control module. The servo motor drives the roller to roll on the ground rail, carrying the robot mobile platform to move, and determines whether it has reached the designated position through the detection result of the position detection module. After reaching the designated position, the brake system is activated to ensure that the robot does not move during the work process.

[0043] Position detection module: installed on the robot mobile platform and the mobile storage device, for example, it can be fixed on the bottom of the robot mobile platform and the mobile storage device, used to detect positioning tags and determine the docking position of the robot mobile platform and the mobile storage device.

[0044] The position detection module may be structurally composed of N photoelectric switches / contact switches arranged in a row to detect the positioning tag.

[0045] Positioning tags: Set around the cellar and in the waiting area, used to be detected by the position detection module to determine the docking position of the robot mobile platform and the mobile storage device.

[0046] Corresponding to the position detection module, the positioning tag consists of N light shielding sheet / contact sensing sheet installation positions and part of the light shielding sheet / contact sensing sheet. Whether the N light shielding sheet / contact sensing sheet installation positions are installed with light shielding sheets / contact sensing sheets can have 2 N There are 2 combinations, except for the invalid positioning labels without light shielding sheet / contact sensor sheet installed. N -1 combination, can represent 2 N -1 position. Two positioning tags are installed near each pit, which are used to specify the docking position of the robot mobile platform and the mobile storage device. When the robot mobile platform and the mobile storage device move to the specified position, the position detection module at the bottom will be detected by the light shielding film / contact sensing film of the positioning tag, and generate coded information corresponding to the light shielding film / contact sensing film to determine whether it has reached the specified position.

[0047] Robot: Fixed on the robot mobile platform, receives instructions from the control module, executes the motion control instructions sent by the control module, moves, and controls the mechanical grab connected to its end to complete position changes or corresponding actions.

[0048] Mechanical grab: connected to the end of the robot, under the control of the robot, it grabs the mash in the cellar and releases it into the mobile storage device.

[0049] The robot is fixed to the robot through the flange at the end of the robot's six axes, and the robot autonomously controls it to complete the grabbing of the mash in the cellar and release it to the mobile storage device. The robot is connected to the robot through the flange device, and the grab is opened and closed by controlling the opening and closing of the two hydraulic cylinders to drive the grab bucket's rotating shaft to rotate; the grab bucket is connected and fixed to the end of the robot's six axes through the flange, which can prevent the grab bucket from swinging when grabbing the mash in the cellar, achieve precise positioning and precise grabbing, and avoid damage to the inner wall of the cellar.

[0050] Mobile storage device: used to store the mash grabbed by the mechanical grab and moved to the designated location under the command of the control module.

[0051] It is used to store the excavated mash, and a servo motor, rollers, a brake system, a position detection module, and a wireless communication module are installed at the bottom.

[0052] The control module communicates with the mobile storage device through the wireless communication system, sends the mobile storage device movement control command, controls the mobile storage device to reach the designated cellar position or return to the empty waiting area; when the mobile storage device is not working, the mobile storage device will automatically move to the nearby empty waiting area to wait. Before a new cellar-out task appears, the mobile storage device will wait in the waiting area and pass the current position information and status to the control module. The servo motor drives the roller to roll on the ground rail, carrying the mobile storage device to move on the ground rail, and determines whether it has reached the designated position through the position detection module detection result. After reaching the designated position, the brake system is activated to ensure that the mobile storage device will not move on the ground rail during operation.

[0053] Cellar image acquisition module: fixed on the robot mobile platform, used to collect real-time images of the cellar interior and transmit them to the control module. For example, it can be a camera that detects the thickness of the mash in the cellar and the boundary line of the cellar wall in real time. At the same time, the camera takes real-time pictures of the cellar and transmits them to the control module through the wireless communication system on the robot mobile platform.

[0054] Control module: manage the cellar according to the type of material layer in the cellar, feeding time and fermentation conditions; according to the position of the robot mobile platform and the mobile storage device, select the robot mobile platform and the mobile storage device to move to the corresponding position of the cellar to be unloaded or move to a nearby waiting area to wait; based on the collected internal image of the cellar to be unloaded, obtain the depth of the mash in the cellar to be unloaded, calculate the amount that needs to be unloaded, calculate the number of times required to grab based on the maximum amount grabbed by the mechanical grab, and plan the grabbing path of the mechanical grab according to the position information of the four vertices of the cellar to be unloaded in the robot coordinate system, form the robot's motion control instructions, and transmit them to the robot; after the unloading is completed, control the robot mobile platform and the mobile storage device to move to the specified position; according to the real-time acquired image of the cellar and the grabbed amount in the mobile storage device, adjust the grabbing path of the mechanical grab, form an updated robot's motion control instructions, and transmit them to the robot.

[0055] The depth information of each cellar, the start time of fermentation, the end time of fermentation, the thickness of the mash material, etc. are all pre-stored in the storage space of the control module. When the conditions and time for unloading are met, the controller will control other modules to take action to realize unloading.

[0056] In order to more intuitively display the conditions of each cellar and the process of unloading the mash, the unloading system also includes a visual cloud service platform. The visual cloud service platform and the control module can be deployed on one device, sharing the data transmission mode and data sharing. The visual cloud service platform can display the position and status of the robot mobile platform and the mobile storage device in real time on the display interface, the depth information in each cellar, the start time of fermentation, the end time of fermentation, the thickness of the mash material, etc., and display the internal image of the cellar transmitted by the cellar image acquisition module and the video image when unloading the cellar in real time.

[0057] The control module calculates the thickness of the remaining mash in the cellar based on the depth information of the cellar to be unloaded and the internal image of the cellar collected by the cellar image acquisition module, provides the mash thickness information for the robot's unloading task, and determines the type of mash being unloaded and the type and quantity of mash remaining in the cellar based on the depth.

[0058] The control module calculates the number of grabs required based on the maximum amount that the mechanical grab can grab, and plans the grabbing path of the mechanical grab according to the position information of the four vertices of the cellar to be taken out in the robot coordinate system, including:

[0059] The depth at which the mechanical grab grabs the mash is fixed, the mass of the mash grabbed each time is calculated according to the volume of the mechanical grab, and the mechanical grab is controlled to grab the mash layer by layer in the order from left to right, from front to back, and from top to bottom.

[0060] The module for data or command transmission in the fermented mash unloading system preferably uses a wireless communication module, which is arranged on the robot mobile platform, the mobile storage device, the cellar image acquisition module, and the control module for information interaction and command transmission. The transmission mode of the wireless communication module is not limited by the connection line, and in the fermented mash unloading system, the advantage of flexible control can be more fully utilized.

[0061] In order to improve the mobility efficiency of the robot mobile platform and mobile storage device, ground rails are laid around the cellar to provide mobile tracks for the robot mobile platform and mobile storage device. Several waiting areas are opened on the ground rails on the passage leading into the cellar. The waiting area is a differential ground rail with a positioning label, which is connected to the main ground rail through an arc transition ground rail. When the robot mobile platform and mobile storage device enter and exit the waiting area, the arc transition ground rail will replace part of the straight ground rail to enable the robot mobile platform and mobile storage device to enter and exit the waiting area. At the same time, the arc ground rail connection method is adopted at the turning points of the ground rail to facilitate the robot mobile platform and mobile storage device to turn on the ground rail.

[0062] Two positioning tags are installed on the ground rail near each pit location, one is the robot mobile platform docking positioning tag and the other is the mobile storage device positioning tag, which are used to locate the robot mobile platform and the mobile storage device respectively. The distance between the two positioning tags is determined based on the range of motion of the robot's mechanical arm.

[0063] A method for removing fermented grains from a cellar based on a robot of the present invention comprises the following steps:

[0064] S1: Receive the cellar number of the cellar to be taken out, confirm the position of the cellar to be taken out, and control the mobile storage device and the robot mobile platform to move to the corresponding position of the cellar to be taken out.

[0065] Based on the monitoring of the cellar information, the control module receives the cellar number to be taken out of the cellar after the fermentation conditions or fermentation time are met, confirms the location of the cellar to be taken out of the cellar, selects an idle robot and a mobile storage device, and sends the mobile position information to the selected robot mobile platform and mobile storage device through the wireless communication system, and controls the robot mobile platform and the mobile storage device to reach the designated cellar location.

[0066] Considering that one mobile storage device may not be able to meet the discharge volume of the entire cellar, another mobile storage device can be controlled to arrive at a waiting area near the cellar to be discharged, so as to save time when replacing the mobile storage device.

[0067] In the operation of this step, the idle robots and mobile storage devices are selected according to the principle of closest distance priority, that is, the idle robots and mobile storage devices that are closer to the cellar are automatically selected to arrive at the cellar station position.

[0068] There is a robot parking position and a storage device parking position at the cellar exit. After the robot and the mobile storage device reach the parking position, the braking device is activated to ensure that the robot and the mobile storage device remain stable during operation.

[0069] S2: Based on the collected internal image of the cellar to be unloaded, the depth of the mash in the cellar to be unloaded is obtained, and the amount that needs to be unloaded is calculated. Based on the maximum amount that the mechanical grab can grab, the number of times that need to be grabbed is calculated, and according to the position information of the four vertices of the cellar to be unloaded in the robot coordinate system, the grabbing path of the mechanical grab is planned, and the robot's motion control instructions are formed and transmitted to the robot.

[0070] After the robot mobile platform and the mobile storage device are docked and stable, start the cellar image acquisition module on the robot mobile platform, first open the bracket carrying the image sensor, detect the entire cellar plane through the image sensor, determine the current height of the mash plane, and pass the information to the control module. The control module plans the action position of the robot to grab the mash based on the detected height information of the cellar plane and the pre-stored information about the cellar (including the depth information of the cellar and the position information of the four corner points of the cellar in the robot coordinate system).

[0071] When planning the action, fix the depth of the mechanical grab to grab the mash downwards, calculate the quality of the mash grabbed by the mechanical grab each time according to the volume of the mechanical grab, and control the mechanical grab to grab the mash layer by layer in the order from left to right, from front to back, and from top to bottom. The depth of the mechanical grab to grab the mash downwards each time is fixed. When approaching the inner wall of the cellar, the opened mechanical grab grabs against the inner wall. When approaching the bottom of the cellar, the bottom of the grabbing device grabs against the bottom of the cellar, which ensures that the mash in the cellar can be grabbed cleanly and the inner wall of the cellar is not damaged.

[0072] When planning the grabbing path of the mechanical grab at the same layer, if the ratio of the size of the cellar in the first horizontal direction (such as horizontal direction) and the maximum moving distance of the mechanical grab in the first direction when performing a grabbing action is not an integer, there will be a remainder, that is, there is a certain grabbing action, and the mash grabbed by the mechanical grab is smaller than the preset volume. In order to prevent this situation from happening at the edge of the cellar and the possibility of damaging the inner wall of the cellar, the grabbing action of the mash grabbed this time with a volume smaller than the preset volume is set at the center position of the grabbing route in the first direction, that is, at the middle position, and the grabbing action related to the moving distance corresponding to the remainder is executed. For example, if the distance in the first direction is 2 meters, and the maximum moving distance of the mechanical grab in the first direction during a grabbing action is 45 centimeters, then after executing four grabs with the maximum moving distance in the first direction, there is still a remainder of 20 centimeters. In this case, the grabbing action of 20 centimeters is set between the two grabbing actions with the maximum distance, that is, first perform two grabs with the maximum distance, then perform a grab of 20 centimeters, and then perform two grabs with the maximum distance.

[0073] In order to improve the grabbing efficiency, the depth at which the mechanical grab grabs the mash downward is preferably set to the maximum distance the mechanical grab moves downward. When planning the grabbing path of the mechanical grab in the depth direction, if the ratio of the size of the cellar in the depth direction to the maximum moving distance of the mechanical grab in the depth direction when performing a grabbing action is not an integer, that is, there is a remainder, then the grabbing route related to the moving distance corresponding to the remainder is set in the middle layer of the grabbing layers in the depth direction. For example, if the depth is 1 meter and the maximum moving distance of the mechanical grab in the depth direction when performing a grabbing action is 30 centimeters, then after grabbing 3 layers, there are 10 centimeters left, and this 10-centimeter grabbing layer is set on the 2nd or 3rd layer for grabbing.

[0074] The grabbed mash is placed in the mobile storage device in sequence. When the mobile storage device is full, the mobile storage device will move to the designated position to complete the next process. At the same time, the mobile storage device in the waiting area moves from the waiting area to the mobile storage device docking area at the cellar location, and the nearby empty mobile storage devices move to the storage device waiting area near the cellar to wait to replace the storage device near the cellar, and this cycle continues until the cellar is completed.

[0075] S3: When the robot carries a mechanical grab to grab the mash, the grabbing path of the mechanical grab is adjusted according to the real-time depth of the mash in the cellar and the amount of mash grabbed in the mobile storage device, and an updated motion control instruction of the robot is generated and transmitted to the robot.

[0076] Considering that the depth and grab amount of the mechanical grab bucket are not so accurate, after completing the grab path of each layer, it is necessary to determine whether the grabbed amount is not less than the theoretical grab amount at the current stage.

[0077] If it is not less than, it means that the previous crawling amount is relatively accurate, and the crawling continues according to the preset crawling path.

[0078] If it is less than, it means that the previous grabbing amount is not accurate enough. At this time, it is necessary to judge whether the depth of the mechanical grab grabbing the mash is the maximum depth of the mechanical grab. If it is the maximum depth, there is no room for adjustment. Continue to grab according to the preset grabbing path. If it is not the maximum depth, adjust the depth of the mechanical grab grabbing the mash and adjust the grabbing path of the mechanical grab according to the real-time depth of the mash in the cellar.

[0079] Therefore, considering the need to adjust the grasping depth, when planning in the depth direction, the grasping route related to the moving distance corresponding to the remainder can be set at the second-to-last grasping layer in the depth direction. For example, in the previous example, the grasping layer with a depth of 10 cm is set at the third layer.

[0080] As for how to judge whether the grabbed amount is not less than the theoretical grab amount at the current stage, it can be judged by the grab depth of the cellar, or by setting a weighing device on the mobile storage device and calculating the total grab amount. The theoretical grab amount can be calculated by the theoretical grab depth, or by the capacity of the mechanical grab and the theoretical grab times when planning the robot path.

[0081] S4: After the grabbing is completed, the mobile storage device and the robot mobile platform are controlled to move to the specified position.

[0082] After the cellar is completed, the control module sends the task completion control information to the robot mobile platform, controls the robot to return to a safe position, and at the same time, the control module sends the task completion information to the cellar image acquisition module, and the cellar image acquisition module controls the image sensor bracket to retract. The control system transmits the task completion information of the cellar to be discharged to the remote cloud service platform to modify the display information. The robot mobile platform will automatically return to the robot mobile platform waiting area, and pass the position information to the control module through the wireless communication module or move to the vicinity of the next cellar to be discharged under the command of the control module to complete the new cellar discharge task.

Claims

1. A robot-based fermented grains unloading system, characterized in that: include: Robot mobile platform: used to fix the robot, interact with the control module, receive instructions from the control module, and carry the robot to the designated location; Position detection module: installed on the robot mobile platform and mobile storage device, used to detect positioning tags and determine the parking positions of the robot mobile platform and mobile storage device; Positioning tags: set around the cellar and in the waiting area, used to be detected by the position detection module to determine the docking position of the robot mobile platform and the mobile storage device; Robot: fixed on the robot mobile platform, receives instructions from the control module, executes the action control instructions sent by the control module, moves, and controls the mechanical grab connected to its end to complete position change or corresponding actions; Mechanical grab: connected to the end of the robot, it grabs the mash in the cellar and releases it into the mobile storage device under the control of the robot; Mobile storage device: used to store the fermented grains grabbed by the mechanical grab and moved to the designated location under the command of the control module; Cellar image acquisition module: fixed on the robot mobile platform, used to collect real-time images of the cellar interior and transmit them to the control module; Control module: manage the cellar according to the type of material layer in the cellar, feeding time and fermentation conditions; according to the position of the robot mobile platform and mobile storage device, select the robot mobile platform and mobile storage device to move to the corresponding position of the cellar to be unloaded or move to the waiting area to wait; based on the collected internal image of the cellar to be unloaded, obtain the depth of the mash in the cellar to be unloaded, calculate the amount to be unloaded, calculate the number of times required to grab based on the maximum amount grabbed by the mechanical grab, and plan the grabbing path of the mechanical grab according to the position information of the four vertices of the cellar to be unloaded in the robot coordinate system, form the robot's motion control instructions, and transmit them to the robot; after the unloading is completed, control the robot mobile platform and mobile storage device to move to the specified position; according to the real-time acquired image of the cellar and the grabbed amount in the mobile storage device, adjust the grabbing path of the mechanical grab, form an updated robot's motion control instructions, and transmit them to the robot; Ground rails: laid between the pits to provide mobile tracks for the robot's mobile platform and mobile storage device; two positioning tags are installed on the ground rails near each pit, and the distance between the two positioning tags is determined based on the range of motion of the robot's mechanical arm; several waiting areas are set up for docking mobile storage devices that have not performed tasks.

2. The fermented grains unloading system according to claim 1, characterized in that: Also includes: The wireless communication module is arranged on the robot mobile platform, the mobile material storage device, the cellar image acquisition module and the control module for information interaction and command transmission.

3. The fermented grains unloading system according to claim 1, characterized in that: It also includes a visual cloud service platform, which displays the position and status of the robot mobile platform and mobile storage device in real time, and displays the internal image of the cellar transmitted by the cellar image acquisition module in real time.

4. The fermented grains unloading system according to claim 1, characterized in that: The control module calculates the number of grabs required based on the maximum amount that the mechanical grab can grab, and plans the grabbing path of the mechanical grab according to the position information of the four vertices of the cellar to be taken out in the robot coordinate system, including: The depth at which the mechanical grab grabs the mash is fixed, the mass of the mash grabbed each time is calculated according to the volume of the mechanical grab, and the mechanical grab is controlled to grab the mash layer by layer in the order from left to right, from front to back, and from top to bottom.

5. A method for removing fermented grains from a cellar based on a robot, characterized in that: The robot-based fermented grains unloading system applied to claim 1 comprises the following steps: S1: Receive the cellar number of the cellar to be taken out, confirm the position of the cellar to be taken out, and control the mobile storage device and the robot mobile platform to move to the corresponding position of the cellar to be taken out; S2: Based on the collected internal image of the cellar to be unloaded, the depth of the mash in the cellar to be unloaded is obtained, the amount that needs to be unloaded is calculated, and the number of times required to be grabbed is calculated based on the maximum amount that can be grabbed by the mechanical grab, and the grabbing path of the mechanical grab is planned according to the position information of the four vertices of the cellar to be unloaded in the robot coordinate system, and the action control instructions of the robot are formed and transmitted to the robot; S3: When the robot carries the mechanical grab to grab the mash, the grabbing path of the mechanical grab is adjusted according to the real-time acquired mash depth in the cellar and the grabbed amount in the mobile storage device, and an updated motion control instruction of the robot is generated and transmitted to the robot; S4: After the grabbing is completed, the mobile storage device and the robot mobile platform are controlled to move to the specified position.

6. The robot-based method for removing fermented grains from a cellar according to claim 5, characterized in that: Based on the maximum amount that the mechanical grab can grab, the number of times required to grab is calculated, and according to the position information of the four vertices of the cellar to be taken out in the robot coordinate system, the grabbing path of the mechanical grab is planned, including: The depth at which the mechanical grab grabs the mash is fixed, the mass of the mash grabbed each time is calculated according to the volume of the mechanical grab, and the mechanical grab is controlled to grab the mash layer by layer in the order from left to right, from front to back, and from top to bottom.

7. The robot-based method for removing fermented grains from a cellar according to claim 6, characterized in that: In S3, the grabbing path of the mechanical grab bucket is adjusted according to the real-time acquired depth of the mash in the cellar and the amount of mash already grabbed in the mobile storage device, including: After the grabbing path of each layer is completed, it is determined whether the grabbed amount in the mobile storage device is not less than the theoretical grabbing amount at the current stage. If it is not less than, continue to crawl according to the preset crawling path. If it is less than, determine whether the depth of the mechanical grab to grab the mash is the maximum depth of the mechanical grab. If it is the maximum depth, continue to grab according to the preset grabbing path. If it is not the maximum depth, adjust the depth of the mechanical grab to grab the mash and adjust the grabbing path of the mechanical grab according to the real-time depth of the mash in the cellar.

8. The robot-based method for removing fermented grains from a cellar according to claim 6, characterized in that: When planning the grabbing path of the mechanical grab at the same layer, if the ratio of the size of the cellar in the first direction to the maximum moving distance of the mechanical grab in the first direction during a grabbing action is not an integer, the grabbing route related to the moving distance corresponding to the remainder shall be set at the center position of the grabbing route in the first direction.

9. The robot-based method for removing fermented grains from a cellar according to claim 6, characterized in that: When planning the grabbing path of the mechanical grab in the depth direction, if the ratio of the size of the cellar in the depth direction to the maximum moving distance of the mechanical grab in the depth direction during a grabbing action is not an integer, the grabbing route related to the moving distance corresponding to the remainder will be set in the middle layer of the grabbing layers in the depth direction.

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