Automatic material scattering method for wine brewing tank based on adaptive trajectory planning

Abstract

The application relates to the field of industrial automation and intelligent manufacturing, and proposes an automatic material scattering method for a wine brewing tank based on adaptive trajectory planning. The method uses a 3D camera and a temperature sensor to detect the wine brewing tank in real time, collects three-dimensional point clouds and two-dimensional gray images of the wine brewing tank, identifies geometric features and concave-convex areas, collects a 2D temperature distribution image, realizes spatial alignment with the three-dimensional model of the wine brewing tank through homographic mapping, marks high-temperature areas, divides sub-areas based on the center point of the wine brewing tank, configures initial scattering trajectories, dynamically adjusts the scattering trajectory strategies of the sub-areas after matching the concave-convex areas and the high-temperature areas, generates scattering trajectory segments, dynamically optimizes the priority order of the scattering trajectory segments in real time, generates complete scattering execution trajectories, and controls the posture of a mechanical arm and a scattering port to automatically perform the scattering operation. The application solves the problems of uneven scattering and burning of the wine brewing tank, replaces manual operation, realizes intelligent and high-precision scattering, and improves the quality and production efficiency of wine brewing.

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