Intelligent docking mechanism, soy sauce self-circulation system and control method

Abstract

The application discloses a smart docking mechanism, a soy sauce self-circulation system and a control method applying the smart docking mechanism. The smart docking mechanism is used for automatically docking the circulating pump and the fermentation tank in front of the fermentation tank through an AGV trolley, and the circulating pump and the fermentation tank are automatically docked without the operation of workers, so that automatic production is realized, and the labor intensity of workers is reduced. The soy sauce self-circulation system and the control method can realize dynamic measurement of the fermentation environment of all the fermentation tanks, measure and record the temperature and liquid level data during fermentation, provide a data basis for subsequent optimization of the soy sauce fermentation process, automatically dock the circulating pump and the fermentation tank through the smart docking mechanism, and automatically circulate the soy sauce, so that the operation of workers is not needed, the workers are completely liberated from the tedious, heavy and repetitive physical labor, the labor productivity is improved, the operation of the drying yard is realized without people, interference factors caused by manual operation in the fermentation process can be eliminated, the standardization and digitization of the fermentation process are ensured, and control and management are facilitated.

Description

Technical Field

[0001] This application relates to the technical field of soy sauce fermentation, and in particular to an intelligent docking mechanism for soy sauce fermentation, as well as a soy sauce self-circulation system and control method using the aforementioned intelligent docking mechanism. Background Technology

[0002] In the process of making soy sauce, one step is to store the mash in a tank and let it ferment. Every once in a while, the mash at the bottom of the tank needs to be pumped out with a circulation pump and then transported back to the tank from the top to form a circulation, so that the mash in the tank ferments evenly. The traditional soy sauce circulation process is mainly carried out manually. The specific steps of the traditional soy sauce circulation process include: (1) The worker moves the circulation pump to the front of the working tank; (2) On the overpass, the worker uses a hose to connect the circulation hard pipe to the circulation nozzle on the top of the designated fermentation tank, and uses a hose under the overpass to connect the bottom valve of the fermentation tank, the circulation electric pump and the circulation hard pipe in sequence; (3) After confirming that the above equipment is connected, the worker connects the electric pump power supply, turns on the circulation pump, and after circulating for the corresponding working time, the timer on the electric pump automatically turns off the electric pump, and records the operation time, material temperature, ambient temperature and mash condition; (4) After the circulation has started for a period of time, the worker goes up to the overpass and sprays the pump. Open the top cover, use an infrared thermometer to measure the temperature of the material and judge the condition of the soy sauce mash; before the end of the cycle, the operator opens the valve on the circulation pump, takes 100ml of sample into the sample cup, and sends the sample to the QA; (5) after the cycle is completed, the operator cleans and closes the bottom valve of the fermentation tank, disconnects the connection between the bottom valve and the hose, connects the compressed air in front of the hose, turns on the compressed air, and blows the remaining soy sauce in the hose and circulation pump back into the fermentation tank; (6) the operator disconnects the above-connected equipment, then pushes the circulation pump to the next tank that needs to be circulated, repeats the above operation until all the circulation tasks for the day are completed, and washes the above equipment with clean water.

[0003] However, modern soy sauce production is large-scale, requiring the daily circulation of soy sauce in dozens or even hundreds of fermentation tanks. Due to the special and complex environment of the soy sauce fermentation process, workers work outdoors, exposed to the sun and rain, resulting in high labor intensity. Furthermore, there are various uncertain interference factors in manual operation, which can easily affect the standardization of the fermentation process, making it inconvenient to manage and carry out standardized production. Summary of the Invention

[0004] To address one of the technical problems existing in the prior art, this application provides an intelligent docking mechanism that uses an AGV (Automated Guided Vehicle) to deliver a circulating pump to the fermenter and automatically docks the circulating pump and the fermenter, eliminating the need for manual operation, achieving automated production, and reducing the labor intensity of workers.

[0005] This application also provides a soy sauce self-circulation system that uses the aforementioned intelligent docking mechanism. This system enables automatic circulation of soy sauce in the fermentation tank, achieving automated production and digital management.

[0006] In addition, this application also provides a soy sauce self-circulation control method for controlling the operation of the above-mentioned soy sauce self-circulation system.

[0007] According to a first aspect of the present invention, an intelligent docking mechanism includes:

[0008] The first docking device is applied to the fermentation tank of soy sauce. The first docking device includes a fixed base. The outer side of the fixed base is provided with a coordinate positioning component, a power supply connector, a first pipe interface and a second pipe interface. The first pipe interface is connected to the bottom of the fermentation tank through a first pipe, and the second pipe interface is connected to the top of the fermentation tank through a second pipe. A discharge valve is provided on the first pipe.

[0009] The second docking device includes an AGV trolley, on which a circulation pump and a robotic arm are mounted. The robotic arm is capable of multi-axis rotation, and at the end of the robotic arm is a docking component that mates with the first docking device. The docking component is equipped with a first camera, a power connector, a first circulation pipe interface, and a second circulation pipe interface. The power connector is connected to the circulation pump, and the first circulation pipe interface and the second circulation pipe interface are respectively connected to the circulation pump via flexible hoses.

[0010] When the docking component of the second docking device docks with the fixed base of the first docking device, the first camera is used to capture the coordinate positioning component for visual positioning, the power connector is used to connect the power supply connector to provide working power to the circulation pump, the first circulation pipe interface docks with the first pipe interface, and the second circulation pipe interface docks with the second pipe interface.

[0011] The intelligent docking mechanism according to the first aspect of the present invention has at least the following beneficial effects: the present invention uses an AGV trolley to deliver the circulating pump to the fermenter, and automatically docks the circulating pump and the fermenter through the cooperation of the fixed seat and the docking parts, without the need for worker operation, thereby realizing automated production and digital management and reducing the labor intensity of workers.

[0012] According to some embodiments of the present invention, the first docking device and the docking member are further provided with a guide structure, the guide structure comprising:

[0013] A guide rod is disposed on one of the fixed base or the docking member;

[0014] A guide hole is provided on another of the fixed base or the docking member, corresponding to the guide rod;

[0015] When the docking component and the fixed base are docked, the guide rod enters the guide hole, restricting the movement direction of the docking component.

[0016] According to some embodiments of the present invention, at least one of the fixing base or the docking member is provided with a clamping device, the clamping device comprising:

[0017] A clamping driver is provided on the fixed base or the docking member;

[0018] A clamping arm is disposed on the clamping driver and extends toward the other rear side of the fixed base or the docking member. The end of the clamping arm is provided with a clamping head. The clamping driver drives the clamping arm to extend, retract, and rotate.

[0019] After the docking component and the fixed base are docked, the clamping driver drives the clamping arm to rotate and retract, so that the clamping head faces the back of the docking component or the fixed base and presses it, clamping the docking component and the fixed base.

[0020] According to some embodiments of the present invention, a pressure sensor is provided on the clamping head.

[0021] According to some embodiments of the present invention, the front ends of the first circulation pipe interface and the second circulation pipe interface are configured as a first pipe opening that tapers in the opening direction.

[0022] According to some embodiments of the present invention, the front ends of the first pipe interface and the second pipe interface are provided with a wide pipe opening to facilitate connection with the first pipe opening.

[0023] According to some embodiments of the present invention, the coordinate positioning component is a cross-shaped protrusion, and during docking, the first camera is directly facing the coordinate positioning component.

[0024] According to some embodiments of the present invention, the first docking device is provided with an air blowing pipe, the air blowing pipe is connected to the first pipe, and the connection between the air blowing pipe and the first pipe is located between the discharge valve and the interface of the first pipe, and the air blowing pipe is provided with an air blowing valve.

[0025] According to a second aspect of the present invention, a soy sauce self-circulation system includes:

[0026] Multiple fermentation tanks are arranged in an orderly manner. Each fermentation tank contains fermented soy sauce. Each fermentation tank is equipped with a liquid level sensor and a temperature sensor. Each fermentation tank is marked with a tank number.

[0027] The intelligent docking mechanism described in the first aspect of the present invention includes a navigation device, a second camera, and a laser rangefinder on the AGV trolley. The navigation device guides the AGV trolley's forward direction, the second camera is used to capture the tank number identifier of the fermentation tank to lock onto the target, and the laser rangefinder assists in controlling the AGV trolley to approach the target fermentation tank to dock the fixed seat and the docking component.

[0028] The central control device is connected to the liquid level sensor, the temperature sensor, and the intelligent docking mechanism. The central control device is equipped with an instruction input module. The central control device collects and feeds back the temperature and liquid level of the soy sauce in the fermentation tank. The central control device monitors the status of the AGV trolley. The central control device controls the intelligent docking mechanism to perform automatic docking and soy sauce self-circulation operations.

[0029] The soy sauce self-circulation system according to a second aspect of the present invention has at least the following beneficial effects: The soy sauce self-circulation system of the present invention, by setting a liquid level sensor and a temperature sensor inside the fermentation tank, can realize dynamic measurement of the fermentation environment of all fermentation tanks, measuring and recording temperature and liquid level data during fermentation, providing a data basis for optimizing subsequent soy sauce fermentation processes; it is equipped with an intelligent docking mechanism, using an AGV trolley to deliver the circulation pump to the fermentation tank, and through the cooperation of the fixed seat and docking parts, automatically docking the circulation pump and fermentation tank and automatically circulating the soy sauce, eliminating the need for worker operation, completely freeing workers from tedious, heavy, and repetitive physical labor, improving labor productivity, realizing unmanned operation of the drying yard, and eliminating uncertain interference factors of manual operation in the fermentation process, ensuring the standardization and digitalization of the fermentation process, facilitating control and management.

[0030] According to some embodiments of the present invention, the soy sauce fermentation self-circulation system includes a standby position for parking the AGV trolley, a charging pile is provided on the standby position, the charging pile is connected to the central control device, and when the AGV trolley is parked in the standby position, the AGV trolley automatically connects to the charging pile for charging.

[0031] The soy sauce self-circulation control method according to a third aspect of the present invention, applied to the soy sauce self-circulation system according to a second aspect of the present invention, includes the following steps:

[0032] S1. Input the tank number of one or more fermentation tanks that need to be circulated for soy sauce into the central control device, and set the duration of self-circulation;

[0033] S2. The AGV automatically navigates to the vicinity of the target fermentation tank and approaches the fermentation tank to a position where it can be photographed;

[0034] S3. The target fermentation tank is captured by the second camera and matched with the tank number input on the central control device to lock the target.

[0035] S4. The intelligent docking mechanism automatically docks;

[0036] S5. Open the discharge valve and the circulation pump to start the self-circulation operation of the soy sauce and start timing;

[0037] S6. When the timer reaches the specified duration, close the discharge valve and the circulation pump;

[0038] S7. The second docking device separates from the first docking device of the target fermenter;

[0039] S8. The central control device automatically detects whether there is a next fermentation tank that needs to be circulated with soy sauce. If there is a next fermentation tank that needs to be circulated with soy sauce, the next fermentation tank that needs to be circulated with soy sauce is set as the target fermentation tank, and the instructions of steps 2 to 8 are repeated.

[0040] S9. Complete the soy sauce circulation operation for all input fermentation tanks.

[0041] According to the third aspect of the present invention, the soy sauce self-circulation control method has at least the following beneficial effects: When applied to the above-mentioned soy sauce self-circulation system, the soy sauce self-circulation control method of the present invention realizes the self-circulation of soy sauce in several fermentation tanks without the need for worker operation, completely liberating workers from tedious, heavy and repetitive physical labor, improving labor productivity, realizing unmanned operation of the drying yard, and eliminating the uncertain interference factors of manual operation in the fermentation process, ensuring the standardization and digitalization of the fermentation process, and facilitating control and management.

[0042] According to some embodiments of the present invention, in step 4, after the intelligent docking mechanism automatically docks, the power take-up connector and the power supply connector are connected to turn on the working power of the circulation pump.

[0043] According to some embodiments of the present invention, in step 4, after the intelligent docking mechanism automatically docks, the clamping device operates to clamp the docking component and the fixed seat, and the pressure sensor feeds back a pressure signal to the central control device.

[0044] According to some embodiments of the present invention, in step 6, after closing the discharge valve and the circulation pump, the blowing valve is opened, and the compressed gas sent from the blowing pipe blows the soy sauce remaining on the pipe and in the circulation pump into the fermentation tank.

[0045] According to some embodiments of the present invention, in step 9, after completing the soy sauce circulation operation of all input fermentation tanks, the AGV trolley automatically returns to the standby position and parks.

[0046] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0047] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0048] Figure 1 This is a structural diagram of the intelligent docking mechanism;

[0049] Figure 2 This is a schematic diagram of the structure of the first docking device;

[0050] Figure 3 This is a structural schematic diagram of the mating parts;

[0051] Figure 4 This is a structural schematic diagram of the wide-mouth 2131 and the first mouth;

[0052] Figure 5 This is a schematic diagram of the structure of the fixing base and the mating parts.

[0053] Figure 6 This is a schematic diagram of the soy sauce self-circulation system.

[0054] Explanation of icon numbers:

[0055] Fermentation tank 100;

[0056] First docking device 200; fixed base 210; coordinate positioning component 211; power supply connector 212; first pipe interface 213; wide pipe opening 2131; guide hole 214; first pipe 230; discharge valve 231;

[0057] Second docking device 300; AGV trolley 310; second camera 311; laser rangefinder 312; robotic arm 320; circulating pump 330; docking component 340; first camera 341; power connector 342; first circulation pipe interface 343; first pipe opening 3431; sealing ring 3432; second circulation pipe interface 344; guide rod 345; hose 350; clamping device 360; clamping driver 361; clamping arm 362; clamping head 363. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0059] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection or a connection that allows communication between the two; it can be a direct connection or an indirect connection through an intermediate medium or structure; it can be a connection or indirect connection within two elements or an interaction between two elements.

[0060] In the description of this application, it should be noted that "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If the terms "first," "second," etc., are used only to distinguish technical features, and should not be construed as indicating or implying relative importance, or implicitly specifying the number of indicated technical features, or implicitly specifying the order of the indicated technical features.

[0061] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0062] Reference Figures 1 to 6 This embodiment provides an intelligent docking mechanism, which is applied to the fermentation tank 100 of soy sauce and includes a first docking device 200 and a second docking device 300.

[0063] like Figure 1 As shown, the first docking device 200 is located beside the fermenter 100. Figure 2 As shown, the first docking device 200 includes a fixed base 210. The outer side of the fixed base 210 is provided with a coordinate positioning component 211, a power supply connector 212, a first pipe interface 213, and a second pipe interface. The coordinate positioning component 211 is a cross-shaped protrusion, facilitating positioning for photography. In this embodiment, the power supply connector 212 is connected to a 380V power supply. The first pipe interface 213 is connected to the bottom of the fermentation tank 100 via a first pipe 230, used to extract soy sauce from the bottom of the fermentation tank 100. A discharge valve 231 is provided on the first pipe 230, controlling the opening and closing of the first pipe 230. The second pipe interface is connected to the top of the fermentation tank 100 via a second pipe, used to pour soy sauce into the fermentation tank from the top, forming a circulation.

[0064] It is easy to imagine that the mounting base 210 is equipped with a waterproof cover to reduce the erosion and pollution of rainwater.

[0065] like Figure 1 and 3 As shown, the second docking device 300 includes an AGV trolley 310, on which a robotic arm 320 and a circulation pump 330 are mounted. Preferably, the robotic arm 320 is a multi-axis robotic arm capable of multi-axis rotation and has a wide range of motion. The end of the robotic arm 320 is provided with a docking component 340 that cooperates with the first docking device 200. On the side of the docking component 340 facing away from the robotic arm 320, a first camera 341, a power connector 342, a first circulation pipe interface 343, and a second circulation pipe interface 344 are provided. The positions of the first camera 341, the power connector 342, the first circulation pipe interface 343, and the second circulation pipe interface 344 correspond to the coordinate positioning component 211, the power supply connector 212, the first pipe interface 213, and the second pipe interface on the fixed base 210. The power connector 342 is electrically connected to the circulation pump 330. The first circulation pipe interface 343 and the second circulation pipe interface 344 are respectively connected to the circulation pump 330 via flexible hoses 350.

[0066] Reference Figure 2 , Figure 3 When the docking component 340 of the second docking device 300 docks with the fixed base 210 of the first docking device 200 under the drive of the robotic arm 320, the first camera 341 captures images of the coordinate positioning component 211 and performs comparative analysis. Through real-time visual positioning guidance and adjustment of the robotic arm 320's movements, the docking component 340 and the fixed base 210 are accurately docked. After the docking component 340 and the fixed base 210 are docked, the first circulation pipe interface 343 and the first pipe interface 213 are docked, and the second circulation pipe interface 344 and the second pipe interface are docked, allowing the circulation pump 330 to connect between the first pipe 230 and the second pipe, achieving automatic connection of the circulation pump 330. After the docking component 340 and the fixed base 210 are docked, the power connector 342 connects to the power supply connector 212, providing 380V operating power to the circulation pump 330 to drive it in operation. Since the circulation pump 330 operates for a long time and consumes a lot of energy, carrying a portable power source on the AGV will greatly reduce the endurance of the circulation pump 330 and affect the efficiency of the soy sauce self-circulation. However, by connecting to an external power source through the power connector 342, the endurance of the circulation pump 330 can be greatly increased and its efficiency improved.

[0067] In this embodiment, the AGV trolley 310 delivers the circulating pump 330 to the fermentation tank 100. Through the cooperation of the fixed seat 210 and the docking part 340, the circulating pump 330 and the fermentation tank 100 are automatically docked without the need for manual operation, realizing automated production and digital management, and reducing the labor intensity of workers.

[0068] It is easy to understand that the circulating pump 330 in this embodiment is driven by a 380V power supply, but in other embodiments, the circulating pump 330 can also be driven by a 220V power supply, and the present invention does not limit it in this way.

[0069] Reference Figure 4 It is readily apparent that, in order to facilitate the smooth docking of the first circulation pipe interface 343 and the first pipe interface 213, the second circulation pipe interface 344 and the second pipe interface, in this embodiment, the front ends of the first circulation pipe interface 343 and the second circulation pipe interface 344 are configured as a first pipe opening 3431 that tapers towards the opening direction, while the front ends of the first pipe interface 213 and the second pipe interface are provided with a wide pipe opening 2131 that facilitates docking with the first pipe opening 3431. The inner diameter of the wide pipe opening 2131 is larger than the outer diameter of the first pipe opening 3431, allowing the first pipe opening 3431 to smoothly enter the interior of the wide pipe opening 2131, forming a docking. In addition, the first pipe opening 3431 is an approximately conical tapered opening, and during the docking process, the inner diameter of the portion of the first pipe opening 3431 entering the wide pipe opening 2131 gradually increases, which can improve the sealing performance. Furthermore, a sealing ring 3432 is provided at the rear of the first port 3431. The outer diameter of the sealing ring 3432 is not less than the inner diameter of the wide port 2131 to achieve a better sealing effect.

[0070] Reference Figure 3 and Figure 5 Furthermore, in this embodiment, the first docking device 200 and the docking member 340 are also provided with a guide structure. In this embodiment, the guide structure includes a guide hole 214 provided on the fixed base 210 and a guide rod 345 correspondingly provided on the docking member 340. When the docking member 340 and the fixed base 210 dock, the guide rod 345 enters the guide hole 214, restricting the movement direction of the docking member 340, thereby ensuring smooth docking between the docking member 340 and the fixed base 210. It is conceivable that the installation positions of the guide hole and the guide rod can be interchanged, or other forms of guide structures can be used, such as the use of slide rails and slide grooves, etc., which are not limited in this invention.

[0071] Reference Figure 3 and Figure 5In this embodiment, clamping devices 360 are provided on both sides of the docking member 340. Each clamping device 360 ​​includes a clamping driver 361, a clamping arm 362, and a clamping head 363. The clamping driver 361 is fixedly disposed on both sides of the docking member 340, the clamping arm 362 is disposed on the clamping driver 361 and extends towards the back of the fixing base 210, and the clamping head 363 is disposed at the end of the clamping arm 362. The clamping driver 361 can drive the clamping arm 362 to extend, retract, and rotate. After the docking component 340 and the fixed base 210 are docked, the clamping driver 361 drives the clamping arm 362 to rotate, so that the clamping head 363 faces the back of the fixed base 210. The clamping driver 361 then drives the clamping arm 362 to retract, causing the clamping head 363 to press against the back of the fixed base 210, thereby clamping the docking component 340 and the fixed base 210, improving the stability and sealing of the docking of the docking component 340 and the fixed base 210. Furthermore, a pressure sensor is provided on the clamping head 363 to detect and provide feedback on the clamping force of the clamping head 363.

[0072] Reference Figure 6 The present invention also provides a soy sauce self-circulation system, including multiple fermentation tanks 100 arranged in an orderly manner, the aforementioned intelligent docking mechanism, central control device, and standby position for parking AGV trolleys 310.

[0073] This application does not specifically limit the number of fermentation tanks 100. However, depending on actual production needs, the number of fermentation tanks 100 is generally in the dozens or even hundreds, preferably arranged in a dot matrix. Each fermentation tank 100 contains fermented soy sauce. Each fermentation tank 100 is equipped with a level sensor and a temperature sensor to monitor the level and temperature of the fermenting material in real time. The outer wall of each fermentation tank 100 is generally marked with an easily identifiable tank number.

[0074] It is easy to imagine that other sensors can also be installed inside the fermentation tank 100 for measuring the salt content, viscosity, ammonia nitrogen, total nitrogen, color A, etc. of the material.

[0075] The intelligent docking mechanism includes a first docking device 200 and a second docking device 300. The AGV trolley 310 is equipped with a waterproof cover, and the AGV trolley 310 is also equipped with a navigation device, a second camera 311, and a laser rangefinder 312.

[0076] Preferably, in this embodiment, the navigation device uses a Beidou navigation system. The location map of the fermentation tank 100 is transmitted to the Beidou navigation system, and latitude and longitude navigation points are preset between multiple fermentation tanks 100. The Beidou navigation system can guide the forward path of the AGV trolley 310, so that the AGV trolley 310 can smoothly shuttle between fermentation tanks 100, approach the target fermentation tank 100, or return to the standby position.

[0077] The second camera 311 is preferably mounted on the side wall of the AGV trolley 310. The second camera 311 is used to capture the tank number identifier of the fermentation tank 100. When the AGV trolley 310 approaches the target fermentation tank 100, it captures the tank number identifier of the fermentation tank 100 using the second camera 311 and sends it to the central control unit for analysis and comparison to confirm and lock onto the target. The second camera 311 can also be used for visual positioning to assist the AGV trolley 310 in approaching the target fermentation tank 100.

[0078] The laser rangefinder 312 is preferably installed on the side wall of the AGV trolley 310. The laser rangefinder 312 is used to assist in controlling the AGV trolley 310 to approach the target fermentation tank 100 for docking of the fixed seat 210 and the docking part 340.

[0079] Furthermore, the second camera 311 and the laser rangefinder 312 can work together to enable the AGV 310 to automatically avoid obstacles.

[0080] The central control unit adopts a PLC plus supervisory computer model, connecting to the liquid level sensor, temperature sensor, and intelligent docking mechanism via wired or wireless means. The central control unit includes an instruction input module, an analysis and processing module, and a display module. It collects and records the temperature and liquid level of the soy sauce in fermentation tank 100, providing operators with a reference for optimizing processes and determining the timing of self-circulation. The central control unit monitors the status and position of the AGV 310 in real time, assisting it in planning the optimal path to improve efficiency. It controls the robotic arm 320 of the intelligent docking mechanism for automatic docking; simultaneously, it controls the circulation pump 330, discharge valve 231, and air blowing valve to achieve the self-circulation of the soy sauce. Furthermore, the central control unit can record the fermentation process duration of materials in each fermentation tank 100, and even intelligently determine which fermentation tank 100 needs to be circulated based on preset data.

[0081] In this embodiment, a charging pile is installed in the standby position of the AGV 310. The charging pile is connected to the central control device. When the AGV 310 is parked in the standby position, it automatically connects to the charging pile for charging. Furthermore, the central control device can also monitor the battery level of the AGV 310 in real time. When the battery level of the AGV 310 is low, the central control device sends a command to control the AGV 310 to return to the standby position and connect to the charging pile for charging.

[0082] The present invention also provides a soy sauce self-circulation control method applied to the above-mentioned soy sauce self-circulation system, comprising the following steps:

[0083] S1. Input the tank number of one or more fermentation tanks 100 that need to be circulated with soy sauce on the central control device, and set the duration of self-circulation; the instruction input module of the central control device may include one or more of the following: touch screen, keyboard, and mouse, to facilitate the input of instructions;

[0084] S2. The AGV 310 automatically navigates to the vicinity of the target fermentation tank 100 and approaches the fermentation tank 100 to a position where it can be photographed. During this process, the AGV 310 mainly relies on the Beidou navigation system for navigation, while the second camera 311 and the laser rangefinder 312 assist in controlling the movement of the AGV 310.

[0085] S3. The second camera 311 captures the tank number of the target fermentation tank 100 and matches it with the tank number input on the central control device to lock the target.

[0086] S4. The intelligent docking mechanism automatically docks. The central control device controls the movement of the robotic arm 320. The first camera 341 captures images of the coordinate positioning component 211 and performs comparative analysis. Through real-time visual positioning guidance and adjustment of the robotic arm 320, the docking component 340 and the fixed seat 210 are accurately docked. The power connector 342 is connected to the power supply connector 212. The first circulation pipe interface 343 is docked with the first pipe interface 213. The second circulation pipe interface 344 is docked with the second pipe interface, so that the circulation pump 330 is connected between the first pipe 230 and the second pipe, realizing the automatic connection of the circulation pump 330.

[0087] S5. Open the discharge valve 231 and the circulation pump 330 to extract the soy sauce from the bottom of the fermentation tank 100 and transport it to the top of the fermentation tank 100 through the second pipe to realize the self-circulation operation of the soy sauce and calculate the self-circulation time.

[0088] S6. When the timer reaches the set duration, close the discharge valve 231 and the circulation pump 330 to complete the self-circulation of the soy sauce;

[0089] S7. The central control device controls the movement of the robotic arm 320 to separate the second docking device 300 from the first docking device 200 of the target fermenter 100.

[0090] S8. The central control device automatically detects whether there is a next fermentation tank 100 that needs to be circulated with soy sauce. If there is a next fermentation tank 100 that needs to be circulated with soy sauce, the next fermentation tank 100 that needs to be circulated with soy sauce is set as the target fermentation tank 100, and the instructions of steps 2 to 8 are repeated.

[0091] S9. Complete the soy sauce circulation operation of all input fermentation tanks 100.

[0092] Furthermore, in step 4, after the intelligent docking mechanism automatically docks, the clamping device 360 ​​actuates, and the clamping driver 361 drives the clamping arm 362 to rotate, so that the clamping head 363 faces the back of the fixed seat 210. The clamping driver 361 then drives the clamping arm 362 to retract, causing the clamping head 363 to press against the back of the fixed seat 210, thereby clamping the docking piece 340 and the fixed seat 210, improving the stability and sealing of the docking of the docking piece 340 and the fixed seat 210. Furthermore, a pressure sensor is installed on the clamping head 363 to detect and provide feedback on the clamping force of the clamping head 363, and to send a pressure signal back to the central control device to determine whether clamping has occurred, serving as the start signal for the next step.

[0093] Furthermore, in step 6, after closing the discharge valve 231 and the circulation pump 330, the blowing valve is opened, and the compressed gas sent from the blowing pipe blows the soy sauce residue on the pipe and in the circulation pump 330 into the fermentation tank 100, thus avoiding soy sauce residue.

[0094] Furthermore, in step 7, after the second docking device 300 separates from the first docking device 200, the valve port can be rinsed with clean water.

[0095] Furthermore, in step 9, after completing all the input soy sauce circulation operations in fermentation tank 100, the AGV trolley 310 automatically returns to the standby position and parks.

[0096] The soy sauce self-circulation system and control method of the present invention, by setting up liquid level sensors and temperature sensors in fermentation tanks 100, can realize dynamic measurement of the fermentation environment of all fermentation tanks 100, measure and record temperature and liquid level data during fermentation, and provide a data basis for optimizing subsequent soy sauce fermentation processes; it is equipped with an intelligent docking mechanism, which uses AGV carts 310 to send circulation pumps 330 to fermentation tanks 100, and automatically docks with fermentation tanks 100 through the cooperation of fixed seats 210 and docking parts 340, and automatically circulates soy sauce. It can operate 24 hours a day without the need for manual operation, completely freeing workers from tedious, heavy and repetitive physical labor, improving labor productivity, realizing unmanned operation of the drying yard, and eliminating the uncertain interference factors of manual operation in the fermentation process, ensuring the standardization and digitalization of the fermentation process, and facilitating control and management.

[0097] The soy sauce self-circulation system and control method of the present invention meet the development needs of intelligent production. They combine multiple disciplines such as the Internet, artificial intelligence and robotics and apply them to the soy sauce self-circulation system to create intelligent and automated production.

[0098] The above provides a detailed description of the preferred embodiments of this application. However, this application is not limited to the above-described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. An intelligent docking mechanism, characterized in that, include: The first docking device is applied to the fermentation tank of soy sauce. The first docking device includes a fixed base. The outer side of the fixed base is provided with a coordinate positioning component, a power supply connector, a first pipe interface and a second pipe interface. The first pipe interface is connected to the bottom of the fermentation tank through a first pipe, and the second pipe interface is connected to the top of the fermentation tank through a second pipe. A discharge valve is provided on the first pipe. The second docking device includes an AGV trolley, on which a circulation pump and a robotic arm are mounted. The robotic arm is capable of multi-axis rotation, and at the end of the robotic arm is a docking component that mates with the first docking device. The docking component is equipped with a first camera, a power connector, a first circulation pipe interface, and a second circulation pipe interface. The power connector is connected to the circulation pump, and the first circulation pipe interface and the second circulation pipe interface are respectively connected to the circulation pump via flexible hoses. When the docking component of the second docking device docks with the fixed base of the first docking device, the first camera is used to capture the coordinate positioning component for visual positioning, the power connector is used to connect the power supply connector to provide working power to the circulation pump, the first circulation pipe interface docks with the first pipe interface, and the second circulation pipe interface docks with the second pipe interface. At least one of the fixing base or the docking member is provided with a clamping device, the clamping device comprising: A clamping driver is provided on the fixed base or the docking member; A clamping arm is disposed on the clamping driver and extends toward the other rear side of the fixed base or the docking member. A clamping head is disposed at the end of the clamping arm, and a pressure sensor is disposed on the clamping head. The clamping driver drives the clamping arm to extend, retract, and rotate. After the docking component and the fixed base are docked, the clamping driver drives the clamping arm to rotate and retract, so that the clamping head faces the back of the docking component or the fixed base and presses it, clamping the docking component and the fixed base.

2. The intelligent docking mechanism according to claim 1, characterized in that, The first docking device and the docking member are further provided with a guide structure, the guide structure including: A guide rod is disposed on one of the fixed base or the docking member; A guide hole is provided on another of the fixed base or the docking member, corresponding to the guide rod; When the docking component and the fixed base are docked, the guide rod enters the guide hole, restricting the movement direction of the docking component.

3. The intelligent docking mechanism according to claim 1, characterized in that, The front ends of the first circulation pipe interface and the second circulation pipe interface are configured as first pipe openings that taper in the opening direction.

4. The intelligent docking mechanism according to claim 3, characterized in that, The first pipe interface and the second pipe interface are provided with a wide pipe opening at the front end to facilitate connection with the first pipe opening.

5. The intelligent docking mechanism according to claim 1, characterized in that, The coordinate positioning component is a cross-shaped protrusion. During docking, the first camera is directly facing the coordinate positioning component.

6. The intelligent docking mechanism according to claim 1, characterized in that, The first docking device is provided with an air blowing pipe, which is connected to the first pipe, and the connection between the air blowing pipe and the first pipe is located between the discharge valve and the interface of the first pipe. The air blowing pipe is provided with an air blowing valve.

7. A self-circulating system for soy sauce fermentation, characterized in that, include: Multiple fermentation tanks are arranged in an orderly manner. Each fermentation tank contains fermented soy sauce. Each fermentation tank is equipped with a liquid level sensor and a temperature sensor. Each fermentation tank is marked with a tank number. The intelligent docking mechanism according to any one of claims 1-6, wherein the AGV is equipped with a navigation device, a second camera and a laser rangefinder, the navigation device guides the AGV's forward direction, the second camera is used to capture the tank number identifier of the fermentation tank to lock onto the target, and the laser rangefinder assists in controlling the AGV to approach the target fermentation tank to dock the fixed seat and the docking component. The central control device is connected to the liquid level sensor, the temperature sensor, and the intelligent docking mechanism. The central control device is equipped with an instruction input module. The central control device collects and feeds back the temperature and liquid level of the soy sauce in the fermentation tank. The central control device monitors the status of the AGV trolley. The central control device controls the intelligent docking mechanism to perform automatic docking and soy sauce self-circulation operations.

8. The soy sauce fermentation self-circulation system according to claim 7, characterized in that, The soy sauce fermentation self-circulation system includes a standby position for parking the AGV trolley. A charging pile is installed in the standby position and is connected to the central control device. When the AGV trolley is parked in the standby position, the AGV trolley automatically connects to the charging pile for charging.

9. A method for controlling the self-circulation of soy sauce fermentation, applied to the self-circulation system of soy sauce fermentation as described in any one of claims 7-8, characterized in that, Includes the following steps: S1. Input the tank number of one or more fermentation tanks that need to be circulated for soy sauce into the central control device, and set the duration of self-circulation; S2. The AGV automatically navigates to the vicinity of the target fermentation tank and approaches the fermentation tank to a position where it can be photographed; S3. The target fermentation tank is captured by the second camera and matched with the tank number input on the central control device to lock the target. S4. The intelligent docking mechanism automatically docks; S5. Open the discharge valve and the circulation pump to start the self-circulation operation of the soy sauce and start timing; S6. When the timer reaches the specified duration, close the discharge valve and the circulation pump; S7. The second docking device separates from the first docking device of the target fermenter; S8. The central control device automatically detects whether there is a next fermentation tank that needs to be circulated with soy sauce. If there is a next fermentation tank that needs to be circulated with soy sauce, the next fermentation tank that needs to be circulated with soy sauce is set as the target fermentation tank, and the instructions of steps 2 to 8 are repeated. S9. Complete the soy sauce circulation operation for all input fermentation tanks.

10. The self-circulating control method for soy sauce fermentation according to claim 9, characterized in that, In step 4, after the intelligent docking mechanism automatically docks, the power take-up connector and the power supply connector are connected to turn on the working power of the circulation pump.

11. The soy sauce fermentation self-circulation control method according to claim 9, characterized in that, In step 4, after the intelligent docking mechanism automatically docks, the clamping device activates to clamp the docking component and the fixed base, and the pressure sensor feeds back a pressure signal to the central control device.

12. The soy sauce fermentation self-circulation control method according to claim 9, characterized in that, In step 6, after closing the discharge valve and the circulation pump, the blowing valve is opened, and the compressed gas from the blowing pipe blows the soy sauce remaining on the pipe and in the circulation pump into the fermentation tank.

13. The soy sauce fermentation self-circulation control method according to claim 9, characterized in that, In step 9, after completing the soy sauce circulation operation of all input fermentation tanks, the AGV trolley automatically returns to the standby position and parks.

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