Method, system, device and medium for planning the steamer-loading motion of a robot simulating a manual dustpan

Abstract

The present invention relates to the technical field of intelligent steaming for brewing wine, and specifically to a steaming action planning method, system, equipment and medium for a robot simulating a manual dustpan. In order to solve the problems of poor flatness and uniformity of mash plane in the prior art, the present application obtains the current plane area of ​​the steamer to be spread according to the size of the steamer and the current total thickness of the spread, and judges whether the current steamer edge collision risk exceeds the risk threshold based on the current plane area of ​​the steamer to be spread and the width of the simulated manual dustpan discharge port, and then divides the current plane area of ​​the steamer to be spread into different spread areas according to the judgment result, sets different starting angles, and performs different spreading actions. At the same time, the spreading action direction of the current plane area of ​​the steamer to be spread is opposite to that of the previous plane area of ​​the steamer to be spread. The method is applied in the liquor brewing process and can achieve "light, loose, thin, accurate, uniform and flat".

Description

Technical Field

[0001] The invention relates to the technical field of intelligent steaming for brewing wine, and in particular to a steaming action planning method, system, equipment and medium for a robot simulating artificial dustpan. Background Art

[0002] As the robot steaming system is gradually applied to the liquor brewing industry, it will gradually replace manual steaming. There are already a variety of robot steaming systems on the market. However, after actual verification in winery production, the intermittent robot steaming action that imitates manual dustpan is more similar to the manual steaming action, and its wine yield, wine quality, and reliability are better than other automated steaming systems.

[0003] There is currently no unified standard in the industry for the planning of the spreading action of the robot's steamer system that imitates manual winnowing baskets. The existing planned spreading actions contain too many switching actions, which limits the efficiency of the robot's steamer. Moreover, when the size of the steamer pot changes, it takes a lot of time to plan the spreading action combination and adjust the spreading action parameters to ensure the flatness of the surface of the mash and the uniformity of the steam. At the same time, the spreading actions of many robot's steamer systems that imitate manual winnowing baskets do not achieve the "light, loose, thin, accurate, uniform and flat" requirements of the liquor brewing process. Summary of the invention

[0004] The purpose of the present invention is to provide a method, system, equipment and medium for planning the steamer loading motion of a robot simulating an artificial dustpan.

[0005] The technical solution of the present invention is as follows:

[0006] A method for planning the action of a robot imitating a manual dustpan for steaming a steamer comprises the following operations:

[0007] According to the size of the steamer pot and the total thickness of the current material laying, the plane area of ​​the steamer pot to be laid is obtained;

[0008] Based on the current plane area of ​​the steamer pot to be laid and the width of the discharge port of the simulated manual dustpan, the current steamer pot edge collision risk is obtained; and it is determined whether the current steamer pot edge collision risk exceeds the risk threshold;

[0009] If it does not exceed, the plane area of ​​the current steamer pot to be spread is divided into an outer area, a middle area and a central area from far to near the center of the steamer pot; in the outer area, the middle area and the central area, the spreading actions of outer edge spreading, horizontal pushing and central edge spreading are performed respectively by imitating a manual dustpan;

[0010] If it exceeds, the plane area of ​​the current steamer pot to be spread with materials is divided into an outer area, a first middle area, a second middle area and a central area from far to near the center of the steamer pot; in the outer area, the first middle area, the second middle area and the central area, the material spreading actions of outer edge spreading, outer horizontal pushing, inner horizontal pushing and central edge spreading are respectively performed by imitating a manual dustpan;

[0011] The material laying direction of the current flat area of ​​the steamer pot to be laid is opposite to that of the previous flat area of ​​the steamer pot to be laid;

[0012] In the current planar area of ​​the steamer to be laid, the starting angle of the laying action of the outer area, or / and the middle area, or / and the first middle area, or / and the second middle area, or / and the central area is obtained based on the current random starting angle, the current total number of laying times and the circumferential angle;

[0013] After all the flat areas of the steamer pot have completed the material laying operation, the robot's task of laying materials on the steamer pot is completed.

[0014] The number of paving actions is counted starting from the time the first paving action is executed. If the current collision risk of the steamer edge does not exceed the risk threshold, and the current paving action order of the flat area of ​​the steamer to be paved is an odd number, the directions of the outer edge scattering, outer pushing and center edge scattering are counterclockwise, clockwise and counterclockwise respectively; if the current collision risk of the steamer edge exceeds the risk threshold, and the current paving action order of the flat area of ​​the steamer to be paved is an odd number, the directions of the outer edge scattering, outer pushing, inner pushing and center edge scattering are counterclockwise, clockwise, counterclockwise and clockwise respectively.

[0015] The number of paving actions is counted starting from the time when the first paving action is executed. If the current risk of collision with the edge of the steamer does not exceed the risk threshold, and the order of paving actions in the plane area of ​​the steamer to be paved is an odd number, the product of the current random starting angle and the current total number of paving times and the modulus of the circumferential angle are used as the initial outer scattering starting angle of the outer area; if the initial outer scattering starting angle is less than the starting angle threshold, the outer scattering starting angle is the sum of the initial outer scattering starting angle and the circumferential angle; the sum of the product of the current random starting angle and the current total number of paving times and the right angle, and the modulus of the circumferential angle are used as the initial flat push starting angle of the middle area; if the initial flat push starting angle is less than the starting angle threshold, the flat push starting angle is the sum of the initial flat push starting angle and the circumferential angle; the difference between the product of the current random starting angle and the current total number of paving times and the right angle, and the modulus of the circumferential angle are used as the initial center scattering starting angle of the center area; if the initial center scattering starting angle is less than the starting angle threshold, the center scattering starting angle is the sum of the initial center scattering starting angle and the circumferential angle.

[0016] The number of paving actions is counted starting from the time when the first paving action is executed. If the current risk of collision with the edge of the steamer pot exceeds the risk threshold, and the order of paving actions in the plane area of ​​the steamer pot to be paved is an odd number, the product of the current random starting angle and the current total number of paving times and the modulus of the circumferential angle are used as the initial outer scattering starting angle of the outer area; if the initial outer scattering starting angle is less than the starting angle threshold, the outer scattering starting angle is the sum of the initial outer scattering starting angle and the circumferential angle; the sum of the product of the current random starting angle and the current total number of paving times and the right angle, and the modulus of the circumferential angle are used as the initial extrapolated starting angle of the first intermediate area; if the initial extrapolated starting angle is less than the starting angle threshold, the outer scattering starting angle is the sum of the initial outer scattering starting angle and the circumferential angle. If the initial interpolation starting angle is less than the starting angle threshold, the interpolation starting angle is the sum of the initial interpolation starting angle and the peripheral angle; the sum of the product of the current random starting angle and the current total number of paving times, the reciprocal angle, and the modulus of the peripheral angle are used as the initial interpolation starting angle of the second middle area; if the initial interpolation starting angle is less than the starting angle threshold, the interpolation starting angle is the sum of the initial interpolation starting angle and the peripheral angle; the sum of the product of the current random starting angle and the current total number of paving times, the right angle, and the modulus of the peripheral angle are used as the initial center edge starting angle of the center area; if the initial center edge starting angle is less than the starting angle threshold, the center edge starting angle is the sum of the initial center edge starting angle and the peripheral angle.

[0017] The number of paving actions is counted starting from the time when the first paving action is executed. If the current steamer edge collision risk exceeds the risk threshold, and the order of the paving actions in the current steamer plane area to be paved is an even number, the product of the current random starting angle and the current total number of paving times and the modulus of the circumferential angle are used as the initial outer scattering starting angle of the outer area; if the initial outer scattering starting angle is less than the starting angle threshold, the outer scattering starting angle is the sum of the initial outer scattering starting angle and the circumferential angle; the difference between the product of the current random starting angle and the current total number of paving times and the right angle, and the modulus of the circumferential angle, are used as the initial extrapolated starting angle of the first intermediate area; if the initial extrapolated starting angle is less than the starting angle threshold, the outer scattering starting angle is the sum of the initial outer scattering starting angle and the circumferential angle. If the initial interpolation starting angle is less than the starting angle threshold, the interpolation starting angle is the sum of the initial interpolation starting angle and the circumferential angle; the sum of the product of the current random starting angle and the current total number of paving times, the right angle, and the modulus of the circumferential angle are used as the initial interpolation starting angle of the second middle area; if the initial interpolation starting angle is less than the starting angle threshold, the interpolation starting angle is the sum of the initial interpolation starting angle and the circumferential angle; the sum of the product of the current random starting angle and the current total number of paving times, the right angle, and the modulus of the circumferential angle are used as the initial center edge starting angle of the center area; if the initial center edge starting angle is less than the starting angle threshold, the center edge starting angle is the sum of the initial center edge starting angle and the circumferential angle.

[0018] In the plane area of ​​the steamer to be spread with materials, before executing the next spreading action, it includes obtaining the remaining amount of mash material in the simulated manual dustpan, and if the remaining amount of mash material meets the material quantity requirement for 360° spreading action, the next spreading action is executed; if the remaining amount of mash material does not meet the material quantity requirement for 360° spreading action, but meets the material quantity requirement for 180° spreading action, and the next spreading action is 360° outer scattering, or outer push, or inner push, then after completing the next 180° spreading action, the simulated manual dustpan is moved out of the steamer to receive the materials, and then returns to execute the remaining 180° next spreading action; if the remaining amount of mash material does not meet the material quantity requirement for 180° spreading action, and the next spreading action is 360° center scattering, then 360° center scattering is executed.

[0019] The comparison between the remaining amount of mash and the amount required for the 360° spreading action and / or the 180° spreading action can be achieved by installing a weighing sensor at the bottom of the simulated artificial dustpan, or by installing a distance measuring sensor on the shoulder of the simulated artificial dustpan to measure the thickness of the material in the simulated artificial dustpan.

[0020] A system for planning the action of a robot imitating a manual dustpan for placing a steamer on a steamer, used to implement the above-mentioned method for planning the action of a robot imitating a manual dustpan for placing a steamer on a steamer, comprising:

[0021] A robot, the end of which is rotatably connected to a simulated manual dustpan, which controls the simulated manual dustpan to perform a material spreading action according to instructions issued by a control module;

[0022] The artificial dustpan is filled with fermented grains and is used for spreading the material according to the instructions issued by the control module;

[0023] A control module, which includes a collision risk judgment module, a dustpan posture design module, a paving action combination planning module, and a paving action starting angle planning module;

[0024] The collision risk judgment module is used to obtain the plane area of ​​the current steamer pot to be paved according to the size of the steamer pot and the total thickness of the current paving material; obtain the current steamer pot edge collision risk based on the plane area of ​​the current steamer pot to be paved and the width of the artificial dustpan discharge port; and judge whether the current steamer pot edge collision risk exceeds the risk threshold;

[0025] The dustpan posture design module is used to design the dustpan posture to achieve the material spreading action. The material spreading actions include outer edge spreading, flat push and center edge spreading. Flat push includes outer flat push and inner flat push.

[0026] The material spreading action combination planning module is used for dividing the plane area of ​​the current steamer pot to be spread into an outer area, a middle area and a central area from far to near the center of the steamer pot when the result in the collision risk judgment module is not exceeded; in the outer area, the middle area and the central area, imitating a manual dustpan to respectively perform the material spreading actions of outer edge scattering, horizontal push and central edge scattering in the dustpan posture design module; when the result in the collision risk judgment module is exceeded, dividing the plane area of ​​the current steamer pot to be spread into an outer area, a first middle area, a second middle area and a central area from far to near the center of the steamer pot; in the outer area, the first middle area, the second middle area and the central area, imitating a manual dustpan to respectively perform the material spreading actions of outer edge scattering, outer horizontal push, inner horizontal push and central edge scattering in the dustpan posture design module;

[0027] The starting angle planning module for the material spreading action is used to realize the starting angle of the material spreading action in the outer area, or / and the middle area, or / and the first middle area, or / and the second middle area, or / and the center area in the current plane area of ​​the steamer to be spread, which is obtained based on the current random starting angle, the current total number of material spreading times and the circumferential angle;

[0028] The direction of the material spreading action of the current plane area of ​​the steamer pot to be spread is opposite to that of the previous plane area of ​​the steamer pot to be spread.

[0029] A device for planning the action of a robot imitating a manual dustpan for steaming, comprising a processor and a memory, wherein the processor implements the above-mentioned method for planning the action of a robot imitating a manual dustpan for steaming when executing a computer program stored in the memory.

[0030] A computer-readable storage medium is used to store a computer program, wherein when the computer program is executed by a processor, the above-mentioned artificial dustpan-simulating robot steamer loading action planning method is implemented.

[0031] The beneficial effects of the present invention are:

[0032] The present invention provides a method for planning the action of a robot imitating an artificial dustpan when placing materials on a steamer. The method comprises the following steps: obtaining the plane area of ​​the current steamer to be placed according to the size of the steamer and the current total thickness of the placed materials; judging whether the risk of edge collision of the current steamer exceeds a risk threshold based on the plane area of ​​the current steamer to be placed and the width of the discharge port of the artificial dustpan; and then dividing the plane area of ​​the current steamer to be placed into different placing areas according to the judgment result, setting different starting angles, and performing different spreading actions. The method improves the adaptability of the robot to steamers of different sizes when placing materials on the steamer while ensuring accurate and uniform spreading of materials. Meanwhile, the spreading action direction of the plane area of ​​the current steamer to be placed is opposite to that of the plane area of ​​the previous steamer to be placed, thereby avoiding uneven distribution of steam due to over-dense mash in a certain direction, and helping to prevent the upper mash from sliding down during the distillation process, thereby maintaining the stability of the mash structure in the steamer. The method is applied in the liquor brewing process, and can achieve "light, loose, thin, accurate, uniform, and flat". BRIEF DESCRIPTION OF THE DRAWINGS

[0033] By reading the detailed description of the preferred embodiment below, the scheme and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0034] In the attached picture:

[0035] Figure 1 This is a schematic diagram of a robot steamer material laying device in an embodiment;

[0036] Figure 2 This is a schematic diagram of the division of the paving area in the embodiment;

[0037] The components represented by the reference numerals in the figure are:

[0038] 1. Robot; 2. Imitation of manual winnowing basket; 3. Steamer pot. DETAILED DESCRIPTION

[0039] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0040] like Figure 1 As shown, the end of the robot 1 is rotatably connected to an artificial dustpan 2 for performing a spreading action in the steamer pot 3. Since the steamer pot 3 is an inverted truncated cone which is narrow at the bottom and wide at the top, the radii of the steamer pot plane area (plane circle) corresponding to different heights in the steamer pot 3 are different. If a fixed spreading action is used, it is easy for the artificial dustpan 2 to collide with the steamer pot 3 and the artificial dustpan to spread the material unevenly, resulting in accumulation of the material in the steamer pot, and failing to achieve "light, loose, thin, accurate, uniform and flat" performance, which affects the flatness of the surface of the mash and the uniformity of the steam.

[0041] In order to solve the above technical problems, the technical solution designed in this embodiment is as follows.

[0042] Firstly, according to the size of the steamer and the current total thickness of the material, the plane area (plane circle) of the steamer to be paved is obtained, which is used for designing a paving action that can prevent collision and improve the paving quality according to the characteristics of the plane area of ​​the steamer to be paved.

[0043] Then, based on the current steamer pan plane area to be paved and the width of the artificial dustpan discharge port, the current steamer pan edge collision risk is obtained, and the risk of collision between the artificial dustpan and the steamer pan is evaluated, so as to select different paving areas. Among them, the current steamer pan edge collision risk is the ratio of the radius R of the current steamer pan plane area to be paved to the width W of the artificial dustpan discharge port.

[0044] Next, determine whether the current steamer pot edge collision risk exceeds the risk threshold (preferably 1.5). Based on the judgment result, divide the plane area of ​​the steamer pot to be paved with materials into different paving areas, and perform different material spreading actions, thereby improving the robot's adaptability to steamers of different sizes when paving materials.

[0045] If it does not exceed (the current risk of the edge of the steamer pot collision does not exceed the risk threshold), that is, R / W≤1.5, it means that the plane area of ​​the steamer pot to be paved is small, and the probability of collision between the artificial dustpan and the steamer pot is high. Therefore, the plane area of ​​the steamer pot to be paved is divided into: Figure 2 , the outer area, middle area and central area from far to near the center of the steamer; and in the outer area, middle area and central area, the outer edge spreading, horizontal pushing and central edge spreading actions are performed respectively by imitating an artificial dustpan. The outer area is located in an annular area close to the edge of the inner wall of the steamer, and the central area is located in a small radius circular area with the center of the steamer as the center; the middle area is located in the annular area between the outer area and the central area. When the radial width of the annular horizontal pushing area is narrow, the horizontal pushing action is used to complete the material spreading in this area. When the radial width of the annular horizontal pushing area is wide, the outer horizontal pushing action and the inner horizontal pushing action are used to complete the material spreading in this area. The above 10 kinds of material spreading actions can meet the needs of all steamer sizes and steaming processes in liquor brewing for material spreading actions.

[0046] The distances between the outer area, the middle area and the center area and the center of the steamer can be set according to actual needs.

[0047] Among them, the specific action of spreading the material on the outer edge is that the center of the steamer is taken as the center of the circle, and the outlet of the artificial dustpan is used to spread the material along the radius of the steamer toward the edge of the steamer. The specific action of spreading the material on the horizontal push is that the center of the steamer is taken as the center of the circle, and the outlet of the artificial dustpan is used to spread the material perpendicular to the radius of the steamer. The specific action of spreading the material on the central edge is that the center of the steamer is taken as the center of the circle, and the outlet of the artificial dustpan is used to spread the material around the center of the steamer. All spreading actions are circular trajectory motions. According to the movement direction, trajectory length, and dustpan posture of the spreading action, the spreading action can be designed into the following 10 types: 360° clockwise outer edge spreading, 360° counterclockwise outer edge spreading, 360° clockwise horizontal push, 360° counterclockwise horizontal push, 360° clockwise outer horizontal push, 360° counterclockwise outer horizontal push, 360° clockwise inner horizontal push, 360° counterclockwise inner horizontal push, 360° clockwise center edge spreading, 360° counterclockwise center edge spreading. These 10 spreading actions constitute the spreading action library of the artificial dustpan robot upper steamer system. The above-mentioned Chinese and foreign horizontal push spreading action is specifically that the center of the steamer pot is taken as the center of the circle, and the outlet of the artificial dustpan is perpendicular to the radius of the steamer pot and spreads the material toward the edge of the steamer pot. The specific action of the inner push spreading material is to use the center of the steamer pot as the center of the circle, and to spread the material toward the center of the steamer pot perpendicular to the radius of the steamer pot using an outlet that simulates an artificial dustpan.

[0048] In addition, in order to improve the uniformity and stability of the mash in the steamer and ensure the flatness of the plane of the mash and the uniformity of steam when it is steamed, in this embodiment, the laying direction of the current plane area of ​​the steamer to be laid is opposite to that of the previous plane area of ​​the steamer to be laid. The staggered laying direction can improve the distribution of steam in the steamer and avoid uneven distribution of steam due to excessive density of mash in a certain direction, thereby ensuring that each layer of mash can be fully distilled. The staggered laying directions between different layers can also increase friction and reduce sliding between layers, which helps to prevent the upper layer of mash from sliding down during the distillation process and maintain the stability of the mash structure in the steamer.

[0049] When the current steamer pot edge collision risk does not exceed the risk threshold (R / W≤1.5), the laying action direction of each layer is set as follows.

[0050] The number of paving actions is counted starting from the time when the first paving action is executed. If the order of the paving actions in the flat area of ​​the steamer to be paved is an odd number, the directions of outer paving, horizontal pushing and center paving are counterclockwise, clockwise and counterclockwise respectively; specifically, when R / W≤1.5, when paving an odd number of layers, the paving actions of 360° counterclockwise outer paving, 360° clockwise horizontal pushing and 360° counterclockwise center paving are performed in the outer area, middle area and center area respectively.

[0051] The number of paving actions is counted starting from the time when the first paving action is executed. If the order of the paving actions in the flat area of ​​the steamer to be paved is an even number, the directions of outer paving, horizontal pushing and center paving are clockwise, counterclockwise and clockwise respectively; specifically, when R / W≤1.5, when paving an even number of layers, the paving actions of 360° clockwise outer paving, 360° counterclockwise horizontal pushing and 360° clockwise center paving are performed in the outer area, middle area and center area respectively.

[0052] Furthermore, in order to ensure that the starting point and the end point of the spreading action are evenly distributed on the circumference of the steamer, to avoid the repeated appearance of the starting point and the end point of the spreading action at certain fixed positions, and to further improve the flatness of the plane of the mash and the uniformity of the steam, this embodiment plans the starting angle of the spreading action for different spreading actions. Specifically, in the current plane area of ​​the steamer to be spread, the starting angle of the spreading action in the outer area, or / and the middle area, or / and the first middle area, or / and the second middle area, or / and the center area is obtained based on the current random starting angle, the current total number of spreading times and the circumferential angle.

[0053] When the current steamer pot edge collision risk does not exceed the risk threshold (R / W≤1.5), the number of paving actions is counted starting from the first paving action. If the order of the paving actions in the plane area of ​​the steamer pot to be paved is an odd number, that is, R / W≤1.5, when paving an odd number of layers, the method for obtaining the starting angle of each paving area is as follows.

[0054] The method for obtaining the starting angle of the outer spreading edge of the outer area is as follows: the product of the current random starting angle and the current total number of paving times and the modulus of the circumferential angle are used as the initial starting angle of the outer spreading edge of the outer area; if the initial starting angle of the outer spreading edge is less than the starting angle threshold (0°), the starting angle of the outer spreading edge is the sum of the initial starting angle of the outer spreading edge and the circumferential angle. That is, the initial starting angle of the outer spreading edge of the counterclockwise 360° outer spreading edge of the outer area is StartAngle0=(ΔAngle*N)%360°. If StartAngle0<0°, then StartAngle=StartAngle0+360°. ΔAngle is the current random starting angle, which is an arbitrary angle, indicating that after each layer of material is paved, the starting angles of all paving actions are offset to avoid a fixed starting angle of the action, which may lead to a lack of material or accumulation of material at the starting point of the action. N is the number of paving layers, that is, the current total number of paving times, and % is the modulus processing.

[0055] The method for obtaining the horizontal push start angle of the middle area is: take the sum of the product of the current random start angle and the current total number of paving times and the right angle, and the modulus of the circumference angle as the initial horizontal push start angle of the middle area; if the initial horizontal push start angle is less than the start angle threshold, the horizontal push start angle is the sum of the initial horizontal push start angle and the circumference angle. That is, the initial horizontal push start angle StartAngle0 of the clockwise 360° horizontal push of the middle area is (ΔAngle*N+90°)%360°, if StartAngle0<0°, then StartAngle=StartAngle0+360°.

[0056] The method for obtaining the center edge spreading starting angle of the center area is as follows: the difference between the product of the current random starting angle and the current total number of paving times and the right angle, and the modulus of the circumferential angle, is used as the initial center edge spreading starting angle of the center area; if the initial center edge spreading starting angle is less than the starting angle threshold, the center edge spreading starting angle is the sum of the initial center edge spreading starting angle and the circumferential angle. That is, the initial center edge spreading starting angle of the counterclockwise center 360° spreading of the center area StartAngle0=(ΔAngle*N-90°)%360°, if StartAngle0<0°, then StartAngle=StartAngle0+360°.

[0057] When the current steamer pot edge collision risk does not exceed the risk threshold (R / W≤1.5), the number of paving actions is counted starting from the first paving action. If the order of paving actions in the current steamer pot plane area to be paved is an even number, that is, R / W≤1.5, when paving an even number of layers, the method for obtaining the starting angle of each paving area is as follows.

[0058] The method for obtaining the starting angle of the outer spreading edge of the outer area is as follows: the product of the current random starting angle and the current total number of paving times and the modulus of the circumferential angle are used as the initial starting angle of the outer spreading edge of the outer area; if the initial starting angle of the outer spreading edge is less than the starting angle threshold, the starting angle of the outer spreading edge is the sum of the initial starting angle of the outer spreading edge and the circumferential angle. Among them, the initial starting angle of the outer spreading edge of the clockwise 360° outer spreading edge of the outer area is StartAngle0=(ΔAngle*N)%360°, if StartAngle0<0°, then StartAngle=StartAngle0+360°.

[0059] The method for obtaining the horizontal push start angle of the middle area is: take the difference between the product of the current random start angle and the current total number of paving times and the right angle, and the modulus of the circumference angle, as the initial horizontal push start angle of the middle area; if the initial horizontal push start angle is less than the start angle threshold, the horizontal push start angle is the sum of the initial horizontal push start angle and the circumference angle. That is, the initial horizontal push start angle of the counterclockwise 360° horizontal push of the middle area StartAngle0=(ΔAngle*N-90°)%360°, if StartAngle0<0°, then StartAngle=StartAngle0+360°;

[0060] The method for obtaining the center edge spreading starting angle of the center area is as follows: the difference between the product of the current random starting angle and the current total number of paving times and the right angle and the modulus of the circumferential angle are used as the initial center edge spreading starting angle of the center area; if the initial center edge spreading starting angle is less than the starting angle threshold, the center edge spreading starting angle is the sum of the initial center edge spreading starting angle and the circumferential angle. That is, the initial center edge spreading starting angle of the clockwise center 360° spreading of the center area StartAngle0=(ΔAngle*N+90°)%360°, if StartAngle0<0°, then StartAngle=StartAngle0+360°.

[0061] If it exceeds (whether the current risk of collision of the edge of the steamer exceeds the risk threshold), the current plane area of ​​the steamer to be paved is relatively large, and the probability of collision between the artificial dustpan and the steamer is relatively small. In order to further improve the paving effect of the artificial dustpan, the current plane area of ​​the steamer to be paved is divided into the outer area, the first middle area, the second middle area and the central area from far to near the center of the steamer; in the outer area, the first middle area, the second middle area and the central area, the artificial dustpan performs the paving actions of outer edge spreading, outer horizontal pushing, inner horizontal pushing and central edge spreading respectively. The distances of the outer area, the first middle area, the second middle area and the central area from the center of the steamer can be set according to actual needs.

[0062] Among them, when the current steamer edge collision risk exceeds the risk threshold (R / W>1.5), the laying action direction of each layer is set as follows.

[0063] When the order of material spreading in the flat area of ​​the steamer to be spread is an odd number, the directions of outer edge spreading, outer horizontal pushing, inner horizontal pushing and center edge spreading are counterclockwise, clockwise, counterclockwise and clockwise respectively. That is, when R / W>1.5, when spreading in an odd number of layers, the material spreading actions of counterclockwise 360° outer edge spreading, clockwise 360° outer horizontal pushing, counterclockwise 360° inner horizontal pushing and clockwise 360° center edge spreading are performed in the outer area, the first middle area, the second middle area and the center area in sequence.

[0064] When the order of material spreading action in the flat area of ​​the steamer to be spread is an even number, the directions of outer edge spreading, outer horizontal pushing, inner horizontal pushing and center edge spreading are clockwise, counterclockwise, clockwise and counterclockwise respectively. That is, when R / W>1.5, when spreading in an even number of layers, the material spreading actions of clockwise 360° outer edge spreading, counterclockwise 360° outer horizontal pushing, clockwise 360° inner horizontal pushing and counterclockwise 360° center edge spreading are carried out in the outer area, the first middle area, the second middle area and the center area in sequence.

[0065] When the current steamer pot edge collision risk exceeds the risk threshold (R / W>1.5), when the order of the paving action in the current steamer pot plane area to be paved is an odd number, that is, when R / W>1.5, when paving an odd number of layers, the starting angle of each layer of paving action is as follows.

[0066] The method for obtaining the starting angle of the outer spreading edge of the outer area is as follows: the product of the current random starting angle and the current total number of paving times and the modulus of the circumferential angle are used as the initial starting angle of the outer spreading edge of the outer area; if the initial starting angle of the outer spreading edge is less than the starting angle threshold, the starting angle of the outer spreading edge is the sum of the initial starting angle of the outer spreading edge and the circumferential angle. That is, the initial starting angle of the outer spreading edge of the counterclockwise 360° outer spreading edge of the outer area is StartAngle0=(ΔAngle*N)%360°, and if StartAngle0<0°, the starting angle of the outer spreading edge is StartAngle=StartAngle0+360°.

[0067] The method for obtaining the extrapolation starting angle of the first intermediate area is: take the sum of the product of the current random starting angle and the current total number of paving times and the right angle, and the modulus of the circumferential angle, as the initial extrapolation starting angle of the first intermediate area; if the initial extrapolation starting angle is less than the starting angle threshold, the extrapolation starting angle is the sum of the initial extrapolation starting angle and the circumferential angle; that is, when R / W>1.5, when paving an odd number of layers, the initial extrapolation starting angle StartAngle0 of the clockwise 360° extrapolation of the first intermediate area is (ΔAngle*N+90)%360°; if StartAngle0<0°, the extrapolation starting angle StartAngle=StartAngle0+360°.

[0068] The method for obtaining the internal push starting angle of the second intermediate area is: take the sum of the product of the current random starting angle and the current total number of paving times and the reciprocal angle, and the modulus of the circumferential angle, as the initial internal push starting angle of the second intermediate area; if the initial internal push starting angle is less than the starting angle threshold, then the internal push starting angle is the sum of the initial internal push starting angle and the circumferential angle; that is, when R / W>1.5, when paving an odd number of layers, the initial internal push starting angle StartAngle0 of the counterclockwise 360° internal push of the second intermediate area is (ΔAngle*N+270°)%360°; if StartAngle0<0°, then the internal push starting angle StartAngle=StartAngle0+360°.

[0069] The method for obtaining the center edge spreading starting angle of the center area is: take the sum of the product of the current random starting angle and the current total number of paving times and the right angle, and the modulus of the circumferential angle as the initial center edge spreading starting angle of the center area; if the initial center edge spreading starting angle is less than the starting angle threshold, the center edge spreading starting angle is the sum of the initial center edge spreading starting angle and the circumferential angle. That is, when R / W>1.5, when paving an odd number of layers, the initial center edge spreading starting angle StartAngle0 of the clockwise center 360° spreading of the middle area is (ΔAngle*N)%360°, if StartAngle0<0°, the center edge spreading starting angle StartAngle=StartAngle0+360°.

[0070] When the current steamer pot edge collision risk exceeds the risk threshold (R / W>1.5), when the order of the paving action in the current steamer pot plane area to be paved is an odd number, that is, when R / W>1.5, when paving is an even number of layers, the starting angle of each layer of paving action is as follows.

[0071] The method for obtaining the starting angle of the outer spreading edge of the outer area is as follows: the product of the current random starting angle and the current total number of paving times and the modulus of the circumferential angle are used as the initial starting angle of the outer spreading edge of the outer area; if the initial starting angle of the outer spreading edge is less than the starting angle threshold, the starting angle of the outer spreading edge is the sum of the initial starting angle of the outer spreading edge and the circumferential angle. That is, when R / W>1.5, when paving an even number of layers, the initial starting angle of the outer spreading edge of the clockwise 360° outer spreading edge of the outer area is StartAngle0=(ΔAngle*N)%360°, if StartAngle0<0°, the starting angle of the outer spreading edge is StartAngle=StartAngle0+360°.

[0072] The method for obtaining the extrapolated starting angle of the first intermediate area is: take the difference between the product of the current random starting angle and the current total number of paving times and the right angle, and the modulus of the circumferential angle, as the initial extrapolated starting angle of the first intermediate area; if the initial extrapolated starting angle is less than the starting angle threshold, the extrapolated starting angle is the sum of the initial extrapolated starting angle and the circumferential angle; when R / W>1.5, when paving an even number of layers, the initial extrapolated starting angle StartAngle0 of the counterclockwise 360° extrapolation of the first intermediate area is (ΔAngle*N-90°)%360°; if StartAngle0<0°, the extrapolated starting angle StartAngle=StartAngle0+360°.

[0073] The method for obtaining the inner push starting angle of the second intermediate area is: take the sum of the product of the current random starting angle and the current total number of paving times and the right angle, and the modulus of the circumferential angle, as the initial inner push starting angle of the second intermediate area; if the initial inner push starting angle is less than the starting angle threshold, then the inner push starting angle is the sum of the initial inner push starting angle and the circumferential angle; that is, when R / W>1.5, when paving an even number of layers, the initial inner push starting angle StartAngle0 of the clockwise 360° inner push of the second intermediate area is (ΔAngle*N+90°)%360°; if StartAngle0<0°, then the inner push starting angle StartAngle=StartAngle0+360°.

[0074] The method for obtaining the center edge spreading starting angle of the middle area is: take the sum of the product of the current random starting angle and the current total number of paving times and the right angle, and the modulus of the circumferential angle, as the initial center edge spreading starting angle of the center area; if the initial center edge spreading starting angle is less than the starting angle threshold, the center edge spreading starting angle is the sum of the initial center edge spreading starting angle and the circumferential angle. That is, when R / W>1.5, when paving an even number of layers, the initial center edge spreading starting angle StartAngle0 of the counterclockwise center 360° spreading of the middle area is (ΔAngle*N)%360°, if StartAngle0<0°, the center edge spreading starting angle StartAngle=StartAngle0+360°.

[0075] In addition, in order to improve the efficiency of steaming and ensure the quality of spreading materials, in the plane area of ​​the steamer pot to be spread, before executing the next spreading action, it includes obtaining the remaining amount of mash material simulated by a manual dustpan, and if the remaining amount of mash material meets the material quantity requirement for a 360° spreading action, the next spreading action is executed; if the remaining amount of mash material does not meet the material quantity requirement for a 360° spreading action, but meets the material quantity requirement for a 180° spreading action, and the next spreading action is a 360° outer edge spreading, or an outer push, or an inner push, then after completing the next 180° spreading action, the artificial dustpan is moved out of the steamer pot to receive the material, and then returns to execute the remaining 180° next spreading action; if the remaining amount of mash material does not meet the material quantity requirement for a 180° spreading action, and the next spreading action is a 360° center edge spreading, because the center edge spreading requires less material quantity, the 360° center edge spreading action is executed.

[0076] The comparison between the remaining amount of mash and the amount required for the 360° spreading action and / or the 180° spreading action can be achieved by installing a weighing sensor at the bottom of the simulated artificial dustpan, or by installing a distance measuring sensor on the shoulder of the simulated artificial dustpan to measure the thickness of the material in the simulated artificial dustpan.

[0077] The method of installing a weighing sensor at the bottom of the artificial dustpan is specifically as follows: installing a weighing sensor at the bottom of the artificial dustpan, and before spreading the material, first calibrating the amount of mash required for 360° outer edge scattering, 360° outer horizontal pushing, 360° inner horizontal pushing, 180° outer edge scattering, 180° outer horizontal pushing, and 180° inner horizontal pushing measured by the weighing sensor, as well as the material weight data measured by the weighing sensor when the artificial dustpan is full of mash and when there is no mash in the dustpan, and recording and storing them in the robot program variables; at the end of each material spreading action, the robot obtains the current amount of material in the artificial dustpan and obtains the remaining amount of mash, which is used to compare with the material quantity requirements of 360° outer edge scattering, 360° outer horizontal pushing, 360° inner horizontal pushing, 180° outer edge scattering, 180° outer horizontal pushing, or 180° inner horizontal pushing, so as to select the appropriate action to execute.

[0078] The method for measuring the thickness of the material in the artificial dustpan by installing a distance measuring sensor on the shoulder of the artificial dustpan is specifically as follows: a laser / ultrasonic / infrared distance measuring sensor is installed on the shoulder of the artificial dustpan. Before spreading the material, the distance measuring sensor is measured to measure the thickness data corresponding to the amount of mash required for 360° outer spreading, 360° outer push, 360° inner push, 180° outer spreading, 180° outer push, and 180° inner push, as well as the thickness data corresponding to the amount of mash required for 360° outer spreading, 360° outer push, 360° inner push, 180° outer spreading, 180° outer push, and 180° inner push, and ... The distance data measured by the distance measuring sensor when there is no mash inside is recorded and stored in the robot program variables; at the end of each spreading action, the robot reads the thickness of the remaining material in the current artificial dustpan to obtain the remaining amount of mash, which is used to compare with the material quantity requirements of 360° external spreading, 360° external pushing, 360° internal pushing, 180° external spreading, 180° external pushing, or 180° internal pushing, so as to select the appropriate action to execute.

[0079] After all the flat areas of the steamer pot have completed the material laying operation, the robot's task of laying materials on the steamer pot is completed.

[0080] This embodiment also provides a system for planning the action of a robot imitating a manual dustpan for placing a steamer, which is used to implement the above-mentioned method for planning the action of a robot imitating a manual dustpan for placing a steamer, comprising:

[0081] A robot, the end of which is rotatably connected to a simulated manual dustpan, which controls the simulated manual dustpan to perform a material spreading action according to instructions issued by a control module;

[0082] The artificial dustpan is filled with fermented grains, and is used for the robot to perform the spreading action according to the instructions issued by the control module and put the fermented grains into the steamer pot;

[0083] A control module, which includes a collision risk judgment module, a dustpan posture design module, a paving action combination planning module, and a paving action starting angle planning module;

[0084] The collision risk judgment module is used to obtain the plane area of ​​the current steamer pot to be paved according to the size of the steamer pot and the total thickness of the current paving material; obtain the current steamer pot edge collision risk based on the plane area of ​​the current steamer pot to be paved and the width of the artificial dustpan discharge port; and judge whether the current steamer pot edge collision risk exceeds the risk threshold;

[0085] The dustpan posture design module is used to design the dustpan posture to achieve the material spreading action. The material spreading actions include outer edge spreading, flat push and center edge spreading. Flat push includes outer flat push and inner flat push.

[0086] The material spreading action combination planning module is used for dividing the plane area of ​​the current steamer pot to be spread into an outer area, a middle area and a central area from far to near the center of the steamer pot when the result in the collision risk judgment module is not exceeded; in the outer area, the middle area and the central area, imitating a manual dustpan to respectively perform the material spreading actions of outer edge scattering, horizontal push and central edge scattering in the dustpan posture design module; when the result in the collision risk judgment module is exceeded, dividing the plane area of ​​the current steamer pot to be spread into an outer area, a first middle area, a second middle area and a central area from far to near the center of the steamer pot; in the outer area, the first middle area, the second middle area and the central area, imitating a manual dustpan to respectively perform the material spreading actions of outer edge scattering, outer horizontal push, inner horizontal push and central edge scattering in the dustpan posture design module;

[0087] The starting angle planning module for the material spreading action is used to realize the starting angle of the material spreading action in the outer area, or / and the middle area, or / and the first middle area, or / and the second middle area, or / and the center area in the current plane area of ​​the steamer to be spread, which is obtained based on the current random starting angle, the current total number of material spreading times and the circumferential angle;

[0088] The direction of the material spreading action of the current plane area of ​​the steamer pot to be spread is opposite to that of the previous plane area of ​​the steamer pot to be spread.

[0089] This embodiment also provides a device for planning the action of a robot imitating a manual dustpan for steaming, comprising a processor and a memory, wherein the processor implements the above-mentioned method for planning the action of a robot imitating a manual dustpan for steaming when executing a computer program stored in the memory.

[0090] This embodiment also provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the above-mentioned method for planning the action of the artificial dustpan-simulating robot for steaming.

[0091] This embodiment provides a method for planning the action of a robot imitating a manual dustpan for steaming, and designs three dustpan postures for spreading materials: outer edge spreading, horizontal push, and center edge spreading, to meet the material spreading needs in the edge area, middle area, and center area of ​​the steamer.

[0092] The present embodiment provides a method for planning the action of a robot imitating a manual dustpan for steaming a steamer. According to the movement direction, trajectory length, and dustpan posture of the material spreading action, the following 10 material spreading actions are designed, including 360° clockwise outer edge spreading, 360° counterclockwise outer edge spreading, 360° clockwise horizontal push, 360° counterclockwise horizontal push, 360° clockwise outer horizontal push, 360° counterclockwise outer horizontal push, 360° clockwise inner horizontal push, 360° counterclockwise inner horizontal push, 360° clockwise center edge spreading, and 360° counterclockwise center edge spreading; the outer area is located in an annular area close to the edge of the inner wall of the steamer pot, and the material is spread in this area by the outer edge spreading; the central area is located with the center of the steamer pot as the center of the circle A small radius circular area is located in which the material is spread by spreading the edges from the center; the pushing area is located in the annular area between the outer area and the central area, and when the radial width of the annular pushing area is narrow, the pushing action is used to spread the material in this area, and when the radial width of the annular pushing area is wide, outer pushing and inner pushing are used to spread the material in this area. The above 10 spreading actions can meet the needs of all steamer pot sizes and steaming processes in liquor brewing, and different spreading actions are divided according to the radius size of the steamer pot, which ensures the efficiency of steaming while also ensuring the flatness of the surface of the mash and the uniformity of the steam when steaming, thereby improving the adaptability of the robot to steamer pots of different sizes when spreading materials.

[0093] The present embodiment provides a method for planning the action of a robot imitating a manual dustpan to steam the rice, which plans the starting angle of the material spreading action, avoids the starting point and end point of the material spreading action from repeating in certain fixed positions, and ensures the flatness of the mash plane and the uniformity of steaming.

[0094] In summary, this embodiment provides a method for planning the action of a robot imitating a manual dustpan to put materials on the steamer. The plane area of ​​the current steamer to be spread is obtained according to the size of the steamer and the current total thickness of the spread. Based on the current plane area of ​​the steamer to be spread and the width of the simulated manual dustpan outlet, it is judged whether the current steamer edge collision risk exceeds the risk threshold. Then, according to the judgment result, the current plane area of ​​the steamer to be spread is divided into different spreading areas, different starting angles are set, and different spreading actions are performed. While ensuring accurate and uniform spreading of materials, the adaptability of the robot to steamer pots of different sizes is improved when spreading materials. At the same time, the spreading action direction of the current plane area of ​​the steamer to be spread is opposite to that of the previous plane area of ​​the steamer to be spread, which can avoid uneven distribution of steam in a certain direction due to too dense mash, and help prevent the upper mash from sliding down during the distillation process, and maintain the stability of the mash structure in the steamer. This method is applied in the liquor brewing process, and can achieve "light, loose, thin, accurate, uniform and flat".

Claims

1. A method for planning the action of a robot imitating a manual dustpan for steaming, characterized in that: The following operations are included: According to the size of the steamer pot and the total thickness of the current material laying, the plane area of ​​the steamer pot to be laid is obtained; Based on the current steamer pot plane area to be laid and the width of the artificial dustpan discharge port, the current steamer pot edge collision risk is obtained; and it is determined whether the current steamer pot edge collision risk exceeds a risk threshold; If it does not exceed, the plane area of ​​the current steamer pot to be spread with materials is divided into an outer area, a middle area and a central area from far to near the center of the steamer pot; in the outer area, the middle area and the central area, the material spreading actions of outer edge spreading, horizontal pushing and central edge spreading are respectively performed by imitating a manual dustpan; If it exceeds, the plane area of ​​the steamer pot to be spread with materials is divided into an outer area, a first middle area, a second middle area and a central area from far to near the center of the steamer pot; in the outer area, the first middle area, the second middle area and the central area, the material spreading actions of outer edge spreading, outer horizontal pushing, inner horizontal pushing and central edge spreading are respectively performed by imitating a manual dustpan; The material laying direction of the current flat area of ​​the steamer pot to be laid is opposite to that of the previous flat area of ​​the steamer pot to be laid; In the current planar area of ​​the steamer to be laid, the starting angle of the laying action of the outer area, or / and the middle area, or / and the first middle area, or / and the second middle area, or / and the central area is obtained based on the current random starting angle, the current total number of laying times and the circumferential angle; After all the flat areas of the steamer pot have completed the material laying operation, the robot completes the task of laying materials on the steamer pot; The spreading action of the outer edge scattering is to take the center of the steamer pot as the center of the circle, and scatter materials along the radius of the steamer pot toward the edge of the steamer pot by simulating the outlet of a manual dustpan; the spreading action of the horizontal push is to take the center of the steamer pot as the center of the circle, and scatter materials perpendicular to the radius of the steamer pot by simulating the outlet of a manual dustpan; the spreading action of the center edge scattering is to take the center of the steamer pot as the center of the circle, and scatter materials around the center of the steamer pot by simulating the outlet of a manual dustpan; the spreading action of the outer horizontal push is to take the center of the steamer pot as the center of the circle, and scatter materials perpendicular to the radius of the steamer pot toward the edge of the steamer pot by simulating the outlet of a manual dustpan; the spreading action of the inner horizontal push is to take the center of the steamer pot as the center of the circle, and scatter materials perpendicular to the radius of the steamer pot toward the center of the steamer pot by simulating the outlet of a manual dustpan.

2. The method for planning the action of the artificial dustpan-simulating robot for steaming the steamer according to claim 1, characterized in that: The number of paving actions is counted starting from the first paving action. If the current collision risk of the steamer pot edge does not exceed the risk threshold, and the order of the material spreading action in the current steamer pot plane area to be spread is an odd number, the directions of the outer edge spreading, horizontal push and center edge spreading are counterclockwise, clockwise and counterclockwise respectively; If the current steamer edge collision risk exceeds the risk threshold, and the current order of paving actions in the flat area of ​​the steamer to be paved is an odd number, the directions of outer paving, outer pushing, inner pushing and center paving are counterclockwise, clockwise, counterclockwise and clockwise respectively.

3. The method for planning the action of the artificial dustpan-simulating robot for steaming the steamer according to claim 1, characterized in that: The number of material laying actions is counted starting from the first material laying action. If the current collision risk of the steamer edge does not exceed the risk threshold, and the order of material laying actions in the current steamer plane area to be laid is an odd number, The product of the current random starting angle and the current total number of paving times and the modulus of the circumferential angle are used as the initial outer spreading starting angle of the outer area; if the initial outer spreading starting angle is less than the starting angle threshold, the outer spreading starting angle is the sum of the initial outer spreading starting angle and the circumferential angle; The product of the current random starting angle and the current total number of paving times, the sum of the right angle and the modulus of the circumference angle are used as the initial flat push starting angle of the middle area; if the initial flat push starting angle is less than the starting angle threshold, the flat push starting angle is the sum of the initial flat push starting angle and the circumference angle; The difference between the product of the current random starting angle and the current total number of paving times and the right angle, and the modulus of the circumferential angle, are used as the initial center edge spreading starting angle of the central area; if the initial center edge spreading starting angle is less than the starting angle threshold, the center edge spreading starting angle is the sum of the initial center edge spreading starting angle and the circumferential angle.

4. The method for planning the action of a robot imitating a manual dustpan for steaming a steamer according to claim 1, characterized in that: The number of material laying actions is counted starting from the first material laying action. If the current risk of the edge collision of the steamer pot exceeds the risk threshold, and the order of the material laying actions in the plane area of ​​the steamer pot to be laid is an odd number, The product of the current random starting angle and the current total number of paving times and the modulus of the circumferential angle are used as the initial outer spreading starting angle of the outer area; if the initial outer spreading starting angle is less than the starting angle threshold, the outer spreading starting angle is the sum of the initial outer spreading starting angle and the circumferential angle; The sum of the product of the current random starting angle and the current total number of paving times and the right angle and the modulus of the circumferential angle are used as the initial extrapolated starting angle of the first middle area; if the initial extrapolated starting angle is less than the starting angle threshold, the extrapolated starting angle is the sum of the initial extrapolated starting angle and the circumferential angle; The sum of the product of the current random starting angle and the current total number of paving times and the reflex angle and the modulus of the circumferential angle are used as the initial interpolation starting angle of the second intermediate area; if the initial interpolation starting angle is less than the starting angle threshold, the interpolation starting angle is the sum of the initial interpolation starting angle and the circumferential angle; The product of the current random starting angle and the current total number of paving times, the sum of the right angles, and the modulus of the circumferential angle are used as the initial center edge spreading starting angle of the central area; if the initial center edge spreading starting angle is less than the starting angle threshold, the center edge spreading starting angle is the sum of the initial center edge spreading starting angle and the circumferential angle.

5. The method for planning the action of a robot imitating a manual dustpan for steaming a steamer according to claim 1, characterized in that: The number of material laying actions is counted starting from the first material laying action. If the current collision risk of the pot edge exceeds the risk threshold, and the order of material laying actions in the flat area of ​​the pot to be laid is an even number, The product of the current random starting angle and the current total number of paving times and the modulus of the circumferential angle are used as the initial outer spreading starting angle of the outer area; if the initial outer spreading starting angle is less than the starting angle threshold, the outer spreading starting angle is the sum of the initial outer spreading starting angle and the circumferential angle; The difference between the product of the current random starting angle and the current total number of paving times and the right angle and the modulus of the circumferential angle are used as the initial extrapolated starting angle of the first middle area; if the initial extrapolated starting angle is less than the starting angle threshold, the extrapolated starting angle is the sum of the initial extrapolated starting angle and the circumferential angle; The sum of the product of the current random starting angle and the current total number of paving times and the right angle and the modulus of the circumferential angle are used as the initial interpolation starting angle of the second middle area; if the initial interpolation starting angle is less than the starting angle threshold, the interpolation starting angle is the sum of the initial interpolation starting angle and the circumferential angle; The product of the current random starting angle and the current total number of paving times, the sum of the right angles, and the modulus of the circumferential angle are used as the initial center edge spreading starting angle of the central area; if the initial center edge spreading starting angle is less than the starting angle threshold, the center edge spreading starting angle is the sum of the initial center edge spreading starting angle and the circumferential angle.

6. The method for planning the action of a robot imitating a manual dustpan for steaming a steamer according to claim 1, characterized in that: In the current steamer plane area to be spread, before executing the next spreading action, including obtaining the remaining amount of fermented grains material simulating a manual winnowing basket, If the remaining amount of mash meets the material requirement for 360° spreading action, the next spreading action is executed; If the remaining amount of mash does not meet the amount required for 360° spreading, but meets the amount required for 180° spreading, and the next spreading action is 360° outer spreading, or outer push, or inner push, then after completing the next 180° spreading action, move the steamer out of the steamer to receive the material in an artificial dustpan, and then return to perform the remaining 180° spreading action; If the remaining amount of mash does not meet the material requirement for 180° spreading, and the next spreading action is 360° center spreading, then 360° center spreading will be performed.

7. The method for planning the action of a robot imitating a manual dustpan for steaming a steamer according to claim 1, characterized in that: The comparison between the remaining amount of mash and the amount required for the 360° spreading action and / or the 180° spreading action can be achieved by installing a weighing sensor at the bottom of the simulated artificial dustpan, or by installing a distance measuring sensor on the shoulder of the simulated artificial dustpan to measure the thickness of the material in the simulated artificial dustpan.

8. A system for planning the action of a robot imitating a manual dustpan for placing a steamer on a retort, used to implement the method for planning the action of a robot imitating a manual dustpan for placing a steamer on a retort as claimed in claim 1, characterized in that: include: A robot, wherein the end of the robot is rotatably connected to a simulated manual dustpan, and the simulated manual dustpan is controlled to perform a material spreading action according to instructions issued by a control module; The artificial dustpan is filled with fermented grains, and is used for the robot to perform a spreading action according to the instructions issued by the control module to put the fermented grains into the steamer pot; A control module, the control module comprising a collision risk judgment module, a dustpan posture design module, a paving action combination planning module and a paving action starting point angle planning module; The collision risk judgment module is used to obtain the plane area of ​​the current steamer pot to be paved according to the size of the steamer pot and the total thickness of the current paving material; Based on the current steamer pot plane area to be laid and the width of the artificial dustpan discharge port, the current steamer pot edge collision risk is obtained; and it is determined whether the current steamer pot edge collision risk exceeds a risk threshold; The dustpan posture design module is used to design the dustpan posture to achieve the material spreading action. The material spreading actions include outer edge spreading, flat push and center edge spreading. Flat push includes outer flat push and inner flat push. A material spreading action combination planning module, for, when the result in the collision risk judgment module is "not exceeded", dividing the plane area of ​​the current steamer pot to be spread into an outer area, a middle area and a central area from far to near the center of the steamer pot; in the outer area, the middle area and the central area, imitating a manual dustpan to respectively perform the material spreading actions of outer edge scattering, horizontal push and central edge scattering in the dustpan posture design module; for, when the result in the collision risk judgment module is "exceeded", dividing the plane area of ​​the current steamer pot to be spread into an outer area, a first middle area, a second middle area and a central area from far to near the center of the steamer pot; in the outer area, the first middle area, the second middle area and the central area, imitating a manual dustpan to respectively perform the material spreading actions of outer edge scattering, outer horizontal push, inner horizontal push and central edge scattering in the dustpan posture design module; The starting angle planning module for the material spreading action is used to realize the starting angle of the material spreading action in the outer area, or / and the middle area, or / and the first middle area, or / and the second middle area, or / and the center area in the current plane area of ​​the steamer to be spread, which is obtained based on the current random starting angle, the current total number of material spreading times and the circumferential angle; The direction of the material spreading action of the current plane area of ​​the steamer pot to be spread is opposite to that of the previous plane area of ​​the steamer pot to be spread.

9. A robot-like steamer-loading motion planning device imitating a manual dustpan, characterized in that: It comprises a processor and a memory, wherein when the processor executes the computer program stored in the memory, it implements the method for planning the action of the artificial dustpan-simulating robot for steaming as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store computer programs, wherein when the computer program is executed by a processor, the method for planning the action of a human-like dustpan robot for steaming a steamer is implemented as described in any one of claims 1 to 7.

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