Intelligent cooling control method and cooling system for fermented mash

Abstract

The present invention belongs to the field of intelligent control technology, and more specifically, relates to an intelligent cooling control method and cooling system for mash. The temperature of the mash in the field of view is obtained by an infrared temperature measurement module. If there is an area whose temperature exceeds the temperature threshold, it is used as the area to be shoveled. The control module controls the robot to move to the designated position, and controls the auxiliary cooling device carried by the robot to perform a scooping and lifting operation on the mash by accurately positioning the size and position of the area to be shoveled, so as to achieve the purpose of cooling. Through the correspondence between the temperature and the scooping and lifting speed, and the size of the area to be shoveled, the temperature of the mash after shoveling is accurately controlled, which is convenient for quality control of subsequent processes. The entire control system is uniformly controlled by the control module, and the time and position of each module are accurately controlled to achieve full automation without manual participation, saving labor costs.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent control technology, and more specifically, relates to an intelligent cooling control method and cooling system for mash. Background Art

[0002] In the liquor brewing process, there is a particularly important process - cooling, which is to pass the fermented grains after steam distillation through a cooling machine and use a high-power fan to blow cold air to play a role in cooling. The temperature of the fermented grains after cooling must be strictly controlled. If the temperature of the fermented grains after cooling is too low, it will be unfavorable for the fermentation of the fermented grains after backfilling the cellar, the fermentation cycle will be longer, and the alcohol produced by fermentation will be reduced; if the temperature of the fermented grains is too high, it may produce more impurities after backfilling the cellar, such as more acidic substances, which will affect the taste of the wine and reduce the alcohol production. For this reason, the temperature of the fermented grains after cooling needs to be strictly controlled, and the temperature should not be too high or too low.

[0003] At present, the cooling system in liquor brewing mainly uses cooling chains and fans for cooling. The cooling chains carry the mash forward at a uniform speed and pass through multiple fans for cooling. This is an overall cooling and cooling system, and local cooling is not possible. However, since it is difficult to unify the thickness and tightness of the mash on the cooling chain, it is difficult to ensure that the temperature of the mash is consistent and appropriate after cooling. On the other hand, during the working process of the existing cooling system, there will be workers who are specifically responsible for cooling. They will observe whether there is a high temperature mash on the chain. If the temperature of the mash in a certain area is too high, they will use a shovel to shovel up the mash in the area and lift it up to achieve the purpose of cooling. Although the purpose of auxiliary cooling can be achieved through manual assistance, it requires a skilled and experienced worker to operate, which wastes manpower; at the same time, people observe the mash with their naked eyes to judge the temperature. Working for a long time will inevitably lead to negligence or misjudgment. Summary of the invention

[0004] The invention provides a method and system for controlling the intelligent cooling of fermented grains which can automatically turn the fermented grains.

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

[0006] The intelligent cooling control method of fermented grains comprises the following steps:

[0007] S1: The cooling chain plate with the mash spread on it moves at a preset speed. The infrared temperature measurement module arranged on one side of the cooling chain plate collects images of the field of view, converts them into temperature, and determines whether there is an area in the field of view where the temperature exceeds the temperature threshold. If there is, the area on the cooling chain plate where the mash temperature exceeds the temperature threshold is located as the area to be shoveled based on the infrared image acquisition time, the scale on the cooling chain plate, and the travel speed of the cooling chain plate.

[0008] S2: If there is an area to be shoveled, a signal is sent to a robot equipped with an auxiliary cooling device. Based on the distance between the cooling chains of the robot, the moving speed of the robot, the traveling speed of the cooling chains, and the time required for the auxiliary cooling device on the robot to contact the mash, the robot is controlled to move to a specified position, and the auxiliary cooling device is lowered to contact the mash;

[0009] S3: According to the temperature of the mash in the area to be shoveled, the scooping and lifting speed of the auxiliary cooling device is controlled, and the scooping time is determined according to the area of ​​the area to be shoveled and the travel speed of the cooling chain plate, and the mash in the area to be shoveled is scooped and lifted.

[0010] Further, in S3, the scooping and lifting speed of the auxiliary cooling device is controlled according to the temperature of the mash in the area to be scooped, and the specific operation is as follows:

[0011] Temperatures greater than the temperature threshold are divided into several temperature intervals. Under the premise that the travel speed of the cooling chain is fixed, a corresponding relationship is established between each temperature interval and the scooping and lifting speed of the auxiliary cooling device. The temperature interval into which the temperature falls is determined, and the auxiliary cooling device scoops and lifts the mash according to the scooping and lifting speed corresponding to the temperature interval.

[0012] Furthermore, in S3, the shoveling time is determined according to the area of ​​the area to be shoveled and the travel speed of the cooling chain plate. The specific operations are as follows: the area of ​​the area to be shoveled, the length of the area to be shoveled in the travel direction of the cooling chain plate is calculated, and the ratio of the length to the travel speed of the cooling chain plate is used as the shoveling time of the auxiliary cooling device.

[0013] Furthermore, if the cooling chain plate position corresponding to the designated position of the auxiliary cooling device is still within the collection range of the infrared temperature measurement module, the infrared temperature measurement module collects the temperature of the mash at the designated position in real time. If the temperature is still higher than the temperature threshold after the auxiliary cooling device is scooped up, the scooping up speed of the auxiliary cooling device is adjusted.

[0014] Furthermore, in the image of the field of view collected by the infrared temperature measurement module, the areas whose temperature exceeds the temperature threshold are marked with serial numbers according to their positions on the cooling chain plate to form a set of areas to be shoveled, and the auxiliary cooling device is controlled to perform shoveling and lifting operations on the areas to be shoveled in the set of areas to be shoveled in sequence;

[0015] After the shoveling time of the current area to be shoveled is over, the auxiliary cooling device is controlled to rise to a position where it does not touch the mash. According to the time when the next area to be shoveled enters the working range of the auxiliary cooling device, the auxiliary cooling device is controlled to descend to a specified height based on the travel speed of the cooling chain plate.

[0016] Furthermore, if all the mash in the area to be shoveled has been processed by the auxiliary cooling device and no new area to be shoveled appears within the set time period, the auxiliary cooling device is controlled to rise and the robot moves to the standby position.

[0017] Furthermore, before the auxiliary cooling device descends to the specified height, the starting position and length of the area to be shoveled perpendicular to the travel direction of the cooling chain are obtained, and the length of the effective cooling section of the auxiliary cooling device is adjusted to adapt to the length of the area to be shoveled perpendicular to the travel direction of the cooling chain.

[0018] An intelligent cooling system for fermented grains, comprising:

[0019] Infrared temperature measurement module: used to collect infrared images of the field of view, convert them into temperature, and transmit them to the control module;

[0020] Robot: Receives instructions from the control module and moves to the specified position. The end of the robot rotates and is connected to an auxiliary cooling device. The auxiliary cooling device receives instructions to rise or fall and rotates according to the set scooping and lifting speed;

[0021] Control module: Determine whether there is an area in the field of view transmitted by the infrared temperature measurement module where the temperature exceeds the temperature threshold. If so, combine the infrared image acquisition time, the scale on the cooling chain plate, and the travel speed of the cooling chain plate to locate the area on the cooling chain plate where the temperature of the fermented grains exceeds the temperature threshold as the area to be shoveled;

[0022] If there is an area to be shoveled, a signal is sent to a robot equipped with an auxiliary cooling device. Based on the distance between the cooling chains of the robot, the movement speed of the robot, the travel speed of the cooling chains, and the time required for the auxiliary cooling device set on the robot to contact the mash, the robot is controlled to move to a specified position, and the auxiliary cooling device is lowered to contact the mash;

[0023] According to the temperature of the mash in the area to be shoveled, the scooping and lifting speed of the auxiliary cooling device is controlled, and the scooping time is determined according to the area of ​​the area to be shoveled and the travel speed of the cooling chain plate, and the mash in the area to be shoveled is scooped and lifted.

[0024] Furthermore, the auxiliary cooling device includes a rotating rod rotatably connected to the end of the robot, and a plurality of material shovels are arranged in sequence along the symmetry axis of the rotating rod. The material shovels are arranged in two states, and the shovel surface is perpendicular or parallel to the rotating rod.

[0025] Beneficial effects of the present invention:

[0026] The present invention installs an intelligent cooling control system in the existing cooling system to assist the existing cooling system in cooling down the local fermented grains, so that the temperature of the fermented grains after cooling is consistent and meets the fermentation temperature requirement of the fermented grains.

[0027] The temperature of the mash in the field of view is obtained through the infrared temperature measurement module. If there is an area where the temperature exceeds the temperature threshold, it is regarded as the area to be shoveled. The control module controls the robot to move to the specified position. By accurately positioning the size and position of the area to be shoveled, the auxiliary cooling device carried by the robot is controlled to scoop up the mash to achieve the purpose of cooling.

[0028] Through the correspondence between temperature and shoveling speed and the size of the area to be shoveled, the temperature of the mash after shoveling is accurately controlled, which facilitates quality control of subsequent processes.

[0029] The entire control system is centrally controlled by the control module, which accurately controls the time and position of each module to achieve full automation without manual intervention, thus saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Schematic diagram of the intelligent cooling control system for fermented mash.

[0031] Among them, 1. infrared temperature measurement module, 2. rotating rod, 3. robot, 4. cooling chain plate, 5. robot end, 6. material shovel. DETAILED DESCRIPTION

[0032] The technical solution of the present application is described in detail below in conjunction with specific embodiments.

[0033] An intelligent cooling system for fermented grains, comprising:

[0034] Infrared temperature measurement module 1: used to collect infrared images of the field of view, convert them into temperature, and transmit them to the control module. In this application, the infrared temperature measurement module 1 can be an infrared camera.

[0035] An infrared camera is installed on the side of the existing cooling chain plate 4. Within the field of view of the infrared camera, an area of ​​the cooling chain plate 4 is circled as a temperature measurement detection area. The temperature of the mash running into the detection area is detected in real time and the temperature is transmitted to the control module.

[0036] Robot 3: receives the command from the control module and moves to the designated position. It includes a robot terminal 5, one end of which is rotatably connected to an auxiliary cooling device.

[0037] The connecting axis between the robot 3 and the auxiliary cooling device is configured as an infinitely rotating axis, which can carry the auxiliary cooling device to rotate infinitely; the robot 3 is in a safe position when not working, which can avoid affecting the work of workers; when working, the robot 3 receives instructions from the control module to reach the designated position from the safe position, and the auxiliary cooling device must be parallel to the cooling chain plate 4 in the horizontal direction and perpendicular to the vertical direction; the auxiliary cooling device is started at the designated position and rotated infinitely; the robot 3 carries the rotating auxiliary cooling device and descends vertically to the designated auxiliary cooling working position, and the material shovel 6 continuously sprinkles the mash on the cooling chain plate 4 to play a cooling role; when the auxiliary cooling task is completed, the robot 3 will carry the auxiliary cooling device to the designated position and stop its rotation. If there is no area to be shoveled within the set time, it will return to the safe position.

[0038] The auxiliary cooling device includes a rotating rod 2 rotatably connected to the robot end 5. A plurality of shovels 6 are arranged in sequence along the symmetry axis of the rotating rod 2. The shovels 6 are arranged in two states, and the shovel surfaces are perpendicular or parallel to the rotating rod 2.

[0039] The auxiliary cooling device consists of a thicker main metal shaft as a rotating rod 2, with a flange device welded on one end for connecting to the flange of the connecting shaft 5 of the robot end. A plurality of groups of cross-shaped thinner metal steel pipes are welded on the main shaft at equal intervals, and a small metal shovel is movably connected to each end of the metal steel pipe as a material shovel 6. The shovel at one end is directed upward, and the shovel at the other end is directed downward. The shovel as a whole can be designed to be a triangular streamlined shape, which is convenient for spreading the mash. The middle of the shovel is hollow to prevent the material from sticking to the shovel.

[0040] The shovel 6 is configured to have two states, with the shovel surface being perpendicular or parallel to the rotating rod 2. When the shovel surface is perpendicular to the rotating rod 2, it is in a working state, and when the rotating rod 2 rotates, the shovel 6 can scoop up the mash. When the shovel surface is parallel to the rotating rod 2, it is in a non-working state, and when the rotating rod 2 rotates, the shovel 6 does not scoop up the mash. The purpose of this configuration is to take into account the situation that the area to be shoveled may not completely penetrate the cross-section of the cooling chain plate 4, so that on the cross-section, there may be areas that do not need to be cooled, and the shovel surface of the shovel 6 at the corresponding position can be controlled to become a non-working state, so as to avoid the problem of too low temperature after cooling in the area that does not need to be cooled.

[0041] When cooling the same area to be shoveled, the temperature in this area may be inconsistent. When the rotating rod 2 of the auxiliary cooling device rotates, the working state of the shovel surface of the shovel 6 can be switched during the rotation process to make the cooling effect more uniform and avoid problems of local overcooling or insufficient cooling.

[0042] The shovel surface of the material shovel 6 is perpendicular or parallel to the rotating rod 2 and can be switched. The mechanical structure and control method belong to the existing technology and will not be described in detail here.

[0043] Control module: controls the operation of the entire system. For specific operation methods, please refer to the description of the intelligent cooling control method of mash below.

[0044] The intelligent cooling control method of fermented grains comprises the following steps:

[0045] S1: The cooling chain plate 4 on which the mash is spread moves at a preset speed. The infrared temperature measuring module 1 arranged on one side of the cooling chain plate 4 collects images of the field of view, and after converting them into temperature, the control module determines whether there is any area in the field of view where the temperature exceeds the temperature threshold. If so, the control module locates the area on the cooling chain plate 4 where the mash temperature exceeds the temperature threshold based on the infrared image acquisition time, the scale on the cooling chain plate 4, and the travel speed of the cooling chain plate 4 as the area to be shoveled.

[0046] The cooling chain plate 4 in the field of view of the infrared camera is marked as the temperature measurement detection area. By processing the infrared image in the area, the infrared image is converted into a temperature value, and the temperature value is determined in real time. If the real-time temperature value in the infrared image exceeds the set threshold, the area to be shoveled needs to be positioned so that the robot 3 can move according to the positioning and operate in the area to be shoveled.

[0047] Positioning needs to be based on the infrared image acquisition time, the position or scale of the infrared image acquired at this acquisition time on the cooling chain plate 4, and then the specific position of the area where the temperature exceeds the temperature threshold on the cooling chain plate 4 is located according to the position of the area where the temperature exceeds the temperature threshold in the infrared image.

[0048] S2: If there is an area to be shoveled, a signal is sent to the robot 3 equipped with an auxiliary cooling device. Based on the distance between the robot 3 and the cooling chain 4, the moving speed of the robot 3, the travel speed of the cooling chain, and the time required for the auxiliary cooling device set on the robot 3 to contact the mash, the robot 3 is controlled to move to the specified position and the auxiliary cooling device is lowered to contact the mash.

[0049] After the position of the area to be shoveled is located in S1, the position where the robot 3 needs to move is calculated based on the distance between the robot 3 and the cooling chain plate 4, the travel speed of the cooling chain plate 4, and the moving speed of the robot 3. After the auxiliary cooling device descends to the appropriate position to contact the mash, the area to be shoveled can be operated. This series of calculations must be precisely controlled and completed uniformly by the control module.

[0050] T=t1+t2+t3

[0051] Among them, T is the time required for the control module to identify the area to be shoveled and the time required for the area to be shoveled to move to the designated position, t1 is the time required for the control module to identify the area to be shoveled and send a signal to robot 3 to the time when robot 3 starts to move, t2 is the time required for robot 3 to move to the designated position, and t3 is the time required for the auxiliary cooling device to descend to the appropriate position to contact the mash.

[0052] S3: According to the temperature of the mash in the area to be shoveled, the scooping and lifting speed of the auxiliary cooling device is controlled, and the scooping time is determined according to the area of ​​the area to be shoveled and the travel speed of the cooling chain plate, and the mash in the area to be shoveled is scooped and lifted.

[0053] According to the temperature of the mash in the area to be shoveled, the scooping and lifting speed of the auxiliary cooling device is controlled. The specific operation is as follows: the temperature greater than the temperature threshold is divided into several temperature intervals. Under the premise that the travel speed of the cooling chain is fixed, a corresponding relationship is established between each temperature interval and the scooping and lifting speed of the auxiliary cooling device. It is determined which temperature interval the temperature of the area to be shoveled falls into. The auxiliary cooling device scoops and lifts the mash according to the scooping and lifting speed corresponding to the temperature interval to complete the cooling operation.

[0054] Determine the shoveling time according to the area to be shoveled and the speed of the cooling chain. The specific operation is as follows:

[0055] According to the area of ​​the area to be shoveled, the length of the area to be shoveled in the direction of the cooling chain is obtained, and the ratio of the length to the speed of the cooling chain is used as the shoveling time of the auxiliary cooling device. By accurately controlling the shoveling speed and shoveling time, the over-temperature mash can be cooled.

[0056] If the cooling chain plate position corresponding to the designated position of the auxiliary cooling device is still within the collection range of the infrared temperature measurement module, the infrared temperature measurement module will collect the temperature of the mash at the designated position in real time. If the temperature is still higher than the temperature threshold after the auxiliary cooling device is shoveled up, it is necessary to adjust and speed up the shoveling up speed of the auxiliary cooling device to achieve the purpose of cooling.

[0057] In the image of the field of view collected by the infrared temperature measurement module, the areas whose temperature exceeds the temperature threshold are marked with serial numbers according to their positions on the cooling chain plate to form a set of areas to be shoveled, and the auxiliary cooling device is controlled to perform shoveling and lifting operations on the areas to be shoveled in the set of areas to be shoveled in sequence;

[0058] After the shoveling time of the current area to be shoveled is over, the auxiliary cooling device is controlled to rise to a position that does not touch the mash, and the auxiliary cooling device is controlled to descend to a specified height based on the time when the next area to be shoveled enters the working range of the auxiliary cooling device and the travel speed of the cooling chain. If there are multiple areas to be shoveled, in order to improve the effect, the position of robot 3 is fixed, and the control module controls the auxiliary cooling device to perform a cooling operation after the area to be shoveled reaches the specified position. Between the cooling operations of two adjacent areas to be shoveled, it is only necessary to raise the auxiliary cooling device to a position that does not touch the mash. It is convenient to process multiple areas to be shoveled more efficiently.

[0059] If all the mash in the waiting area for shoveling has been processed by the auxiliary cooling device and no new waiting area for shoveling appears within the set time period, the auxiliary cooling device is controlled to rise and the robot 3 moves to the standby position (safe position).

[0060] Before the auxiliary cooling device descends to the specified height, the starting position and length of the area to be shoveled perpendicular to the direction of travel of the cooling chain are obtained, and the length of the effective cooling section of the auxiliary cooling device is adjusted to adapt to the length of the area to be shoveled perpendicular to the direction of travel of the cooling chain. Adjusting the length of the effective cooling section of the auxiliary cooling device is to adjust the working state of the shovel surface 6 of the material shovel. By adjusting the working state of the shovel surface 6 of the material shovel, the length of the effective cooling section of the auxiliary cooling device can be adjusted.

[0061] For example, in a certain area to be shoveled, there are two temperature values ​​on the cross-section of the cooling chain plate 4, which are recorded as high temperature and low temperature. The high temperature area requires a higher shoveling and lifting speed, but the low temperature area does not need such a high shoveling and lifting speed. However, the two areas need to be processed by the auxiliary cooling device at the same time. At this time, the corresponding material shovel 6 in the low temperature area can be operated to adjust the shoveling surface of part of the material shovel 6 to a non-working state, which is similar to adjusting the length of the effective cooling section to achieve different requirements for shoveling and lifting speeds in different areas.

[0062] When cooling the same area to be shoveled, the temperature in this area may be inconsistent. When the rotating rod 2 of the auxiliary cooling device rotates, the shovel surface of the shovel 6 can be switched during the rotation process to make the cooling effect more uniform, and there will be no problem of local overcooling or insufficient cooling.

[0063] The control module starts timing when it sends a stop auxiliary cooling command to robot 3, and ends timing when robot 3 carries the auxiliary cooling device to leave the auxiliary cooling position on the chain plate. The length of time during this period is t, and the length of t is determined by the travel speed v of the cooling chain plate and the distance d between the detection area on the cooling chain plate and the working position of the auxiliary cooling device. The relationship is: t=d / v; by accurately calculating the time between robot 3 receiving the stop auxiliary cooling task and executing the auxiliary cooling task, excessive cooling or incomplete cooling of high-temperature mash can be avoided.

[0064] By installing an infrared camera on the side of the existing cooling chain plate 4, and using the cooling chain plate 4 in the field of view of the infrared camera as the temperature detection area, the real-time temperature detection of the fermented mash material surface is carried out. When the material surface temperature reaches the set threshold, the robot 3 is sent a command to start the auxiliary cooling system. After receiving the command, the robot 3 carries the auxiliary cooling device to the specified position, and starts the control lever 2 to rotate, driving the material shovel 6 to scoop up the fermented mash and lift it up to achieve partial cooling. When there is no fermented mash with a higher temperature in the detection area, the robot 3 is sent a command to stop partial cooling. After receiving the command, the robot 3 pauses for a certain period of time, and after the high-temperature fermented mash detected previously is partially cooled, the robot 3 carries the auxiliary cooling device and leaves the cooling chain plate 4, and stops the rotation of the local cooling device above the cooling chain plate 4. Finally, the robot 3 stops in a safe position to avoid affecting the workers' work.

Claims

1. An intelligent cooling control method for fermented grains, characterized in that The following steps are involved: S1: The cooling chain plate with the mash spread on it moves at a preset speed. The infrared temperature measurement module arranged on one side of the cooling chain plate collects images of the field of view, converts them into temperature, and determines whether there is an area in the field of view where the temperature exceeds the temperature threshold. If there is, the area on the cooling chain plate where the mash temperature exceeds the temperature threshold is located as the area to be shoveled based on the infrared image acquisition time, the scale on the cooling chain plate, and the travel speed of the cooling chain plate. S2: If there is an area to be shoveled, a signal is sent to a robot equipped with an auxiliary cooling device. Based on the distance between the robot and the cooling chain, the robot moving speed, the cooling chain travel speed, and the time required for the auxiliary cooling device set on the robot to contact the fermented grains, the robot is controlled to move to a specified position, and the auxiliary cooling device is lowered to contact the fermented grains; S3: According to the temperature of the mash in the area to be shoveled, the shoveling and lifting speed of the auxiliary cooling device is controlled, and the specific operation is as follows: The temperature greater than the temperature threshold is divided into several temperature intervals. Under the premise that the travel speed of the cooling chain is fixed, a corresponding relationship is established between each temperature interval and the scooping and lifting speed of the auxiliary cooling device. The temperature interval into which the temperature falls is determined, and the auxiliary cooling device scoops and lifts the mash according to the scooping and lifting speed corresponding to the temperature interval; Determine the shoveling time according to the area to be shoveled and the speed of the cooling chain. The specific operation is as follows: The area of ​​the area to be shoveled is calculated by calculating the length of the area to be shoveled in the direction of travel of the cooling chain plate, and the ratio of the length to the travel speed of the cooling chain plate is used as the shoveling time of the auxiliary cooling device; In the image of the field of view collected by the infrared temperature measurement module, the areas whose temperature exceeds the temperature threshold are marked with serial numbers according to their positions on the cooling chain plate to form a set of areas to be shoveled, and the auxiliary cooling device is controlled to perform shoveling and lifting operations on the areas to be shoveled in the set of areas to be shoveled in sequence; After the shoveling time of the current area to be shoveled is over, the auxiliary cooling device is controlled to rise to a position where it does not touch the mash. According to the time when the next area to be shoveled enters the working range of the auxiliary cooling device, the auxiliary cooling device is controlled to descend to a specified height based on the travel speed of the cooling chain plate.

2. The intelligent cooling control method for fermented grains according to claim 1, characterized in that: If the cooling chain plate position corresponding to the designated position of the auxiliary cooling device is still within the collection range of the infrared temperature measurement module, the infrared temperature measurement module will collect the temperature of the mash at the designated position in real time. If the temperature is still higher than the temperature threshold after the auxiliary cooling device is scooped up, the scooping up speed of the auxiliary cooling device will be adjusted.

3. The intelligent cooling control method for fermented grains according to claim 1, characterized in that: If all the mash in the waiting-to-shovel area has been processed by the auxiliary cooling device and no new waiting-to-shovel area appears within the set time period, the auxiliary cooling device is controlled to rise and the robot moves to the standby position.

4. The intelligent cooling control method for fermented grains according to claim 1, characterized in that: Before the auxiliary cooling device descends to the specified height, the starting position and length of the area to be shoveled perpendicular to the travel direction of the cooling chain are obtained, and the length of the effective cooling section of the auxiliary cooling device is adjusted to adapt to the length of the area to be shoveled perpendicular to the travel direction of the cooling chain.

5. An intelligent cooling system for fermented grains, characterized in that: include: Infrared temperature measurement module: used to collect infrared images of the field of view, convert them into temperature, and transmit them to the control module; Robot: Receives instructions from the control module and moves to the specified position. The end of the robot rotates and is connected to an auxiliary cooling device. The auxiliary cooling device receives instructions to rise or fall and rotates according to the set scooping and lifting speed; Control module: Determine whether there is an area in the field of view transmitted by the infrared temperature measurement module where the temperature exceeds the temperature threshold. If so, combine the infrared image acquisition time, the scale on the cooling chain plate, and the travel speed of the cooling chain plate to locate the area on the cooling chain plate where the temperature of the fermented grains exceeds the temperature threshold as the area to be shoveled; If there is an area to be shoveled, a signal is sent to a robot equipped with an auxiliary cooling device. Based on the distance between the cooling chains of the robot, the movement speed of the robot, the travel speed of the cooling chains, and the time required for the auxiliary cooling device set on the robot to contact the mash, the robot is controlled to move to a specified position, and the auxiliary cooling device is lowered to contact the mash; According to the temperature of the mash in the area to be shoveled, the shoveling and lifting speed of the auxiliary cooling device is controlled. The specific operation is as follows: The temperature greater than the temperature threshold is divided into several temperature intervals. Under the premise that the travel speed of the cooling chain is fixed, a corresponding relationship is established between each temperature interval and the scooping and lifting speed of the auxiliary cooling device. The temperature interval into which the temperature falls is determined, and the auxiliary cooling device scoops and lifts the mash according to the scooping and lifting speed corresponding to the temperature interval; Determine the shoveling time according to the area to be shoveled and the speed of the cooling chain. The specific operation is as follows: The area of ​​the area to be shoveled is calculated by calculating the length of the area to be shoveled in the direction of travel of the cooling chain plate, and the ratio of the length to the travel speed of the cooling chain plate is used as the shoveling time of the auxiliary cooling device; In the image of the field of view collected by the infrared temperature measurement module, the areas whose temperature exceeds the temperature threshold are marked with serial numbers according to their positions on the cooling chain plate to form a set of areas to be shoveled, and the auxiliary cooling device is controlled to perform shoveling and lifting operations on the areas to be shoveled in the set of areas to be shoveled in sequence; After the shoveling time of the current area to be shoveled is over, the auxiliary cooling device is controlled to rise to a position where it does not touch the mash. According to the time when the next area to be shoveled enters the working range of the auxiliary cooling device, the auxiliary cooling device is controlled to descend to a specified height based on the travel speed of the cooling chain plate.

6. The intelligent cooling system for fermented grains according to claim 5, characterized in that: The auxiliary cooling device includes a rotating rod rotatably connected to the end of the robot, and a plurality of shovels are arranged in sequence along the symmetry axis around the rotating rod. The shovels are arranged in two states, and the shovel surface is perpendicular or parallel to the rotating rod.

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