A method and system for steaming and pressing mash by a robot that simulates manual steaming

Abstract

The invention relates to the technical field of intelligent steaming for brewing, and specifically to a method and system for pressing mash with steam by a robot simulating manual steaming. In order to solve the problem of "inaccurate pressing, failure to press, and repeated pressing" that is easy to occur when the robot presses mash with steam in the prior art, the application first obtains a steaming hotspot area based on an infrared image of a mash plane in a steamer, and then converts the steaming hotspot area into a partial annular area whose position and shape are described by the radius and width of the steaming hotspot area. At the same time, the mash plane is divided into a central area, a middle area, and an edge area, and different steaming mash pressing actions are formulated for different areas. Finally, in the order of the area of ​​the partial annular area from large to small and according to the location, corresponding steaming mash pressing actions are performed in sequence on all steaming hotspot areas, so as to ensure that the steaming mash can be pressed accurately and at one time, and improve the quality and efficiency of the robot pressing mash with steam.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent steaming for brewing, and in particular to a method and system for steaming and pressing mash by a robot that imitates manual steaming. Background Art

[0002] In order to ensure uniform steam during the steaming process, the mash needs to be spread layer by layer according to the principle of "light, loose, thin, accurate, uniform and flat", and the steam must also be strictly controlled at a position of about 10 cm above the plane of the mash in the steamer. If the steam pressure is too deep, it will cause slow steaming, or even no steam will pass through, and alcohol cannot be distilled; if the steam pressure is too shallow, steam will come out, and some alcohol will be lost, and in severe cases, it will cause steam penetration. Therefore, it is necessary to "see the steam and press the mash" in time during the steaming process.

[0003] When manually putting the steamer on, workers can feel the position of the steam with their palms while putting the steamer on, or observe the humidity changes on the surface of the mash with their naked eyes to determine the position of the steam, so as to find the steaming point early and press the mash early. The efficiency of putting the steamer on by humanoid robots is higher than that of manual work, but because the robot movement has acceleration and deceleration distances, the material distribution device also has acceleration and deceleration distances when spreading the material. Therefore, the inertia generated by the centrifugal force causes the robot to spread the material inaccurately, making it difficult to cover the area where the mash steams, resulting in the problem of "inaccurate pressing, inability to press, and repeated pressing". Summary of the invention

[0004] The invention provides a method and system for steaming and pressing mash by a robot that simulates manual steaming.

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

[0006] A method for steaming and pressing mash by a robot that simulates manual steaming, comprising the following operations:

[0007] S1. Obtain an infrared image of the plane of the fermented grains in the steamer, convert the steaming hotspot area in the infrared image into a partial circular area with the center of the steamer as the center; use the radius corresponding to the outer arc of the partial circular area as the radius of the steaming hotspot area, and use the difference between the radius of the steaming hotspot area and the radius corresponding to the inner arc of the partial circular area as the width of the steaming hotspot area; divide the fermented grains plane into a central area, a middle area, and an edge area based on the width and length of the material distribution device and the circle radius of the fermented grains plane;

[0008] S2. Execute the steam-seeing and mash pressing operation on all mash planes to complete the robot steam adjustment on the retort; in executing the steam-seeing and mash pressing operation, sort all the steaming hot spots in the current mash plane according to the area of ​​the partial circular areas from large to small, and after executing the mash pressing action in sequence, complete the steam-seeing and mash pressing operation on the current mash plane; when executing the mash pressing action, if the current steaming hot spot area is in the central area, execute the steam-seeing and mash pressing action in the central area; if the current steaming hot spot area is in the middle area, determine whether the width of the current steaming hot spot area is greater than the first paving coverage width; if greater, execute the steam-seeing and mash pressing action in the wide area; if not greater, execute the steam-seeing and mash pressing action in the narrow area; if the current steaming hot spot area is in the edge area, execute the steam-seeing and mash pressing action in the narrow area.

[0009] In S1, the central area is a circular area with the center of the steamer as the center and the first length as the radius; wherein, R1 is the first length, R is the radius of the circle on the plane of the fermented grains, W and L are the width and length of the material distribution device respectively; the middle area is a circular area with the center of the steamer as the center of the circle, and the first length and the second length are the small radius and the large radius respectively; R2 is the second length; the edge area is a circular area with the center of the steamer as the center of the circle, and the second length and the radii of the plane of the mash as the small radius and the large radius respectively.

[0010] In S2, if the current steaming hotspot area is in the middle area and the current steaming hotspot area width is greater than the first paving material coverage width, determine whether the current steaming hotspot area width is not greater than the first paving material coverage width, if not, execute the wide area steam pressure mash action once, if greater, divide the current steaming hotspot area into a first area whose steaming hotspot area width is greater than the first paving material coverage width, and several second areas whose steaming hotspot area widths are not greater than the first paving material coverage width, and execute the wide area steam pressure mash action once and the narrow area steam pressure mash action several times respectively; the width of the paving material distribution device is greater than the first paving material coverage width.

[0011] In S2, if the current steam hotspot area is within the edge area, determine whether the width of the current steam hotspot area is greater than the first paving material coverage width; if greater, execute the narrow area steam pressure mash action several times; if not, execute the narrow area steam pressure mash action once.

[0012] In S2, the movement speed of the steam-pressed mash in the narrow area is obtained based on the circle radius of the mash plane, the maximum radius of the steam-pressed mash in the narrow area and the maximum spreading speed.

[0013] In S2, the motion trajectory of the steam-pressed mash in the central area, or / and the steam-pressed mash in the wide area, or / and the steam-pressed mash in the narrow area is an arc; the starting point and end point of the motion trajectory of the steam-pressed mash in the central area, or / and the steam-pressed mash in the wide area, or / and the steam-pressed mash in the narrow area are obtained based on the updated partial circular area; the method for obtaining the updated partial circular area is: the outer arc and the inner arc of the partial circular area corresponding to the steam hotspot area are extended by the first arc length value to obtain the updated partial circular area.

[0014] In S2, the method for obtaining the starting point corresponding angle and the end point corresponding angle of the action where the steam pressure mash action is seen in the central area, or / and the steam pressure mash action is seen in the wide area, or / and the steam pressure mash action is seen in the narrow area is: the starting point corresponding angle is obtained based on the initial starting point angle, the movement direction of the steam pressure mash action, the first arc length value and the radius of the steam emitting hot spot area; the end point corresponding angle is obtained based on the initial end point angle, the movement direction of the steam pressure mash action, the first arc length value and the radius of the steam emitting hot spot area.

[0015] If the difference between the corresponding angle of the action end point and the initial end point angle is not greater than 360°, the steam-pressed mash action is executed according to the corresponding angle of the action starting point and the corresponding angle of the action end point; if the difference between the corresponding angle of the action end point and the initial end point angle is greater than 360°, the steam-pressed mash action is executed by spreading the mash in a 360° circle.

[0016] A system for pressing mash by steaming using a robot that simulates manual steaming, used to implement the above-mentioned method for pressing mash by steaming using a robot that simulates manual steaming, comprising:

[0017] The hot spot information processing module is used to obtain an infrared image of the plane of the fermented grains in the steamer, convert the steaming hot spot area in the infrared image into a partial circular area with the center of the steamer as the center; use the radius corresponding to the outer arc of the partial circular area as the radius of the steaming hot spot area, and use the difference between the radius of the steaming hot spot area and the radius corresponding to the inner arc of the partial circular area as the width of the steaming hot spot area; based on the width and length of the material distribution device and the circle radius of the fermented grains plane, divide the fermented grains plane into a central area, a middle area and an edge area;

[0018] The steam-seeking and mash pressing action execution module is used to execute the steam-seeking and mash pressing operation on all mash planes and complete the robot steam adjustment on the retort; when executing the steam-seeking and mash pressing operation, all steaming hot spots in the current mash plane are sorted in the order of the area of ​​the partial circular areas from large to small, and after the mash pressing action is executed in sequence, the steam-seeking and mash pressing operation of the current mash plane is completed; when executing the mash pressing action, if the current steaming hot spot area is in the central area, the steam-seeking and mash pressing action of the central area is executed; if the current steaming hot spot area is in the middle area, it is determined whether the width of the current steaming hot spot area is greater than the first material covering width; if it is greater, the steam-seeking and mash pressing action of the wide area is executed; if it is not greater, the steam-seeking and mash pressing action of the narrow area is executed; if the current steaming hot spot area is in the edge area, the steam-seeing and mash pressing action of the narrow area is executed.

[0019] It also includes a steam-pressing mash action planning module, which is used to plan the action trajectory, action corresponding angle, action height, action radius and movement speed of the steam-pressing mash action in the central area, or / and the steam-pressing mash action in the wide area, or / and the steam-pressing mash action in the narrow area in the steam-pressing mash action execution module.

[0020] The beneficial effects of the present invention are:

[0021] The invention provides a method for pressing mash with steam by a robot simulating manual operation. Firstly, a steaming hotspot area is obtained based on an infrared image of a mash plane in a steamer pot, and then the steaming hotspot area is converted into a partial annular area which describes the position and shape information of the mash steaming area by using the radius and width of the steaming hotspot area, so as to facilitate the subsequent formulation and execution of accurate steam pressing mash actions, and the mash can be pressed accurately and firmly on the basis of reducing the steam pressing mash actions. Meanwhile, the mash plane is divided into a central area, a middle area and an edge area, and different steam pressing mash actions are formulated for different areas, so as to improve the flexibility and accuracy of the robot pressing mash with steam when putting the mash on the steamer. Finally, when executing the steam pressing mash operation, the corresponding steam pressing mash actions are performed in sequence on all steaming hotspot areas according to the area of ​​the partial annular areas from large to small and according to the positions, so as to ensure that the mash can be pressed accurately and firmly at one time, and improve the quality and efficiency of the robot pressing mash when putting the mash on the steamer. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] In the attached picture:

[0024] Figure 1 is a schematic structural diagram of a steam emission hotspot area in an embodiment;

[0025] Figure 2This is a schematic diagram of the steam-pressing mash in the central area in the embodiment;

[0026] Figure 3 This is a schematic diagram of the steam-pressing mash in the middle area in the embodiment;

[0027] Figure 4 Schematic diagram of the steam-pressing mash in the edge area in the embodiment. DETAILED DESCRIPTION

[0028] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0029] This embodiment provides a method for steaming and pressing mash by a robot that simulates manual steaming, comprising the following operations:

[0030] S1. Obtain an infrared image of the plane of the fermented grains in the steamer, convert the steaming hotspot area in the infrared image into a partial circular area with the center of the steamer as the center; use the radius corresponding to the outer arc of the partial circular area as the radius of the steaming hotspot area, and use the difference between the radius of the steaming hotspot area and the radius corresponding to the inner arc of the partial circular area as the width of the steaming hotspot area; divide the fermented grains plane into a central area, a middle area, and an edge area based on the width and length of the material distribution device and the circle radius of the fermented grains plane;

[0031] S2. Execute the steam-seeing and mash pressing operation on all mash planes to complete the robot steam adjustment on the retort; in executing the steam-seeing and mash pressing operation, sort all the steaming hot spots in the current mash plane according to the area of ​​the partial circular areas from large to small, and after executing the mash pressing action in sequence, complete the steam-seeing and mash pressing operation on the current mash plane; when executing the mash pressing action, if the current steaming hot spot area is in the central area, execute the steam-seeing and mash pressing action in the central area; if the current steaming hot spot area is in the middle area, determine whether the width of the current steaming hot spot area is greater than the first paving coverage width; if greater, execute the steam-seeing and mash pressing action in the wide area; if not greater, execute the steam-seeing and mash pressing action in the narrow area; if the current steaming hot spot area is in the edge area, execute the steam-seeing and mash pressing action in the narrow area.

[0032] S1. Obtain an infrared image of the plane of the fermented mash in the steamer, and convert the steaming hotspot area in the infrared image into a partial circular area with the center of the steamer as the center; use the radius corresponding to the outer arc of the partial circular area as the radius of the steaming hotspot area, and use the difference between the radius of the steaming hotspot area and the radius corresponding to the inner arc of the partial circular area as the width of the steaming hotspot area; based on the width and length of the distribution device and the circle radius of the fermented mash plane, divide the fermented mash plane into a central area, a middle area and an edge area.

[0033] Based on the infrared image of the mash plane in the steamer, the steaming hotspot area is obtained, and the steaming hotspot area is converted into a partial circular area whose position and morphological information of the steaming area is described by the radius and width of the steaming hotspot area, so as to facilitate the subsequent accurate steam-seeking and mash pressing action, and to achieve the pressing and accurate pressing on the basis of reducing the mash pressing action; at the same time, the mash plane is divided into a central area, a middle area and an edge area, so as to perform different steam-seeking and mash pressing actions on the steaming hotspots in different areas, thereby improving the flexibility and accuracy of the robot's steam-seeking and mash pressing on the steamer.

[0034] Firstly, a thermal infrared camera installed on a sensor bracket above the steamer pot (the pot diameter is within the camera's field of view) is used to obtain an infrared image of the plane of the fermented grains in the steamer pot, which is used to identify the steaming hotspot areas on the plane of the fermented grains.

[0035] Before the operation of acquiring the infrared image, the parameters of the steamer pot and the thermal infrared camera are calibrated in the robot base coordinate system.

[0036] The parameters of the steamer pot are calibrated in the robot base coordinate system, specifically, the center of the steamer pot, the upper bottom radius of the steamer pot, the lower bottom radius of the steamer pot, and the bottom plane of the steamer pot are calibrated in the robot base coordinate system. The specific operations are as follows: a calibration needle is installed at the end of the robot, and a tool coordinate system is established for the calibration needle tip point through the three-point method. The posture of the tool coordinate system is consistent with the robot's default tool coordinate system; the calibration needle tip point is used as the tool coordinate system, and the robot base coordinate system is used as the world coordinate system. Several points are taken at the upper bottom circular plane (the plane at the same height of the inner wall) and the lower bottom circular plane (the plane at the same height of the inner wall) of the steamer pot (inverted truncated cone shape, the upper and lower bottoms are both standard circles) to obtain the upper bottom inner wall point set and the lower bottom inner wall point set; the upper bottom inner wall point set and the lower bottom inner wall point set are processed by the least squares method to obtain the upper bottom circle center coordinates, upper bottom radius, lower bottom circle center coordinates and lower bottom radius. At the same time, insert the calibration needle into the bottom of the empty steamer pot, and make the calibration needle tip contact with the bottom of the steamer pot. Take the calibration needle tip as the tool coordinate system and the robot base coordinate system as the world coordinate system, and teach a Cartesian coordinate point. The z-axis value D0 of the Cartesian coordinate is the offset of the bottom plane of the steamer pot relative to the xy plane of the robot base coordinate system in the z-axis direction. Based on the preset transformation matrix, the coordinates of the upper bottom center, upper bottom radius, lower bottom center, lower bottom radius, and offset are converted to the robot base coordinates to realize the calibration of the steamer pot parameters.

[0037] Among them, the least squares method can be implemented by the following formula:

[0038]

[0039] X i , Y iare the horizontal and vertical coordinates of the i-th point, N is the total number of points, A is the horizontal coordinate of the center of the circle, B is the vertical coordinate of the center of the circle, and R is the radius.

[0040] The specific process of calibrating the thermal infrared camera in the robot base coordinate system is as follows:

[0041] Step 1: Fix the calibration plate on the end of the robot, and select k checkerboard corner points on the calibration plate as k tool coordinate system cusps. By adjusting the checkerboard posture, the values ​​of the k tool coordinate systems are calibrated using the tool coordinate calibration method; since the k checkerboard corner points are in the same calibration plate plane, the corresponding k tool coordinate system cusps are also in the same plane;

[0042] Step 2: Heat the calibration plate until there is an obvious brightness difference between the black and white checkerboard in the infrared image of the thermal infrared camera (the brightness difference between the black and white checkerboard is greater than the brightness difference threshold);

[0043] Step 3: By moving the robot, adjust the calibration plate posture so that the projection of the calibration plate in the infrared image is within the projection area of ​​the steamer in the infrared image, collect infrared images, and record the current Cartesian coordinate position of the robot in k tool coordinate systems respectively;

[0044] Step 4: Repeat Step 3 multiple times to collect multiple sets of infrared images and the corresponding current Cartesian coordinate positions of the robot in k tool coordinate systems;

[0045] Step 5: Using the positions of k corner points in the image and the positions in the robot coordinate system recorded in k tool coordinate systems, calculate the transfer matrix from the thermal infrared camera coordinate system to the robot coordinate system. Based on the transfer matrix and Zhang’s calibration method, calibrate the thermal infrared camera in the robot base coordinate system. Using the thermal infrared camera calibration parameters and the transfer matrix from the camera coordinate system to the robot base coordinate system, convert the points in the thermal infrared image into positions in the robot base coordinate system.

[0046] Then, in order to facilitate the analysis of the steam hotspot area information, the steam hotspot area in the infrared image is converted into a partial circular area with the center of the steamer pot as the center, so as to convert the steam hotspot area information in the infrared image into arc information with the center of the steamer pot as the center.

[0047] Next, see Figure 1, the radius corresponding to the outer arc of the partial circular ring area is taken as the radius of the steaming hotspot area, recorded as Hot_Radius, and the difference between the radius of the steaming hotspot area and the radius corresponding to the inner arc of the partial circular ring area is taken as the width of the steaming hotspot area, recorded as Hot_Width. In addition, in order to further improve the description accuracy of the information of the steaming hotspot area and facilitate the subsequent planning of the trajectory of the steaming and mash pressing action, in this embodiment, the arc length of the steaming hotspot area can be obtained based on the angle corresponding to the starting point of the partial circular ring area (hereinafter referred to as the steaming arc length starting angle Hot_StartAngle) and the angle corresponding to the end point (hereinafter referred to as the steaming arc length end angle Hot_EndAngle). In this way, the position and morphological information of the steaming hotspot area can be accurately described through the radius of the steaming hotspot area, the width of the steaming hotspot area, the steaming arc length starting angle, and the steaming arc length end angle, so as to facilitate the subsequent accurate steaming and mash pressing action, and to achieve the pressing and pressing accurately on the basis of reducing the mash pressing action.

[0048] Finally, based on the width and length of the distribution device and the circular radius of the mash plane, the mash plane is divided into a central area, a middle area and an edge area, so that different steam-pressing mash actions are performed on steaming hot spots in different areas, thereby improving the flexibility and accuracy of the robot's steam-pressing mash.

[0049] The central area is a circular area with the center of the steamer as the center and the first length as the radius. R1 is the first length, R is the radius of the circle of the mash plane, and W and L are the width and length of the material distribution device used for the robot to steam.

[0050] The middle area is a circular area with the center of the steamer pot as the center, and the first length and the second length as the small radius and the large radius respectively; R2 is the second length;

[0051] The edge area is a circular ring area with the center of the steamer as the center, and the second length and the circle radius of the plane of the fermented mash as the small radius and the large radius respectively.

[0052] S2. Perform the steam-pressing operation on all mash planes to complete the robot steam adjustment.

[0053] When executing the operation of pressing the mash when steam appears, all the hot spots of steam emission in the current mash plane are sorted according to the area of ​​the partial circular areas from large to small. After the mash pressing action is performed in sequence, the operation of pressing the mash when steam appears on the current mash plane is completed to improve the efficiency of pressing the mash when steam appears.

[0054] When performing the mash pressing action, it is necessary to select different steam mash pressing actions according to the location of the steam hotspot area, as follows.

[0055] If the current steam hotspot is in the central area, that is, Hot_Radius≤R1, the central area steam pressure mash action is executed. Figure 2 .

[0056] If the current steam hotspot area is in the middle area, that is, R1≤Hot_Radius≤R2, determine whether the width of the current steam hotspot area is greater than the first paving material coverage width; if greater, that is, Hot_Width>R 窄 , execute wide area see steam pressure mash action, see Figure 3 ; If not greater than, that is, Hot_Width≤R 窄 When the steam pressure mash action is executed in a narrow area.

[0057] In order to further improve the quality of the steam-pressed mash in the middle area, if the current steam hotspot area is in the middle area and the width of the current steam hotspot area is greater than the first paving coverage width, that is, when R1≤Hot_Radius≤R2, Hot_Width>R 窄 , determine whether the width of the current steam hotspot area is not greater than the width of the material distribution device; if not, that is, if Hot_Width≤R 布 , R 布 is the width of the material distribution device. To improve efficiency, the wide area of ​​the steam press mash action is executed once; if it is greater than, Hot_Width>R 布 To ensure that the steaming mash can be pressed, the current steaming hotspot area is divided into a first area whose width is greater than the first paving material coverage width, and several second areas whose widths are not greater than the first paving material coverage width. The wide area steaming mash action is performed once and the narrow area steaming mash action is performed several times. The width of the material distribution device is greater than the first paving material coverage width.

[0058] If the current steam hotspot is within the edge area, that is, R2≤Hot_Radius≤R, the narrow area steam pressure mash action is executed, see Figure 4 .

[0059] In order to further improve the quality of steam-pressed mash in the edge area, if the current steam hotspot area is in the edge area, that is, when R2≤Hot_Radius≤R, it is determined whether the width of the current steam hotspot area is greater than the first paving material coverage width; if it is greater, that is, if Hot_Width>R 窄 , in order to ensure the quality of steam-pressed mash, perform several narrow area steam-pressed mash actions; if it is not greater than, that is, if Hot_Width≤R 窄 In order to improve efficiency, the steam pressure mash action is performed in a narrow area once.

[0060] In this embodiment, in order to ensure that the mash can be pressed at one time, the specific actions of pressing the mash are planned as follows.

[0061] The action trajectory of the steam-pressed mash is shown in FIG. The action trajectory of the steam-pressed mash in the central area, or / and the steam-pressed mash in the wide area, or / and the steam-pressed mash in the narrow area is an arc. When performing the mash pressing action, due to the start and stop of the robot movement and the start and stop of the mash spreading device, the thickness of the mash and the distance from the center of the pot will be slightly different in the starting area, middle area and end area of ​​the motion trajectory. In order to make the thickness of the mash spread in the steaming area uniform, the mash spreading position of the steam pressing mash action is at the same distance from the center of the steamer pot, and the arc trajectory length extension processing is performed on the starting and ending positions of the action trajectory of the steam pressing mash. Specifically, the outer arc and the inner arc of the partial circular area corresponding to the steaming hot spot area are each extended by the first arc length value to obtain an updated partial circular area; based on the updated partial circular area, the starting point and end point of the action trajectory of the steam pressing mash action in the central area, or / and the steam pressing mash action in the wide area, or / and the steam pressing mash action in the narrow area are determined.

[0062] After extending the action trajectory of the steam-pressed mash, the method for obtaining the angle corresponding to the action start point and the angle corresponding to the action end point of the steam-pressed mash in the central area, or / and the steam-pressed mash in the wide area, or / and the steam-pressed mash in the narrow area is as follows.

[0063] The corresponding angle of the action starting point is obtained based on the initial starting point angle, the direction of the action of steaming and pressing the mash, the first arc length value and the radius of the hot spot area of ​​steaming. The corresponding angle of the action starting point can be obtained by the following formula: NewHot_StartAngle = Hot_StartAngle-dir*ΔL1 / Hot_Radius, NewHot_StartAngle is the corresponding angle of the action starting point, Hot_StartAngle is the initial starting point angle, ΔL1 is the first arc length value, Hot_Radius is the radius of the hot spot area of ​​steaming; dir represents the direction of the action of steaming and pressing the mash, when dir = 1, it means that the direction of the action of steaming and pressing the mash is clockwise; when dir = -1, it means that the direction of the action of steaming and pressing the mash is counterclockwise.

[0064] The corresponding angle of the action end point is obtained based on the initial end point angle, the direction of the steam pressure mash action, the first arc length value and the radius of the steam hot spot area. The corresponding angle of the action end point can be obtained by the following formula: NewHot_EndAngle=Hot_EndAngle+dir*ΔL1 / Hot_Radius, NewHot_EndAngle is the corresponding angle of the action end point, Hot_EndAngle is the initial end point angle, ΔL1 is the first arc length value, and Hot_Radius is the radius of the steam hot spot area.

[0065] The above-mentioned initial starting angle and initial ending angle are respectively the angle corresponding to the starting point of the partial circular area (the steaming arc length starting angle) and the angle corresponding to the ending point (hereinafter referred to as the steaming arc length ending angle).

[0066] In addition, to ensure that the steam-pressed mash is pressed in one go, if the difference between the corresponding angle of the action end point and the initial end point angle is not greater than 360°, the steam-pressed mash action is executed according to the corresponding angle of the action starting point and the corresponding angle of the action end point; if the difference between the corresponding angle of the action end point and the initial end point angle is greater than 360°, the steam-pressed mash action is executed by spreading the mash in a 360° circle.

[0067] See the radius of the steam-pressed mash action. Although the actual position of the steaming hotspot area in the steamer is at a distance of Hot_Radius from the center of the steamer, when executing the steam-pressed mash action in a narrow area, due to differences in the material spreading speed, robot movement speed, inertia, etc., if the trajectory of the steam-pressed mash action is a circular arc motion with a radius of Hot_Radius, the mash drop position may fall into the non-steaming area. In order to solve the above technical problems, the present embodiment sets the adjusted trajectory radius of the steam-pressed mash action in a narrow area to be the sum of the radius of the steaming hotspot area and the radius compensation amount, that is, the trajectory radius r of the steam-pressed mash action in a narrow area 窄 = Hot_Radius + Radius_offset, where Radius_offset is the radius compensation. Since the spreading width of the wide area where the steam-pressed mash is spread is wider and the radius variation range is narrower, the mash flying out of the outlet of the material distribution device is very little affected by the centrifugal force. Therefore, the trajectory radius of the wide area where the steam-pressed mash is spread is the radius of the steaming hotspot area. At the same time, the trajectory radius of the central area where the steam-pressed mash is spread is fixed, including but not limited to the radius of the steaming hotspot area.

[0068] See the height of the steam-pressed mash. In order to prevent the mash in the steam hotspot area from being scraped off by the distribution device, it is necessary to increase the height of the steam-pressed mash. The increased height is recorded as d. The height D of the steam-pressed mash (the central area sees the steam-pressed mash, or / and the wide area sees the steam-pressed mash, or / and the narrow area sees the steam-pressed mash) z =D0+D+d, D0 is the offset of the calibrated bottom surface of the steamer pot relative to the xy plane of the robot base coordinate system on the z-axis, and D is the plane thickness of the mash (which can be measured by a sensor).

[0069] See the speed of steam pressure mash movement. The speed of steam pressure mash movement in narrow area is based on the circle radius of the mash plane, the maximum radius of steam pressure mash movement in narrow area and the maximum spreading speed. The speed of steam pressure mash movement in different narrow areas can be obtained by the following formula: V 窄 V is the movement speed of the steam-pressed mash in the current narrow area, max is the maximum paving speed, Rmax is the maximum radius of the steam-pressed mash action in the current narrow area, which is related to the circle radius of the current mash plane and the radius compensation of the steam-pressed mash action. 窄 is the trajectory radius of the steam-pressed mash motion in a narrow area. For the steam-pressed mash motion in a wide area, since the direction of the mash flying out of the distribution device in this posture is parallel to the direction of the robot's motion trajectory, the mash flying out of the distribution device outlet is subject to very little centrifugal force, and the spreading width of the steam-pressed mash motion in a wide area is wide, and the radius variation range is narrow, so the motion speed remains unchanged when the steam-pressed mash motion is seen in a wide area.

[0070] This embodiment also provides a system for pressing mash by using a robot to put the mash in a steamer in a simulated manner, which is used to implement the above-mentioned method for pressing mash by using a robot to put the mash in a steamer in a simulated manner, and comprises:

[0071] The hot spot information processing module is used to obtain an infrared image of the plane of the fermented grains in the steamer, convert the steaming hot spot area in the infrared image into a partial circular area with the center of the steamer as the center; use the radius corresponding to the outer arc of the partial circular area as the radius of the steaming hot spot area, and use the difference between the radius of the steaming hot spot area and the radius corresponding to the inner arc of the partial circular area as the width of the steaming hot spot area; based on the width and length of the material distribution device and the circle radius of the fermented grains plane, divide the fermented grains plane into a central area, a middle area and an edge area;

[0072] The steam-seeking and mash pressing action execution module is used to execute the steam-seeking and mash pressing operation on all mash planes and complete the robot steam adjustment on the retort; when executing the steam-seeking and mash pressing operation, all steaming hot spots in the current mash plane are sorted in the order of the area of ​​the partial circular areas from large to small, and after the mash pressing action is executed in sequence, the steam-seeking and mash pressing operation of the current mash plane is completed; when executing the mash pressing action, if the current steaming hot spot area is in the central area, the steam-seeking and mash pressing action of the central area is executed; if the current steaming hot spot area is in the middle area, it is determined whether the width of the current steaming hot spot area is greater than the first material covering width; if it is greater, the steam-seeking and mash pressing action of the wide area is executed; if it is not greater, the steam-seeking and mash pressing action of the narrow area is executed; if the current steaming hot spot area is in the edge area, the steam-seeing and mash pressing action of the narrow area is executed.

[0073] It also includes a steam-pressing mash action planning module, which is used to plan the action trajectory, action corresponding angle, action height, action radius and movement speed of the steam-pressing mash action in the central area, or / and the steam-pressing mash action in the wide area, or / and the steam-pressing mash action in the narrow area in the steam-pressing mash action execution module.

[0074] It also includes a steamer pot calibration module, which is used to calibrate the steamer pot parameters in the robot base coordinate system.

[0075] It also includes a thermal infrared camera calibration module for calibrating the thermal infrared camera parameters in the robot base coordinate system.

[0076] The process of calibrating the parameters of the steamer pot and the thermal infrared camera in the robot base coordinate system has been discussed in S1 above, and will not be repeated here to save space.

[0077] The present embodiment provides a method for imitating manual steam-pressing mash by a robot, proposes a method for calibrating steam pot parameters, achieves accurate calibration of steam pot parameters, and establishes the position of the steam pot in the robot coordinate system, laying a foundation for robot steaming action planning.

[0078] The embodiment provides a method for imitating manual steaming robot steam pressing mash, proposes a thermal infrared camera calibration method, realizes accurate calibration of thermal infrared camera parameters, and converts the camera coordinate system to the robot coordinate system, laying a foundation for hot spot information extraction during the robot steaming process.

[0079] The method for pressing mash by steaming with a robot simulating manual steaming provided in this embodiment is based on processing the hot spot information in the infrared image to achieve accurate positioning of the steaming area on the plane of the mash and convert it into robot motion information, laying a foundation for the action planning of pressing mash by steaming.

[0080] The present embodiment provides a method for pressing mash by steaming using a robot that simulates manual steaming, and proposes an action plan for pressing mash by steaming. After pressing mash by steaming, the robot lifts and spreads materials to avoid scratching the steaming point after the mash has been pressed, thereby avoiding repeated steaming at the same steaming point.

[0081] The method for pressing mash when steaming by a robot simulating manual steaming provided in the present embodiment plans the action of pressing mash when steaming according to the position information and shape information of the hot spot area of ​​steam emission, including the action height planning of pressing mash when steaming to avoid repeated steaming caused by the steam emission from the mash that has been compressed being scratched again, thus solving the problem of repeated pressing at the steam emission point; also includes the action radius planning of pressing mash when steaming to make the material spreading trajectory accurately cover the steam emission area, thus solving the problem of inaccurate or inability to press at the steam emission point; also includes the movement speed planning of pressing mash when steaming to ensure that the thickness of the mash spread is evenly pressed, thus solving the problem of inability to press at the steam emission point; also includes the action trajectory and angle planning of pressing mash when steaming to solve the problem of inaccurate or inability to press and repeated pressing caused by uneven material feeding due to the start and stop delay of the material distribution device.

[0082] In general, the present embodiment provides a method for imitating manual steaming and mash pressing by a robot. First, the steaming hotspot area is obtained based on the infrared image of the mash plane in the steamer pot. Then, the steaming hotspot area is converted into a partial circular area using the radius and width of the steaming hotspot area to describe the position and morphological information of the steaming area of ​​the mash, so as to facilitate the subsequent formulation and execution of accurate steaming and mash pressing actions, and the mash can be pressed and pressed accurately on the basis of reducing the steaming and mash pressing actions; at the same time, the mash plane is divided into a central area, a middle area and an edge area, and different steaming and mash pressing actions are formulated for different areas to improve the flexibility and accuracy of the robot steaming and mash pressing; finally, in the execution of the steaming and mash pressing operation, the corresponding steaming and mash pressing actions are performed in sequence on all steaming hotspot areas in the order of the area of ​​the partial circular area from large to small and according to the location, so as to ensure that the steaming and mash pressing can be pressed and pressed accurately at one time, and improve the quality and efficiency of the robot steaming and mash pressing.

Claims

1. A method for steaming mash by using a robot that simulates manual steaming, characterized in that: The following operations are included: S1. Obtain an infrared image of the plane of the fermented grains in the steamer, convert the steaming hotspot area in the infrared image into a partial circular area with the center of the steamer as the center; use the radius corresponding to the outer arc of the partial circular area as the radius of the steaming hotspot area, and use the difference between the radius of the steaming hotspot area and the radius corresponding to the inner arc of the partial circular area as the width of the steaming hotspot area; Based on the width and length of the material distribution device and the radius of the circle of the mash plane, the mash plane is divided into a central area, a middle area and an edge area; S2. Perform steam-pressing operation on all fermented grains planes and complete steam adjustment of the robot; In the operation of pressing the mash after steam is seen, all the hot spots of steam emission in the current mash plane are sorted in descending order of the area of ​​the partial circular areas, and the mash pressing action is performed in sequence to complete the operation of pressing the mash after steam is seen in the current mash plane; When performing the mash pressing operation, If the current hot spot of steam emission is in the central area, the action of steam pressure mash in the central area is executed; If the current steam hotspot area is in the middle area, determine whether the width of the current steam hotspot area is greater than the first paving material coverage width; if greater, execute the wide area steam pressing mash action; If it is not greater than, execute the steam pressure mash action in the narrow area; If the current hot spot of steam emission is in the edge area, the narrow area steam pressure mash action is executed; The motion trajectory of the steam pressure mash motion in the central area, or / and the steam pressure mash motion in the wide area, or / and the steam pressure mash motion in the narrow area is an arc; the trajectory radius of the steam pressure mash motion in the narrow area is the sum of the radius of the steam hot spot area and the radius compensation amount, and the trajectory radius of the steam pressure mash motion in the central area and the steam pressure mash motion in the wide area are both the radius of the steam hot spot area; the movement speed of the steam pressure mash motion in the narrow area is based on the circle radius of the mash plane, the maximum radius of the steam pressure mash motion in the narrow area and the maximum spreading speed; the movement speed of the steam pressure mash motion in different narrow areas can be obtained by the following formula: , V 窄 is the movement speed of the steam-pressed mash in the current narrow area, V max is the maximum paving speed, R max The maximum radius of steam pressure mash action in the current narrow area. r 窄 It is the trajectory radius of the steam-pressed mash in a narrow area; the movement speed remains unchanged when the steam-pressed mash is in action in a wide area; The starting point and end point of the action trajectory of the steam pressure mash in the central area, or / and the steam pressure mash in the wide area, or / and the steam pressure mash in the narrow area are obtained based on the updated partial circular area; the method for obtaining the updated partial circular area is: the outer arc and the inner arc of the partial circular area corresponding to the steam hotspot area are extended by the first arc length value to obtain the updated partial circular area.

2. The method for steaming and pressing mash by a robot imitating manual steaming according to claim 1, characterized in that: In S1, The central area is a circular area with the center of the steamer as the center and the first length as the radius; wherein, , R1 is the first length, R is the radius of the circle on the plane of the mash, W and L are the width and length of the distribution device respectively; The middle area is a circular area with the center of the steamer as the center, and the first length and the second length as the small radius and the large radius respectively; , R2 is the second length; The edge area is a circular area with the center of the steamer as the center of the circle, and the second length and the radius of the circle of the plane of the fermented grains as the small radius and the large radius respectively.

3. The method for steaming and pressing mash by a robot imitating manual steaming according to claim 1, characterized in that: In S2, if the current steaming hotspot area is in the middle area and the width of the current steaming hotspot area is greater than the first paving material coverage width, it is determined whether the width of the current steaming hotspot area is not greater than the width of the material placing device; If it is not greater than, the wide area to be executed once see the steam pressure mash action; If it is greater than, the current steaming hotspot area is divided into a first area whose width is greater than the first paving material coverage width, and a plurality of second areas whose widths are not greater than the first paving material coverage width, and the wide area steaming mash press action is performed once and the narrow area steaming mash press action is performed several times respectively; The width of the material distributing device is greater than the first paving material covering width.

4. The method for steaming and pressing mash by a robot imitating manual steaming according to claim 1, characterized in that: In S2, if the current steaming hotspot area is within the edge area, determining whether the width of the current steaming hotspot area is greater than the first paving material coverage width; If it is greater than, execute several times the narrow area to see the steam pressure mash action; If it is not greater than, the narrow area executed once sees the steam pressure mash action.

5. The method for steaming and pressing mash by a robot imitating manual steaming according to claim 1, characterized in that: In S2, the method for obtaining the angle corresponding to the starting point and the angle corresponding to the end point of the action of the steam-pressed mash in the central area, or / and the steam-pressed mash in the wide area, or / and the steam-pressed mash in the narrow area is: The corresponding angle of the action starting point is obtained based on the initial starting point angle, the direction of movement of the steam-pressing mash, the first arc length value and the radius of the steam hotspot area; The corresponding angle of the action end point is obtained based on the initial end point angle, the direction of movement of the steam pressure mash, the first arc length value and the radius of the steam hot spot area; The initial starting angle and the initial ending angle are the corresponding angles of the starting point and the ending point of the partial circular area, respectively.

6. The method for steaming and pressing mash by a robot imitating manual steaming according to claim 5, characterized in that: If the difference between the angle corresponding to the end point of the action and the angle corresponding to the initial end point is not greater than 360°, the steam-pressed mash action is performed according to the angle corresponding to the start point of the action and the angle corresponding to the end point of the action; If the difference between the corresponding angle of the action end point and the initial end point angle is greater than 360°, the steam pressure mash action executes a 360° circular spreading of the mash.

7. A system for pressing mash by steaming using a robot that simulates manual steaming, used to implement the method for pressing mash by steaming using a robot that simulates manual steaming as claimed in claim 1, characterized in that: include: The hot spot information processing module is used to obtain an infrared image of the plane of the fermented grains in the steamer, convert the steaming hot spot area in the infrared image into a partial circular area with the center of the steamer as the center; use the radius corresponding to the outer arc of the partial circular area as the radius of the steaming hot spot area, and use the difference between the radius of the steaming hot spot area and the radius corresponding to the inner arc of the partial circular area as the width of the steaming hot spot area; Based on the width and length of the material distribution device and the radius of the circle of the mash plane, the mash plane is divided into a central area, a middle area and an edge area; The steam-seeking and mash pressing action execution module is used to execute the steam-seeking and mash pressing operation on all mash planes and complete the steam adjustment of the robot on the retort; in the execution of the steam-seeking and mash pressing operation, all the steaming hot spots in the current mash plane are sorted in the order of the area of ​​the partial ring area from large to small, and after the mash pressing action is executed in sequence, the steam-seeking and mash pressing operation of the current mash plane is completed; when the mash pressing action is executed, if the current steaming hot spot area is in the central area, the steam-seeking and mash pressing action of the central area is executed; if the current steaming hot spot area is in the middle area, it is determined whether the width of the current steaming hot spot area is greater than the first material covering width; if it is greater, the wide area steam-seeking and mash pressing action is executed; If it is not greater than, execute the narrow area steam pressure mash action; if the current steam hotspot area is within the edge area, execute the narrow area steam pressure mash action.

8. The steam-pressing mash system using a robot that simulates human-like steaming according to claim 7 is characterized in that: It also includes a steam-pressing mash action planning module, which is used to plan the action trajectory, action corresponding angle, action height, action radius and movement speed of the steam-pressing mash action in the central area, or / and the steam-pressing mash action in the wide area, or / and the steam-pressing mash action in the narrow area in the steam-pressing mash action execution module.

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