A method and system for automatically controlling steam in a robot steamer

Abstract

The present application relates to the field of intelligent wine brewing technology, and specifically to a method and system for automatic steam control of a robot during steaming. In order to solve the problems of untimely steam pressure and uneven steaming of the mash during the robot during steaming in the prior art, the present application first divides the steaming process into different periods according to the height of the steamer pot and the thickness of the mash, and controls the steam pressure in stages. In each period, the steam pressure stress step range and the steam pressure step range are limited. In any period, the steam frequency and steaming speed of the previous round of steaming process are used to determine how to increase or decrease the steam pressure of the current round of steaming process, as well as the steam increase step length and steam decrease step length, so that the steam pressure can be evenly increased when the mash is pressed in time, the steam can evenly penetrate the mash layer, the distillation quality and efficiency are improved, and the final wine quality meets the standards.

Description

Technical Field

[0001] The present invention relates to the field of intelligent wine brewing technology, and in particular to a method and system for automatically controlling steam in a steamer using a robot. Background Art

[0002] The process of putting the fermented mash into the steamer for distillation is to put the fermented mash into the steamer for distillation. It is a process in which the steam follows the plane of the mash. The steam is generally about 10 cm below the plane of the mash. If the steam is at a deeper position below the plane of the mash, there may be a phenomenon of steam compression, that is, it is difficult to steam in some areas, and there is no steam passing through the plane of the mash from here, and the steam path cannot be formed, resulting in the alcohol in the mash in this area cannot be distilled. If the steam is at a shallower position below the plane of the mash, it is difficult to press the mash, and there may be a situation of steam everywhere. The steam that comes out will be distilled with alcohol, resulting in alcohol loss, which is often called "steaming four taels of wine". In the process of manual steaming, workers will often insert their hands into the mash to feel the depth of the steam below the plane of the mash. If it is found that the steam pressure is too deep in some areas, the mash will be suspended in the area. If it is found that the steam pressure is too shallow in some areas, or even steaming occurs, the mash will be quickly spread in the area to prevent steaming.

[0003] Unlike manual steaming, robot steaming is based on the detection of steam on the surface of the mash by infrared cameras. The existing methods all judge whether there is steam coming out based on whether there are hot spots in the images monitored by the infrared camera. If there is steam coming out, a layer of mash is spread to prevent steam. Since the hot spot infrared cameras are installed on the bracket above the steamer pot, in order to avoid interference with the robot, the sensor bracket is at a higher position above the steamer pot, and the infrared camera is far away from the mash plane, resulting in the thermal infrared camera being unable to identify when there is no steam coming out or when there is little steam coming out on the mash plane. When the infrared camera identifies steam coming out, a large amount of steam has already come out at the steaming point, and multiple steam-seeking and mash-pressing actions are required to make the steam-seeking point no longer steam coming out. It is difficult to see the steam and press the mash, and the uniformity of steaming is poor. Summary of the invention

[0004] The purpose of the present invention is to provide a method and system for automatically controlling steam in a robot steamer with good steam uniformity.

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

[0006] A method for automatically controlling steam in a steamer using a robot comprises the following operations:

[0007] The steaming process is divided into different periods according to the height of the steamer pot and the thickness of the fermented grains; steam control operations are performed in different periods according to the respective steam pressure ranges, steam pressure emphasis large step ranges and steam pressure emphasis small step ranges;

[0008] After the previous round of steaming is completed in any period, the previous round of steaming time is obtained; according to the previous round of steaming time, the corresponding number of times the mash steams, the steam pressure after pressure regulation and the corresponding pressure regulation duration, the previous round of steaming frequency and the previous round of steaming speed are obtained respectively;

[0009] If the steaming speed in the previous round is greater than the corresponding theoretical steaming speed, and the steaming frequency in the previous round is higher than the corresponding theoretical steaming frequency, determine whether the relative deviation between the steaming speed in the previous round and the corresponding theoretical steaming speed is greater than the first relative deviation threshold; if greater, in the current round of steaming, reduce the corresponding maximum steam pressure, and the reduction amount is the first pressure reduction value; if not greater, in the current round of steaming, reduce the steam enlargement step length, and increase the steam enlargement step length, and the reduction amount and the large adjustment amount are the first reduction step length and the first increase step length, respectively;

[0010] If the steaming speed in the previous round is less than the corresponding theoretical steaming speed, and the steaming frequency in the previous round is lower than the corresponding theoretical steaming frequency, determine whether the relative deviation between the steaming speed in the previous round and the corresponding theoretical steaming speed is less than the second relative deviation threshold; if less than, in the current round of steaming, increase the maximum steam pressure by the first increased pressure value; if not less than, in the current round of steaming, increase the steam enlargement step and decrease the steam reduction step, and the large and small amounts are respectively the second enlargement step and the second reduction step;

[0011] After all the steam control operations are completed in all periods, the robot steaming task is completed.

[0012] The steaming process is divided into the initial steaming stage, the middle steaming stage and the late steaming stage; the ratio ranges of the steamer pot height to the mash thickness corresponding to the initial steaming stage, the middle steaming stage and the late steaming stage are respectively: less than the first ratio threshold, not less than the first ratio threshold and not greater than the second ratio threshold, and greater than the second ratio threshold; the first ratio threshold is less than the second ratio threshold; the average steam pressure in the initial steaming stage and the average steam pressure in the late steaming stage are both less than the average steam pressure in the middle steaming stage.

[0013] The frequency of steaming in the previous round is the ratio of the number of times the mash steamed in the previous round to the time of steaming in the previous round; the speed of steaming in the previous round is the ratio of the sum of the products of the steam pressures after all pressure regulation in the previous round and the corresponding pressure regulation duration to the time of steaming in the previous round.

[0014] If there is no steaming of the mash after two consecutive steaming processes, the steam pressure will be increased in the current round of steaming process, and the adjustment amount is the pressure value corresponding to the corresponding steam increase step in the current round of steaming process.

[0015] The adjusted maximum vapor pressure is the minimum value of the theoretical vapor pressure corresponding to the first coefficient and the vapor pressure excess value; the vapor pressure excess value is obtained based on the alcohol pressure critical value, vapor pressure critical value and mash pressure critical value of the target wine quality, the theoretical mash pressure maximum value, the theoretical mash viscosity and the theoretical mash moisture content.

[0016] The adjusted steam increase step size, and / or the range of the adjusted steam decrease step size, is related to the corresponding optimal steam pressure adjustment step size; the optimal steam pressure adjustment step size is based on the alcohol pressure difference, vapor pressure difference, mash pressure difference, theoretical mash viscosity, theoretical mash density and theoretical ambient temperature.

[0017] The theoretical steam velocity and / or theoretical steam frequency are obtained based on the steam control process curve of the upper steamer;

[0018] The method for obtaining the steam control process curve of the upper steamer is as follows: collecting the steam pressure adjustment data corresponding to the upper steamer time, steam pressure, mash thickness, ambient temperature, as well as the steam emission frequency, steaming speed, wine quality, etc. in the historical steamer process to form a data report; after linear fitting or nonlinear fitting of the data report, a preliminary control process curve is obtained; based on the wine quality, the preliminary control process curve is optimized to obtain the steam control process curve of the upper steamer.

[0019] A robot steam automatic control system for steaming a steamer, used to implement the above robot steam automatic control method, comprising:

[0020] The module for dividing the steaming process into different periods is used to divide the steaming process into different periods according to the height of the steaming pot and the thickness of the fermented grains; steam control operations are performed in different periods according to the respective steam pressure ranges, steam pressure emphasis large step ranges and steam pressure emphasis small step ranges;

[0021] The steaming speed and steaming frequency generation module is used to obtain the previous round of steaming time after the previous round of steaming is completed in any period; according to the previous round of steaming time, the corresponding number of times the mash steams, the steam pressure after pressure regulation and the corresponding pressure regulation duration, the previous round of steaming frequency and the previous round of steaming speed are obtained respectively;

[0022] The steam pressure adjustment module is used to determine whether the relative deviation between the previous round of steaming speed and the corresponding theoretical steaming speed is greater than the first relative deviation threshold value if the previous round of steaming speed is greater than the corresponding theoretical steaming speed and the previous round of steaming frequency is higher than the corresponding theoretical steaming frequency; if greater, in the current round of steaming process, reduce the corresponding maximum steam pressure, and the reduction amount is the first pressure reduction value; if not greater, in the current round of steaming process, reduce the steam enlargement step length, increase the steam enlargement step length, and the reduction amount and the large adjustment amount are the first reduction step length and the first pressure reduction value, respectively. Increase the step length; if the steaming speed of the previous round is less than the corresponding theoretical steaming speed, and the steaming frequency of the previous round is lower than the corresponding theoretical steaming frequency, determine whether the relative deviation between the steaming speed of the previous round and the corresponding theoretical steaming speed is less than the second relative deviation threshold; if less than, in the current round of steaming, increase the maximum steam pressure by the first increased pressure value; if not less than, in the current round of steaming, increase the steam increase step length, decrease the steam decrease step length, and the large increase and the small decrease are respectively the second increase step length and the second decrease step length;

[0023] The visualization cloud service module is used to visualize the data in the steaming process division module at different stages, the steaming speed and steam frequency generation module, and the steam pressure adjustment module.

[0024] The beneficial effects of the present invention are:

[0025] The present invention provides a robot steam automatic control method for steaming. First, according to the height of the steamer pot and the thickness of the fermented grains, the steaming process is divided into different periods, the steam pressure is controlled in stages, and the steam pressure increase step range and the steam pressure step range are limited in each period to prevent the steam pressure from being too high, resulting in the mash not being pressed in time, or the pressure from being too low, resulting in steam compression, so as to ensure uniform steaming of the fermented grains. In addition, in any period, the steaming frequency and steaming speed in the previous round of steaming process are used to determine how to increase or decrease the steam pressure of the current round of steaming process, as well as the steam increase step length and the steam decrease step length, so as to achieve uniform steaming when the steam is seen and the mash is pressed in time, so that the steam can evenly penetrate the fermented grains layer, improve the distillation quality and efficiency, and make the final wine quality meet the standards. DETAILED DESCRIPTION

[0026] In order to solve the problems of large-area steaming caused by untimely steam pressure and steam pressure caused by reducing the steam pressure in the existing technology, this embodiment first installs a steam regulating valve and a pressure transmitter before the steam inlet of the steamer to ensure that the steam used for the distillation of the fermented grains is constant pressure, constant speed, adjustable and controllable. Among them, the steam regulating valve is used to adjust the size of the steam entering the steamer and maintain the stability of the steam pressure; the pressure transmitter is to convert the steam pressure into a voltage signal and transmit it to the upper steamer control system, laying the foundation for automatic steam pressure control.

[0027] Then, according to the height of the steamer and the thickness of the fermented mash, the steaming process is divided into different periods; in different periods, steam control operations are performed according to the respective steam pressure ranges, large step ranges of steam pressure emphasis, and small step ranges of steam pressure emphasis. The steam pressure is controlled in stages, and the large step range of steam pressure emphasis and the small step range of steam pressure emphasis are limited in each period to prevent the untimely pressing of the mash due to high steam pressure and the steam compression due to too low pressure, and to prevent the large steam adjustment range from causing the fluctuation of the mash plane and reducing the looseness of the mash plane. The steam volume can be adjusted in time according to the change of the thickness of the mash to avoid the situation that the robot cannot press the mash, presses repeatedly, and emits large steam during the process of pressing the mash, so as to achieve a state of neither pressing nor emitting large steam, ensuring uniform steaming, allowing the steam to evenly penetrate the mash layer, improving the distillation quality and efficiency, and ensuring that the final wine quality meets the standards.

[0028] Among them, the upper steaming process is divided into the upper steaming initial stage, the upper steaming middle stage and the upper steaming late stage; the ratio ranges of the steamer pot height to the fermented grains thickness corresponding to the upper steaming initial stage, the upper steaming middle stage and the upper steaming late stage are respectively: less than the first ratio threshold, not less than the first ratio threshold and not greater than the second ratio threshold, greater than the second ratio threshold; the first ratio threshold is less than the second ratio threshold; the average steam pressure in the upper steaming initial stage and the average steam pressure in the upper steaming late stage are both less than the steam pressure in the upper steaming middle stage. That is, at the end of the upper steaming initial stage and the upper steaming late stage, the steam pressure is smaller, and the steam pressure in the upper steaming middle stage is larger, which can significantly improve the uniformity and efficiency of the distillation process and optimize the quality of the wine.

[0029] Specifically, when h<0.2H, the steaming process is in the early stage of steaming; when 0.2H≤h≤0.8H, the steaming process is in the middle stage of steaming; when h≥0.8H, the steaming process is in the late stage of steaming; h is the thickness of the mash, H is the height of the steamer pot, 0.2 and 0.8 are the first ratio threshold and the second ratio threshold respectively.

[0030] Then, after the previous round of steaming is completed within any period, the previous round of steaming time is obtained; based on the previous round of steaming time, the corresponding number of times the mash steams, the steam pressure after pressure regulation and the corresponding pressure regulation duration, the previous round of steaming frequency and the previous round of steaming speed are obtained respectively, which are used to determine how to adjust the steam pressure during the current round of steaming.

[0031] The steaming frequency of the previous round is the ratio of the number of steaming times of the mash in the previous round to the time of steaming in the previous round. The steaming frequency can be obtained by the following formula: F = N / T, where N and T are the number of steaming times and steaming time, respectively. The steaming frequency in the early, middle and late stages of steaming is obtained in the same way.

[0032] The steaming speed of the previous round is the ratio of the sum of the product of the steam pressure after all pressure regulation and the corresponding pressure regulation duration of the previous round to the steaming time of the previous round. The steaming speed can be obtained by the following formula: V = ∑p i t i / T, where p i ,t i are the steam pressure after the i-th pressure regulation and the corresponding duration respectively.

[0033] At the same time, the theoretical steaming speed and / or theoretical steaming frequency are obtained based on the upper steamer steam control process curve. The method for obtaining the upper steamer steam control process curve is: collect the corresponding upper steamer time, steam pressure, mash thickness, ambient temperature when the steam pressure was adjusted in the steamer process in history, as well as the steaming frequency, steaming speed, wine quality, etc. in the steamer process in history, and form a data report; after linear fitting or nonlinear fitting of the data report, a preliminary control process curve is obtained; based on the wine quality, the preliminary control process curve is optimized to obtain the upper steamer steam control process curve.

[0034] Subsequently, if the steaming speed of the previous round is greater than the corresponding theoretical steaming speed, and the steaming frequency of the previous round is higher than the corresponding theoretical steaming frequency, it is determined whether the relative deviation between the steaming speed of the previous round and the corresponding theoretical steaming speed is greater than the first relative deviation threshold; if greater, in order to ensure that the steam can be compressed in time during the current round of steaming, the corresponding maximum steam pressure is reduced during the current round of steaming, and the reduction amount is the first pressure reduction value; if not greater than, but not less than the third relative deviation threshold, during the current round of steaming, the steam pressure is adjusted down to emphasize the large step length, and the steam pressure is increased to emphasize the small step length, and the small adjustment amount and the large adjustment amount are the first small adjustment step length and the first large adjustment step length, respectively. The relative deviation between the steaming speed and the theoretical steaming speed is the ratio of the difference between the steaming speed and the theoretical steaming speed to the steaming speed.

[0035] If the steaming speed in the previous round is less than the corresponding theoretical steaming speed, and the steaming frequency in the previous round is lower than the corresponding theoretical steaming frequency, then determine whether the relative deviation between the steaming speed in the previous round and the corresponding theoretical steaming speed is less than the second relative deviation threshold; if it is less than, in the current round of steaming process, increase the maximum steam pressure by the first increased pressure value; if it is not less than, and not greater than the fourth relative deviation threshold, in the current round of steaming process, reduce the steam pressure to emphasize large steps, increase the steam pressure to emphasize small steps, and adjust the large amount and the small amount to be adjusted are the second large step and the second small step, respectively.

[0036] The steam pressure during any steaming process must meet the corresponding steam pressure range, which is [0.5P, min (P max ,1.5P)], P is the theoretical steam pressure, P maxIt is the steam pressure excess value, that is, the corresponding maximum steam pressure (including the adjusted maximum steam pressure) in any steaming process, which is the minimum value between the theoretical steam pressure corresponding to the first coefficient and the steam pressure excess value.

[0037] In this embodiment, the vapor pressure excess value is obtained based on the alcohol pressure critical value, vapor pressure critical value and mash pressure critical value of the target wine quality, the theoretical mash pressure maximum value, the theoretical mash viscosity and the theoretical mash moisture content.

[0038] Steam pressure value P max It can be obtained by the following formula:

[0039]

[0040] w 酒 、w 水 are the mass fractions of alcohol and water, respectively, 酒 , P 水 , P 醅 is the critical value of alcohol pressure, vapor pressure and fermented grains pressure corresponding to the target wine quality, ΔP is the difference between the critical value of fermented grains pressure corresponding to the target wine quality and the maximum value of theoretical fermented grains pressure, η 理 、w 理 are the theoretical mash viscosity and theoretical mash moisture content, η 临 、w 临 are the critical value of mash viscosity and the critical value of mash moisture content at the target wine quality, α, β, γ, δ, ε, λ are the first excess coefficient, the second excess coefficient, the third excess coefficient, the fourth excess coefficient, the fifth excess coefficient and the excess compensation item, respectively.

[0041] At the same time, the steam pressure emphasis large step length and steam pressure emphasis large step length in any steaming process must respectively meet the steam pressure emphasis small step length range of the corresponding steam pressure emphasis large step length range. In the current round of steaming process, the steam pressure emphasis large step length range is [0.5L1, 1.5L1], and the steam pressure emphasis small step length range is [0.5L2, 1.5L2]. L1 and L2 are the first optimal steam pressure adjustment step length and the second optimal steam pressure adjustment step length, respectively, that is, the range of the adjusted steam adjustment large step length and the adjusted steam adjustment small step length is related to the corresponding optimal steam pressure adjustment step length.

[0042] The optimal steam pressure adjustment step is obtained based on the alcohol pressure difference, the vapor pressure difference, the mash pressure difference, the theoretical mash viscosity, the theoretical mash density and the theoretical ambient temperature.

[0043] Taking the first optimal steam pressure adjustment step as an example, the first optimal steam pressure adjustment step can be obtained by the following formula:

[0044]

[0045] Δw 酒 is the change in alcohol mass fraction, ΔP 酒 , ΔP 水 , ΔP 醅 They are the difference between the critical value of alcohol pressure and the theoretical alcohol pressure value when the target wine quality is reached, the difference between the critical value of vapor pressure and the theoretical vapor pressure value when the target wine quality is reached, and the difference between the critical value of fermented grains pressure and the theoretical fermented grains pressure value when the target wine quality is reached, namely, the alcohol pressure difference, vapor pressure difference, and fermented grains pressure difference; η 理 , 理 , T 理 are theoretical mash viscosity, theoretical mash density, theoretical ambient temperature, η 临 , 临 , T 临 are the critical values ​​of mash viscosity, density and ambient temperature at target wine quality, respectively; l1, l2, l3, l4, l5 and ξ are the first, second, third, fourth and fifth influencing coefficients, respectively; the mash pressure compensation value; and N is the number of pressure adjustments.

[0046] In the above process, the theoretical maximum mash pressure, theoretical mash viscosity, theoretical mash moisture content, theoretical mash density, theoretical ambient temperature, theoretical vapor pressure value, theoretical alcohol pressure value, and theoretical mash pressure value can be obtained by collecting historical data and constructing a theoretical retort pressure control process curve.

[0047] The target wine quality in the above process corresponds to the upper retort pressure control process curve which is obtained based on the experience and practical optimization in actual production.

[0048] The method for obtaining the second optimal steam pressure adjustment step is the same as that for the first optimal steam pressure adjustment step, and will not be described in detail here to save space.

[0049] Finally, to ensure that the steam pressure of the mash is adjusted in time, it is necessary to check whether steam is emitted at the end of each material spreading action during each steaming process. If steam is emitted, the steam pressure at this time needs to be reduced. The adjustment amount is the pressure value corresponding to a steam pressure reduction step.

[0050] If the robot only spreads one layer of material during one steaming process, and if there is no steam coming out of the mash after two consecutive steaming processes, that is, after spreading two layers of mash in succession, then the steam pressure will be increased during the current round of steaming process, and the adjustment amount is the pressure value corresponding to the corresponding steam increase step length of the current round of steaming process.

[0051] If the robot spreads multiple layers of material during one steaming process, and if no steam is emitted after two layers of mash are spread continuously during the steaming process, the steam pressure will be increased during the next spreading process, and the adjustment amount is the pressure value corresponding to the corresponding steam increase step for the next spreading process.

[0052] After completing the steam control operation in all periods, the task of placing materials on the steamer is completed.

[0053] This embodiment also provides a robot steam automatic control system for steaming a steamer, which is used to implement the above robot steam automatic control method, including:

[0054] The module for dividing the steaming process into different periods is used to divide the steaming process into different periods according to the height of the steaming pot and the thickness of the fermented grains; steam control operations are performed in different periods according to the respective steam pressure ranges, steam pressure emphasis large step ranges and steam pressure emphasis small step ranges;

[0055] The steaming speed and steaming frequency generation module is used to obtain the previous round of steaming time after the previous round of steaming is completed in any period; according to the previous round of steaming time, the corresponding number of times the mash steams, the steam pressure after pressure regulation and the corresponding pressure regulation duration, the previous round of steaming frequency and the previous round of steaming speed are obtained respectively;

[0056] The steam pressure adjustment module is used to determine whether the relative deviation between the previous round of steaming speed and the corresponding theoretical steaming speed is greater than the first relative deviation threshold value if the previous round of steaming speed is greater than the corresponding theoretical steaming speed and the previous round of steaming frequency is higher than the corresponding theoretical steaming frequency; if greater, in the current round of steaming process, reduce the corresponding maximum steam pressure, and the reduction amount is the first pressure reduction value; if not greater, in the current round of steaming process, reduce the steam enlargement step length, increase the steam enlargement step length, and the reduction amount and the large adjustment amount are the first reduction step length and the first pressure reduction value, respectively. Increase the step size; used to determine whether the relative deviation between the previous round of steaming speed and the corresponding theoretical steaming speed is less than the second relative deviation threshold if the previous round of steaming speed is less than the corresponding theoretical steaming speed and the previous round of steaming frequency is lower than the corresponding theoretical steaming frequency; if less than, in the current round of steaming process, increase the maximum steam pressure by the first increased pressure value; if not less than, in the current round of steaming process, increase the steam increase step size and decrease the steam decrease step size, the large adjustment amount and the small adjustment amount are the second increase step size and the second decrease step size respectively.

[0057] In addition, in order to facilitate manual supervision and control of the robot's steam-pressing mash and ensure the quality of the steam-pressing mash, the present embodiment also provides a visualization cloud service module. The visualization cloud service module is used to visualize the data in the different period division modules of the steaming process, the steaming speed and steaming frequency generation module, and the steam pressure adjustment module; it has the functions of environmental data monitoring, process parameter configuration, steam regulation, wine output statistics, robot motion control, and steaming related equipment control during the visualization robot's steaming process.

[0058] The environmental monitoring data mainly include ambient temperature, steaming time, etc.; the process parameters mainly include mash thickness and corresponding steam pressure, etc.

[0059] The control parameters mainly include real-time mash thickness, maximum steam pressure, optimal steam adjustment step length, and robot motion control parameters.

[0060] Steam regulation mainly includes steam pressure, small adjustment step, large adjustment step, steam emitting frequency, steaming speed, etc.

[0061] The statistical data of wine production mainly include wine alcohol content, wine temperature and wine quality.

[0062] The robot motion control includes the start, pause, stop, reset control of the steaming process and the adjustment of the robot motion speed. When performing each spreading action in each steaming process, the steaming situation on the surface of the mash is monitored in real time, and the steaming information is returned after being processed by the visual cloud service platform; when the spreading action is completed, the steaming information is read. If there is steaming, the robot motion control system will plan the steaming mash action according to the steaming information and execute it as the next spreading action; when the steaming mash action is completed, it is detected that there is no steaming on the surface of the mash, and the previous spreading action continues to perform the normal spreading action.

[0063] The control of upper steamer related equipment includes the start, stop, reset, speed regulation and other controls of the feeding system, the control of the spreading thickness and material receiving amount of the material distribution device, and the control of infrared cameras and ranging sensors.

[0064] The present embodiment provides a method for automatic steam control in a steaming robot, which collects the steaming time, pressure, mash plane thickness, ambient temperature, steaming frequency in each steaming stage, steaming speed in each steaming stage, wine quality, etc. corresponding to the pressure regulation of steam in the steaming process, and forms a data report; the data report is analyzed to obtain the correlation between the data in each steaming process, and the control parameters are optimized according to the wine quality, and a steam control process curve for steaming is established, so that the steam control in the robot steaming process can imitate the steam regulation in the manual steaming process as much as possible.

[0065] The present embodiment provides a method for automatically controlling steam in a steamer using a robot, defines the initial, middle and late stages of steaming, and proposes the concepts of steaming frequency and steaming speed in each steaming period, thereby improving the accuracy of steam control in the steamer.

[0066] The present embodiment provides a method for automatic steam control during steaming by a robot. The method first utilizes an established steam control process curve for steaming to achieve the level of manual steam control over the robot. At the same time, combined with the steam data during the previous round of steaming, more precise adjustments can be made to the steam pressure, steam pressure emphasis on large steps, and steam pressure emphasis on small steps during the current round of steaming, thereby achieving automatic steam control during the robot's steaming process that is superior to the control of steam during the manual steaming process.

[0067] This embodiment establishes a visual cloud service platform with functions such as environmental data monitoring, process parameter configuration, steam regulation, wine output statistics, robot motion control, and steaming-related equipment control, which can meet all control requirements in the steaming process, making the steam-pressed mash more efficient and more stable.

[0068] In summary, the robot steam automatic control method provided in this embodiment first divides the steaming process into different periods according to the height of the steamer pot and the thickness of the mash, and controls the steam pressure in stages, and limits the steam pressure increase step range and the steam pressure step range in each period to prevent the steam pressure from being too high and causing the mash to be pressed in time, or the pressure from being too low and causing the steam to be pressed, thereby ensuring uniform steaming of the mash; in addition, in any period, the steaming frequency and steaming speed in the previous round of steaming process are used to determine how to increase or decrease the steam pressure of the current round of steaming process, as well as the steam increase step length and the steam decrease step length, so as to achieve uniform steaming when the steam is seen and the mash is pressed in time, so that the steam can evenly penetrate the mash layer, improve the distillation quality and efficiency, and make the final wine quality meet the standards.

Claims

1. A method for automatically controlling steam in a steamer using a robot, characterized in that: The following operations are included: The steaming process is divided into different periods according to the height of the steamer pot and the thickness of the fermented mash. Steam pressure range, steam pressure emphasis large step range and steam pressure emphasis small step range, perform steam control operation; The steam pressure during any steaming process must meet the corresponding steam pressure range, which is [ 0.5P , min(P max ,1.5P) ], P is the theoretical steam pressure, P max is the steam pressure overvalue; in the current round of steaming, the steam pressure emphasizes the large step range of [ 0.5L 1 ，1.5L 1 ], the vapor pressure emphasizes the small step range of [ 0.5L 2 ，1.5L 2 ], L 1 , L 2 They are respectively the first optimal steam pressure adjustment step length and the second optimal steam pressure adjustment step length; After the previous round of steaming is completed in any period, the previous round of steaming time is obtained; according to the previous round of steaming time, the corresponding number of times the mash steams, the steam pressure after pressure regulation and the corresponding pressure regulation duration, the previous round of steaming frequency and the previous round of steaming speed are obtained respectively; If the steaming speed in the previous round is greater than the corresponding theoretical steaming speed, and the steaming frequency in the previous round is higher than the corresponding theoretical steaming frequency, determine whether the relative deviation between the steaming speed in the previous round and the corresponding theoretical steaming speed is greater than a first relative deviation threshold; if greater, reduce the corresponding maximum steam pressure during the current round of steaming, and the reduction amount is the first pressure reduction value; If it is not greater than, in the current round of steaming, the steam is adjusted down to increase the step length, and the steam is adjusted up to decrease the step length, and the amount of adjustment down and the amount of adjustment up are the first step of adjustment down and the first step of adjustment up respectively; If the steaming speed in the previous round is less than the corresponding theoretical steaming speed, and the steaming frequency in the previous round is lower than the corresponding theoretical steaming frequency, determine whether the relative deviation between the steaming speed in the previous round and the corresponding theoretical steaming speed is less than the second relative deviation threshold; if less than, in the current round of steaming, increase the maximum steam pressure by the first increased pressure value; if not less than, in the current round of steaming, increase the steam enlargement step and decrease the steam reduction step, and the large and small amounts are respectively the second enlargement step and the second reduction step; After all the steam control operations are completed in all periods, the robot steaming task is completed.

2. The method for automatically controlling steam in a steamer using a robot according to claim 1, characterized in that: The steaming process is divided into the initial stage, the middle stage and the late stage. The ratio ranges of the steamer pot height to the fermented grains thickness corresponding to the steamer initial stage, the steamer middle stage and the steamer late stage are respectively: less than the first ratio threshold, not less than the first ratio threshold and not greater than the second ratio threshold, and greater than the second ratio threshold; the first ratio threshold is less than the second ratio threshold; The average steam pressure in the initial stage of the upper steamer and the average steam pressure in the later stage of the upper steamer are both lower than the average steam pressure in the middle stage of the upper steamer.

3. The method for automatically controlling steam in a steamer using a robot according to claim 1, characterized in that: The frequency of steaming in the previous round is the ratio of the number of times the mash steamed in the previous round to the time of steaming in the previous round; the speed of steaming in the previous round is the ratio of the sum of the products of the steam pressures after all pressure regulation in the previous round and the corresponding pressure regulation duration to the time of steaming in the previous round.

4. The method for automatically controlling steam in a steamer using a robot according to claim 1, characterized in that: If there is no steaming of the mash after two consecutive steaming processes, the steam pressure will be increased in the current round of steaming process, and the adjustment amount is the pressure value corresponding to the corresponding steam increase step in the current round of steaming process.

5. The method for automatically controlling steam in a steamer using a robot according to claim 1, characterized in that: The adjusted maximum steam pressure is the minimum value of the theoretical steam pressure corresponding to the first coefficient and the excess steam pressure; the first coefficient is 1.5, and the theoretical steam pressure is obtained based on the upper steamer steam control process curve; The vapor pressure excess value is obtained based on the alcohol pressure critical value, vapor pressure critical value and mash pressure critical value of the target wine quality, the theoretical mash pressure maximum value, the theoretical mash viscosity and the theoretical mash moisture content; the theoretical mash pressure maximum value, the theoretical mash viscosity and the theoretical mash moisture content are obtained by collecting historical data and constructing a theoretical retort pressure control process curve.

6. The method for automatically controlling steam in a steamer using a robot according to claim 1, characterized in that: The optimal steam pressure adjustment step is obtained based on the alcohol pressure difference, steam pressure difference, fermented grains pressure difference, theoretical fermented grains viscosity, theoretical fermented grains density and theoretical ambient temperature; The alcohol pressure difference is the difference between the critical value of alcohol pressure and the theoretical alcohol pressure value when the target wine quality is reached, the vapor pressure difference is the difference between the critical value of vapor pressure and the theoretical vapor pressure value when the target wine quality is reached, and the fermented grains pressure difference is the difference between the critical value of fermented grains pressure and the theoretical fermented grains pressure value when the target wine quality is reached; The theoretical mash viscosity, theoretical mash density and theoretical ambient temperature are obtained by collecting historical data and constructing a theoretical retort pressure control process curve.

7. The method for automatically controlling steam in a steamer using a robot according to claim 1, characterized in that: The theoretical steam velocity and / or theoretical steam frequency are obtained based on the steam control process curve of the upper steamer; The method for acquiring the steam control process curve for the upper steamer is as follows: collecting the upper steamer time, steam pressure, mash thickness, ambient temperature corresponding to the steam pressure adjustment in the historical steaming process, as well as the steam emission frequency, steaming speed, and wine quality in the historical steaming process to form a data report; the data report is subjected to linear fitting or nonlinear fitting to obtain a preliminary control process curve; the preliminary control process curve is optimized based on the wine quality to obtain the steam control process curve for the upper steamer.

8. A robot steam automatic control system for steaming a retort, used to implement the robot steam automatic control method for steaming a retort as claimed in claim 1, characterized in that: include: The module for dividing the steaming process into different periods is used to divide the steaming process into different periods according to the height of the steamer pot and the thickness of the fermented grains; Steam control operations are performed at different times according to respective steam pressure ranges, steam pressure emphasis large step ranges and steam pressure emphasis small step ranges; The steaming speed and steaming frequency generation module is used to obtain the previous round of steaming time after the previous round of steaming is completed in any period; according to the previous round of steaming time, the corresponding number of times the mash steams, the steam pressure after pressure regulation and the corresponding pressure regulation duration, the previous round of steaming frequency and the previous round of steaming speed are obtained respectively; The steam pressure adjustment module is used to determine whether the relative deviation between the steaming speed in the previous round and the corresponding theoretical steaming speed is greater than a first relative deviation threshold value if the steaming speed in the previous round is greater than the corresponding theoretical steaming speed and the steaming frequency in the previous round is higher than the corresponding theoretical steaming frequency; if greater, in the steaming process in the current round, reduce the corresponding maximum steam pressure by a first pressure reduction value; If it is not greater than, in the current round of steaming process, the steam enlargement step is adjusted down, and the steam reduction step is adjusted up, and the reduction amount and the large adjustment amount are the first reduction step and the first increase step respectively; it is used to judge whether the relative deviation between the previous round of steaming speed and the corresponding theoretical steaming speed is less than the second relative deviation threshold if the steaming speed in the previous round is less than the corresponding theoretical steaming speed, and the steaming frequency in the previous round is lower than the corresponding theoretical steaming frequency; if it is less than, in the current round of steaming process, the maximum steam pressure is increased, and the increase amount is the first increase pressure value; if it is not less than, in the current round of steaming process, the steam enlargement step is increased, and the steam reduction step is decreased, and the large adjustment amount and the reduction amount are the second increase step and the second decrease step respectively.

9. The robot steam automatic control system according to claim 8, characterized in that: Also includes: The visualization cloud service module is used to visualize the data in the steaming process different period division module, the steaming speed and steam frequency generation module, and the steam pressure adjustment module.

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