A grab control system based on the use of a winery

Abstract

This invention discloses a grab bucket control system for use in wineries, relating to the field of intelligent grab bucket technology. It solves the technical problems encountered in winery grab bucket operation, where setting a fixed gripping force makes it difficult to dynamically adjust the gripping force based on the actual material conditions, and also hinders automatic force correction based on material conditions. This invention acquires standard usage data of the grab bucket and target information of the material; analyzes the standard usage data to obtain a standard gripping force; adjusts the standard gripping force based on the target information to obtain a dynamic gripping force; automatically controls the grab bucket to grab material based on the dynamic gripping force; and acquires the volume of material being grabbed by the grab bucket, automatically correcting the dynamic gripping force based on the material volume. This invention enables the grab bucket's gripping force to match the current material conditions, allowing for better analysis of the required gripping force for the current material. This invention also reduces manual intervention and lowers production costs.

Description

Technical Field

[0001] This invention belongs to the field of industrial automation and relates to intelligent grab bucket technology, specifically a grab bucket control system used in wineries. Background Technology

[0002] With the development of technology, automated equipment has been widely used in various industries. Grab buckets are a common material handling device, and their use is very frequent in winery production processes, where grab bucket cranes are used for loading, unloading, and transporting raw materials. In traditional grab bucket control systems, operators typically need to control the grab bucket's movements manually or semi-automatically, depending on the working environment and material characteristics. This method requires a high level of operator skill and has limitations in operational efficiency and stability. Therefore, a grab bucket control system based on winery usage has emerged. This system uses sensors to collect material data and intelligent algorithms to achieve precise control of the grab bucket's movements, ensuring the stability and accuracy of material handling.

[0003] Currently, most grab control systems used in wineries set a fixed gripping force for the grab bucket during operation. This makes it difficult to dynamically adjust the gripping force based on the actual material conditions, neglecting the wear and tear caused by the winery's unique environment, which leads to variations in the required gripping force. Furthermore, most grab control systems used in wineries struggle to automatically correct the gripping force based on the actual material conditions, increasing the instability of the grab bucket during operation.

[0004] Therefore, this invention discloses a grab bucket control system for use in wineries to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a grab bucket control system based on the use of wineries to solve the technical problems that, in the operation of grab buckets in wineries, it is difficult to set a fixed grab force for dynamic grabbing based on the actual situation of the material, and it is also difficult to automatically correct the grab force according to the actual situation of the material. This invention obtains a standard grab force by analyzing the set material volume and weight; obtains a dynamic grab force by adjusting the standard grab force based on the material density and moisture content; and solves the above problems by automatically correcting the dynamic grab force according to the material volume.

[0006] To achieve the above objectives, a first aspect of the present invention provides a grab bucket control system for use in wineries, comprising: a grab bucket control module, and an information acquisition module, an automatic correction module, and a database connected thereto;

[0007] The information acquisition module is used to acquire standard usage data of the grab bucket and target information of the material; wherein, the standard usage data includes the material volume and weight set for the grab bucket, and the target information includes the material density and material moisture content;

[0008] The grab control module is used to: acquire standard usage data of the grab, analyze the standard usage data to obtain standard gripping force; adjust the standard gripping force based on target information to obtain dynamic gripping force; and automatically control the grab to grab materials based on the dynamic gripping force.

[0009] The automatic correction module is used to obtain the volume of material being grasped by the grab bucket and to automatically correct the dynamic gripping force based on the material volume.

[0010] It should be noted that the dynamic gripping force designed in this invention allows the grab bucket to adjust the force of the grab jaws according to the magnitude of the dynamic gripping force. The smaller the gripping force, the less material is grabbed, so as to obtain different loading materials.

[0011] It should be noted that in this invention, the dynamic gripping force is obtained by adjusting the standard gripping force using material density and material moisture content. This is because when the standard gripping force of the current grab bucket is obtained based on the material volume and weight set for the current grab bucket, the standard gripping force is obtained under conditions of roughly stable material density and material moisture content. However, in reality, when using a grab bucket to grab materials, the differences in material density and material moisture content between different batches are very large, and material density and material moisture content will have a certain impact on the weight of the material. Therefore, this invention uses material density and material moisture content as control data to adjust the standard gripping force to obtain the dynamic gripping force. This allows the gripping force of the grab bucket to conform to the current material conditions, enabling better analysis of the required gripping force for the current material. This system reduces manual intervention and lowers production costs.

[0012] Preferably, the acquisition of standard usage data for the grab bucket and target information for the material includes:

[0013] The system obtains the current grab bucket's set material volume and weight from the database; it obtains the material density in the material pool from density measuring devices installed around the pool; and it obtains the material humidity in the pool from humidity sensors installed around the pool.

[0014] Preferably, the step of analyzing standard usage data to obtain standard gripping force includes:

[0015] Obtain the historical material volume and corresponding historical material weight of the current grab bucket; perform data cleaning on the historical material volume and corresponding historical material weight to obtain the historical material volume library and the historical material weight library, respectively.

[0016] Obtain the historical grab force corresponding to the historical material volume database and the historical material weight database. Use the data from the historical material volume database and the historical material weight database as training data, and use the historical grab force corresponding to the historical material volume database and the historical grab force as test data. Train the neural network model using the training data, test the trained neural network model using the test data, and adjust the parameters of the neural network model based on the test results. Obtain a grab force matching model with material volume and material weight as input and grab force as output.

[0017] Input the material volume and weight set in the current grab bucket into the grab force matching model to obtain the standard grab force BZ of the current grab bucket.

[0018] It should be noted that the historical grab force corresponding to the historical material volume database and the historical material weight database was obtained manually.

[0019] Preferably, the step of cleaning the data to obtain the historical material volume database and the historical material weight database includes:

[0020] Obtain the historical material volume and corresponding historical material weight of the grab bucket, and mark the historical material volume and historical material weight of the same event with the same number;

[0021] The historical material volume of the grab bucket is marked as group A, and the historical material weight of the grab bucket is marked as group B. The variance of each group is obtained in turn, and it is determined whether the variance of each group is less than the corresponding set value. If yes, the data of the group is retained; if no, the number with the largest absolute value of the difference between the sum and mode in the group is removed, and the variance of the group is recalculated until the variance of the group is less than the corresponding set value. The set value is obtained through experience.

[0022] Mark the data with the same number in the data retained in groups A and B as numbered data. Extract the numbered data from groups A and B and establish a historical material volume database and a historical material weight database according to the numbering order; where group A is the historical material volume database and group B is the historical material weight database.

[0023] Preferably, the step of adjusting the standard gripping force based on target information to obtain dynamic gripping force includes:

[0024] Extract the standard gripping force BZ of the current grab bucket; obtain the material density WM and material moisture WS of the current material, and determine whether the material density WM exceeds the density threshold; if yes, issue an alarm to notify the staff; if no, compare the material moisture WS with the moisture threshold; if the material moisture WS is greater than the moisture threshold, issue an alarm to notify the staff; otherwise, calculate the dynamic gripping force DZ by calculating the material density WM, material moisture WS, and standard gripping force BZ using the following formula: DZ=(1-ln(α×(WM-BWM) / BWM+β×(WS-BWS) / BWS)+1)×BZ; the density threshold and moisture threshold are both manually set; α and β are proportionality coefficients.

[0025] In the formula for calculating the dynamic gripping force in this invention, (1-ln(α×(WM-BWM) / BWM+β×(WS-BWS) / BWS)+1) is used to represent the influence of the material density WM and the material moisture content WS on the gripping force. A smaller combined value of material density WM and material moisture content WS indicates a smaller required gripping force, because a lower gripping force can reduce the amount of material grabbed by the grab bucket. This system can achieve more precise control of the grab bucket's gripping force through comprehensive analysis of material density WM and material moisture content WS, reducing errors and waste during the grabbing process, thereby improving grabbing efficiency.

[0026] Preferably, the automatic correction of dynamic gripping force based on material volume includes:

[0027] Obtain the material volume WV of the grab bucket under dynamic gripping force control; determine whether the volume exceeds the current maximum loading volume ZDV of the grab bucket;

[0028] Yes, the excess ratio CL of the material volume is obtained based on the formula CL=(WV-ZDV) / ZDV; the correction gripping force JZ is calculated by the formula JZ=(1-δ×ln(CL+1))×DZ; where DZ is the dynamic gripping force, CL is the excess ratio, and δ is the weighting factor.

[0029] No, no action will be taken;

[0030] The gripping force of the grab bucket is adjusted by the correction gripping force JZ.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] 1. This invention obtains a standard gripping force by analyzing the set material volume and weight; adjusts the standard gripping force based on the material density and moisture content to obtain a dynamic gripping force; and automatically corrects the dynamic gripping force according to the material volume. This solves the technical problem in winery grab bucket operation where setting a fixed gripping force makes it difficult to dynamically adjust the gripping force based on the actual material conditions, and also makes it difficult to automatically correct the gripping force according to the actual material conditions. This invention enables the gripping force of the grab bucket to match the current material conditions, allowing for better analysis of the required gripping force for the current material. This invention also reduces manual intervention and lowers production costs.

[0033] 2. The formula for calculating the dynamic gripping force in this invention uses a formula to represent the influence of the current material density and moisture content on the gripping force. The smaller the combined value of the material density and moisture content, the smaller the required gripping force, because a lower gripping force can reduce the amount of material grabbed by the grab bucket. This system can achieve more precise control of the grab bucket's gripping force through comprehensive analysis of material density (WM) and moisture content (WS), reducing errors and waste during the grabbing process, thereby improving grabbing efficiency. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the system modules of the present invention;

[0036] Figure 2 This is a schematic diagram of the operation steps of the present invention;

[0037] Figure 3 This is a schematic diagram illustrating the operational steps for obtaining dynamic gripping force according to the present invention. Detailed Implementation

[0038] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Please see Figures 1-3The first aspect of the present invention provides a grab bucket control system for use in wineries, including: a grab bucket control module, and an information acquisition module, an automatic correction module and a database connected thereto;

[0040] Information acquisition module: used to acquire standard usage data of the grab bucket and target information of the material; among which, the standard usage data includes the material volume and weight set for the grab bucket, and the target information includes the material density and material moisture content;

[0041] Grab control module: Used to acquire standard usage data of the grab bucket, analyze the standard usage data to obtain standard gripping force; adjust the standard gripping force based on target information to obtain dynamic gripping force; and automatically control the grab bucket to grab materials based on dynamic gripping force.

[0042] Automatic deviation correction module: used to obtain the volume of material being grasped by the grab bucket and automatically correct the dynamic gripping force based on the material volume.

[0043] It should be noted that the automatic correction module is a module used for grab bucket protection and material monitoring. This invention uses the automatic correction module to monitor the amount of material grabbed by the grab bucket each time to determine whether the material grabbed by the grab bucket with dynamic gripping force exceeds the maximum loading volume of the grab bucket. When the material grabbed by the grab bucket with dynamic gripping force exceeds the maximum loading volume of the grab bucket, the grab bucket gripping force is adjusted through the system's automatic correction operation. When the material grabbed by the grab bucket with dynamic gripping force does not exceed the maximum loading volume of the grab bucket, it proves that under the action of the current dynamic gripping force, the grab bucket's grabbing of material meets the standards of the grab bucket's grabbable weight and grabbable volume, avoiding grab bucket wear and material leakage caused by overloading the grab bucket, resulting in economic losses.

[0044] In this embodiment, the specific operation steps are as follows:

[0045] 1. Obtain the current grab bucket's set material volume and weight from the database; obtain the material density in the material pool from density measuring devices installed around the material pool; obtain the material humidity in the material pool based on humidity sensors installed around the material pool;

[0046] 2. This process involves acquiring standard usage data for the grab bucket and training a neural network model based on the historical material volume and weight databases for the current grab bucket. The parameters of the neural network model are then adjusted according to the historical grab bucket forces corresponding to these databases. This results in a grab force matching model where the input is material volume and weight, and the output is the grab bucket force. The current grab bucket's set material volume and weight are input into the grab force matching model to obtain the standard grab bucket force. The dynamic grab force is then calculated using formulas based on the material density, moisture content, and standard grab force of the currently grabbed material. The grab bucket is then automatically controlled to grab material based on this dynamic grab force.

[0047] 3. Used to obtain the volume of material being grabbed by the grab bucket, and to automatically correct the dynamic grabbing force based on the material volume.

[0048] This application obtains standard usage data for grabs and target information for materials, including:

[0049] The system obtains the current grab bucket's set material volume and weight from the database; it obtains the material density in the material pool from density measuring devices installed around the pool; and it obtains the material humidity in the pool from humidity sensors installed around the pool.

[0050] It should be noted that the material density and moisture content obtained in the material pool by this invention are used to provide accurate reference data for subsequent automatic correction operations.

[0051] This application analyzes standard usage data to obtain standard gripping force, including:

[0052] Obtain the historical material volume and corresponding historical material weight of the current grab bucket; perform data cleaning on the historical material volume and corresponding historical material weight to obtain the historical material volume library and the historical material weight library, respectively.

[0053] Obtain the historical grab force corresponding to the historical material volume database and the historical material weight database. Use the data from the historical material volume database and the historical material weight database as training data, and use the historical grab force corresponding to the historical material volume database and the historical grab force as test data. Train the neural network model using the training data, test the trained neural network model using the test data, and adjust the parameters of the neural network model based on the test results. Obtain a grab force matching model with material volume and material weight as input and grab force as output.

[0054] Input the material volume and weight set in the current grab bucket into the grab force matching model to obtain the standard grab force BZ of the current grab bucket.

[0055] It should be noted that this invention uses historical material volume and corresponding historical material weight for data cleaning. The data from the historical material volume and weight databases obtained after data cleaning are used as standard input data for model construction. The standard material volume and weight set by the grab bucket are not used as standard input data because the humid working environment of the winery during use can cause damage to the grab bucket's grippers. This damage may lead to changes in the loadable weight or volume. Therefore, using the set standard material volume and weight as standard input data is not suitable for the winery's working environment. Since the current grab bucket operates in this environment for extended periods, this invention uses the historical material volume and weight databases obtained after data cleaning of the current grab bucket as standard input data to build the model, which is beneficial for obtaining a more scientific data matching model.

[0056] This application involves data cleaning to obtain a historical material volume database and a historical material weight database, including:

[0057] Obtain the historical material volume and corresponding historical material weight of the grab bucket, and mark the historical material volume and historical material weight of the same event with the same number;

[0058] The historical material volume of the grab bucket is marked as group A, and the historical material weight of the grab bucket is marked as group B. The variance of each group is obtained in turn, and it is determined whether the variance of each group is less than the corresponding set value. If yes, the data of the group is retained; if no, the number with the largest absolute value of the difference between the sum and mode in the group is removed, and the variance of the group is recalculated until the variance of the group is less than the corresponding set value. The set value is obtained through experience.

[0059] Mark the data with the same number in the data retained in groups A and B as numbered data. Extract the numbered data from groups A and B and establish a historical material volume database and a historical material weight database according to the numbering order; where group A is the historical material volume database and group B is the historical material weight database.

[0060] It should be noted that, in this invention, marking the historical material volume and weight of the same event with the same number can be understood as marking the material volume and weight of each grab in the current grab bucket history with the same number. This is beneficial for extracting the data with the same number after data cleaning of the two sets of data, historical material volume and corresponding historical material weight, thereby improving the system's computational efficiency.

[0061] For example: the historical material volume and weight of grabs 15, 16, and 17 are numbered 15, 16, and 17 respectively; the data retained in group A is the historical material volume corresponding to number 15 and 16, and the data retained in group B is the historical material weight corresponding to number 16 and 17. Therefore, the final number is 16. The historical material volume and weight corresponding to number 16 in groups A and B are extracted to establish a historical material volume library and a historical material weight library.

[0062] In this application, dynamic gripping force is obtained by adjusting the standard gripping force based on target information, including:

[0063] Extract the standard gripping force BZ of the current grab bucket; obtain the material density WM and material moisture WS of the current material, and determine whether the material density WM exceeds the density threshold; if yes, issue an alarm to notify the staff; if no, compare the material moisture WS with the moisture threshold; if the material moisture WS is greater than the moisture threshold, issue an alarm to notify the staff; otherwise, calculate the dynamic gripping force DZ by calculating the material density WM, material moisture WS, and standard gripping force BZ using the following formula: DZ=(1-ln(α×(WM-BWM) / BWM+β×(WS-BWS) / BWS)+1)×BZ; the density threshold and moisture threshold are both manually set; α and β are proportionality coefficients.

[0064] It should be noted that the determination of whether the material density WM exceeds the density threshold and whether the material humidity WS exceeds the humidity threshold in this invention is used to analyze whether the material density WM and material humidity WS of the current material meet the standards. When both the material density WM and material humidity WS of the current material meet the standards, the dynamic gripping force is calculated. When both independent variables are less than the threshold, it can be ensured that the calculated dynamic gripping force meets the actual gripping force required by the current grab bucket, and will not cause the value of the dynamic gripping force to be too large or too small.

[0065] In the formula for calculating the dynamic gripping force in this invention, (1-ln(α×(WM-BWM) / BWM+β×(WS-BWS) / BWS)+1) is used to represent the influence of the material density WM and the material moisture content WS on the gripping force. A smaller combined value of material density WM and material moisture content WS indicates a smaller required gripping force, because a lower gripping force can reduce the amount of material grabbed by the grab bucket. This system can achieve more precise control of the grab bucket's gripping force through comprehensive analysis of material density WM and material moisture content WS, reducing errors and waste during the grabbing process, thereby improving grabbing efficiency.

[0066] This application includes automatic correction of dynamic gripping force based on material volume, including:

[0067] Obtain the material volume WV of the grab bucket under dynamic gripping force control; determine whether the volume exceeds the current maximum loading volume ZDV of the grab bucket;

[0068] Yes, the excess ratio CL of the material volume is obtained based on the formula CL=(WV-ZDV) / ZDV; the correction gripping force JZ is calculated by the formula JZ=(1-δ×ln(CL+1))×DZ; where DZ is the dynamic gripping force, CL is the excess ratio, and δ is the weighting factor.

[0069] No, no action will be taken;

[0070] The gripping force of the grab bucket is adjusted by the correction gripping force JZ.

[0071] It should be noted that the corrective gripping force in the automatic correction operation is derived from the analysis of the material volume loaded in the grab bucket. By controlling the corrective gripping force, the gripping force of the grab bucket can be precisely adjusted, thereby improving operational efficiency and safety.

[0072] Some of the data in the above formula are calculated by removing dimensions and taking their numerical values. The formula is the closest to the real situation obtained by software simulation of a large amount of collected data. The preset parameters and preset thresholds in the formula are set by those skilled in the art according to the actual situation or obtained through simulation of a large amount of data.

[0073] Working principle of the invention:

[0074] The system acquires the set material volume, weight, density, and moisture content of the grab bucket; extracts the current standard grab force of the grab bucket; acquires the current material density and moisture content, and determines whether the material density exceeds the density threshold; if yes, an alarm is triggered to notify the staff; if no, it determines whether the material moisture content exceeds the moisture threshold; if yes, an alarm is triggered to notify the staff; if no, it calculates the dynamic grab force using a formula based on the material density, moisture content, and standard grab force; automatically controls the grab bucket to grab the material based on the dynamic grab force; acquires the material volume being grabbed by the grab bucket, and automatically corrects the dynamic grab force based on the material volume.

[0075] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.

Claims

1. A grab control system based on the use of a winery, characterized by, include: The grab bucket control module, and the information acquisition module, automatic correction module and database connected to it; The information acquisition module is used to acquire standard usage data of the grab bucket and target information of the material; wherein, the standard usage data includes the material volume and weight set for the grab bucket, and the target information includes the material density and material moisture content; The grab control module is used to: acquire standard usage data of the grab, analyze the standard usage data to obtain standard gripping force; adjust the standard gripping force based on target information to obtain dynamic gripping force; and automatically control the grab to grab materials based on the dynamic gripping force. The automatic correction module is used to obtain the volume of material being grasped by the grab bucket and to automatically correct the dynamic gripping force based on the material volume. The analysis of standard usage data to obtain standard gripping force includes: Obtain the historical material volume and corresponding historical material weight of the current grab bucket; perform data cleaning on the historical material volume and corresponding historical material weight to obtain the historical material volume library and the historical material weight library, respectively. Obtain the historical grab force corresponding to the historical material volume database and the historical material weight database. Use the data from the historical material volume database and the historical material weight database as training data, and use the historical grab force corresponding to the historical material volume database and the historical grab force as test data. Train the neural network model using the training data, test the trained neural network model using the test data, and adjust the parameters of the neural network model based on the test results. Obtain a grab force matching model with material volume and material weight as input and grab force as output. Input the material volume and weight currently set for the grab bucket into the grab force matching model to obtain the standard grab force BZ for the current grab bucket; The process of adjusting the standard grip force based on target information to obtain dynamic grip force includes: Extract the standard gripping force BZ of the current grab bucket; obtain the material density WM and material moisture WS of the current material, and determine whether the material density WM exceeds the density threshold; if yes, issue an alarm to notify the staff; if no, compare the material moisture WS with the moisture threshold; if the material moisture WS is greater than the moisture threshold, issue an alarm to notify the staff; otherwise, calculate the dynamic gripping force DZ by calculating the material density WM, material moisture WS, and standard gripping force BZ using the following formula: DZ=(1-ln(α×(WM-BWM) / BWM+β×(WS-BWS) / BWS)+1)×BZ; α and β are proportionality coefficients.

2. A grab control system based on distillery usage as claimed in claim 1, wherein, The acquisition of standard usage data for the grab bucket and target information for the material includes: The system obtains the current grab bucket's set material volume and weight from the database; it obtains the material density in the material pool from density measuring devices installed around the pool; and it obtains the material humidity in the pool from humidity sensors installed around the pool.

3. A grab control system based on distillery usage as claimed in claim 1, wherein, The process of data cleaning to obtain a historical material volume database and a historical material weight database includes: Obtain the historical material volume and corresponding historical material weight of the grab bucket, and mark the historical material volume and historical material weight of the same event with the same number; The historical material volume of the grab bucket is marked as group A, and the historical material weight of the grab bucket is marked as group B. The variance of each group is obtained in turn, and it is determined whether the variance of each group is less than the corresponding set value. If yes, the data of the group is retained; if no, the number with the largest absolute value of the difference between the sum and mode in the group is removed, and the variance of the group is recalculated until the variance of the group is less than the corresponding set value. The set value is obtained through experience. Mark the data with the same number in the data retained in groups A and B as numbered data. Extract the numbered data from groups A and B and establish a historical material volume database and a historical material weight database according to the numbering order; where group A is the historical material volume database and group B is the historical material weight database.

4. A grab control system based on distillery usage as claimed in claim 1, wherein, The automatic correction of dynamic gripping force based on material volume includes: Obtain the material volume WV of the grab bucket under dynamic gripping force control; determine whether the volume exceeds the current maximum loading volume ZDV of the grab bucket; Yes, the excess ratio CL of the material volume is obtained based on the formula CL=(WV-ZDV) / ZDV; the correction gripping force JZ is calculated by the formula JZ=(1-δ×ln(CL+1))×DZ; where DZ is the dynamic gripping force, CL is the excess ratio, and δ is the weighting factor. No, no action will be taken; The gripping force of the grab bucket is adjusted by the correction gripping force JZ.

Images