Intelligent control method and system for steaming mash

Abstract

The invention discloses an intelligent control method for steaming mash, comprising: a circular design based on a steamer pot and a rotating disk, and the rotating disk performs circular motion around the center of the steamer pot; the mash is thrown in the tangent direction of the two ends of a fixed arc AB on the rotating disk; when steaming wine, abnormal points on the surface of the steamer pot are collected in real time and their positions are determined, and a spreading strategy is adjusted according to the positional relationship between the abnormal points and the spreading range of the rotating disk; if the abnormal points are within the spreading range, the rotation angle, the rotation direction and the fan speed of the rotating disk are adjusted to achieve accurate spreading; if the abnormal points are outside the spreading range, the direction and angle of the revolution angle of the rotating disk are adjusted to make the spreading range cover the abnormal points before accurate spreading; the invention solves the problem of uneven and inaccurate spreading in the traditional steaming process by adjusting the spreading strategy in real time, and achieves accurate spreading.

Description

Technical Field

[0001] The invention relates to the technical field of wine making, and in particular to an intelligent control method and system for steaming mash. Background Art

[0002] In the winemaking process, steaming is a crucial step, which directly affects the effects of subsequent heating and distillation operations as well as the quality and taste of the final wine. During the steaming process, the mash needs to be spread evenly and accurately in the steamer. However, due to the influence of various complex factors such as temperature and humidity, various types of abnormal points, such as hot spots and concave spots, often appear on the surface of the mash. These abnormal points are randomly distributed on the surface of the steamer in irregular shapes, posing a severe challenge to the winemaking process.

[0003] The traditional method of steaming mainly relies on manual operation, which is not only labor-intensive, but also difficult to ensure the uniformity and accuracy of the material spreading. Especially when abnormal points appear, manual operation is often difficult to adjust and optimize in a timely and accurate manner. In recent years, although some automated steaming equipment has appeared, most of these devices can only achieve simple mechanical movements and lack the ability of intelligent identification and precise control. When faced with abnormal points on the surface of the mash, these devices are often unable to make real-time adjustments and optimizations according to actual conditions, resulting in poor material spreading effects, which in turn affects the quality of the wine. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent control method and system for the steaming of fermented grains in view of the problems existing in the prior art. According to the location of the abnormal point, the material spreading strategy is adjusted in real time to achieve accurate material spreading, which effectively solves the problem of uneven and inaccurate material spreading in the traditional steaming process.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] An intelligent control method for steaming fermented grains comprises the following steps:

[0007] Assume that the steamer is a circle with O as the center and R as the radius, and the turntable is a circle with P as the center and r as the radius; the turntable's center P moves in a circle on a revolution circle with O as the center and R0 as the radius;

[0008] The mash is thrown out in the tangent direction of the two ends of the fixed arc AB on the rotating disk. The material spreading range of the rotating disk is an annular area with point P as the center and located between the radius r and the radius r1;

[0009] During the wine brewing process, abnormal points on the surface of the steamer are collected in real time and their specific locations are determined;

[0010] According to the position of the abnormal point, determine its positional relationship with the material spreading range of the rotary disk;

[0011] When the abnormal point is within the material spreading range, the material can be spread accurately at the abnormal point by adjusting the rotation angle, rotation direction and fan speed of the rotating disk.

[0012] When the abnormal point is outside the material spreading range, the material spreading range is made to cover the abnormal point by adjusting the direction and angle of the revolution angle of the turntable, and then the material is spread in the same manner as when the abnormal point is within the material spreading range.

[0013] Real-time collection of abnormal points on the surface of the steamer, including:

[0014] Use acquisition equipment to capture and identify abnormal points on the surface of the steamer in real time;

[0015] The abnormal points include hot spots and / or convex points, and the abnormal points are irregular shapes composed of multiple pixel points or point clouds, and are random points that appear at any position in the circle where the steamer pot is located;

[0016] The irregular shape where the abnormal point is located is represented by a minimum bounding rectangle, and the minimum bounding rectangle is calculated by using the maximum values ​​of the upper, lower, left and right directions of the irregular shape.

[0017] According to the location of the abnormal point, the positional relationship between it and the material spreading range of the rotary disk is judged, including:

[0018] Calculate the distance between the point farthest from point P and the center point P of the turntable in the minimum circumscribed rectangle of the abnormal point. If the distance is less than or equal to the outer diameter r1 of the turntable's material spreading range, the abnormal point is judged to be within the material spreading range.

[0019] Calculate the distance between the point farthest from point P and the center point P of the turntable in the minimum circumscribed rectangle of the abnormal point. If the distance is greater than the outer diameter r1 of the turntable's material spreading range, it is determined that the abnormal point is outside the material spreading range.

[0020] When the abnormal point is within the material spreading range, adjust the rotation direction of the rotating disk, including:

[0021] Let point C be the intersection of the tangent lines of points A and B;

[0022] Taking the straight line PC as the symmetry axis of the rotating disk, the position of the center point M of the minimum circumscribed rectangle of the abnormal point relative to the symmetry axis PC is determined by the calculation formula:

[0023]

[0024] According to the value of Δ, determine the rotation direction and discharge point of the turntable:

[0025] When Δ<0, the center point M of the smallest circumscribed rectangle of the abnormal point is located on the left side of the symmetry axis PC, the turntable needs to rotate counterclockwise, and the discharge point is point B;

[0026] When Δ=0, it is determined that the center point M of the smallest circumscribed rectangle of the abnormal point is located on the symmetry axis PC, and the turntable continues to rotate in the direction of the last rotation. The discharge point is determined to be point A or point B according to the direction of the last rotation;

[0027] When Δ>0, the center point M of the minimum circumscribed rectangle of the abnormal point is located on the right side of the symmetry axis PC, the turntable needs to rotate clockwise, and the discharge point is point A.

[0028] When the abnormal point is within the material spreading range, adjust the rotation angle of the rotating disk, including:

[0029] Calculate the coordinates of the tangent point D or E between the center point M of the minimum circumscribed rectangle of the outlier point and the contour circle of the rotating disk;

[0030] If the turntable rotates counterclockwise and the material is discharged from point B, point B needs to rotate to point D. The calculation formula for the turntable's rotation angle is:

[0031]

[0032] Among them, the range of θ1 is [0°, 180°];

[0033] If the turntable rotates clockwise and the material is discharged from point A, point A needs to rotate to point E. The calculation formula for the turntable's rotation angle is:

[0034]

[0035] Among them, the range of θ2 is [0°,180°].

[0036] When the abnormal point is within the material spreading range, adjust the fan speed of the rotating disk, including:

[0037] When point B rotates counterclockwise to point D or point A rotates clockwise to point E, the throwing direction is aligned with the center point M of the smallest circumscribed rectangle of the abnormal point, and the line segment DM or EM is the throwing distance;

[0038] Given the distances PE and PD, as well as the coordinates of the abnormal point M, the tangent point D, and the tangent point E, the throwing distance DM or EM can be calculated using the Pythagorean theorem:

[0039] According to the corresponding relationship between the fan blade speed and the distance of throwing the mash, the fan blade speed that the rotating disk should provide is obtained.

[0040] When the abnormal point is outside the material spreading range, adjust the revolution direction of the rotating disk, including:

[0041] Take the straight line OP as the symmetry axis of the rotating disk's revolution circle, and determine the position of the center point M of the minimum circumscribed rectangle of the abnormal point relative to the symmetry axis OP. The calculation formula is:

[0042]

[0043] According to the value of Δ1, determine the revolution direction of the turntable;

[0044] When Δ1 is less than 0, the center point M of the smallest circumscribed rectangle of the outlier point is on the left side of the symmetry axis OP, and the disk needs to revolve counterclockwise;

[0045] When Δ1 is equal to 0, the center point M of the smallest circumscribed rectangle of the abnormal point is located on the symmetry axis OP, and the disk revolves in the direction of the last revolution;

[0046] When Δ1 is greater than 0, the center point M of the minimum circumscribed rectangle of the outlier point is on the right side of the symmetry axis OP, and the disk needs to revolve clockwise.

[0047] When the abnormal point is outside the material spreading range, adjust the rotation angle of the rotating disk, including:

[0048] With the point of the smallest circumscribed rectangle of the abnormal point farthest from point P as the center, draw a circle with r1 as the radius. This circle intersects with the revolution circle of the turntable at two intersection points F and G. When the center of the turntable rotates to the intersection point F or G, the material spreading range of the turntable can cover the abnormal point.

[0049] If the turntable revolves counterclockwise, point P needs to rotate to point F. The calculation formula for the turntable's revolving angle is:

[0050]

[0051] Among them, the range of θ3 is [0°, 180°];

[0052] If the turntable revolves clockwise, point P needs to rotate to point G. The calculation formula for the turntable's revolving angle is:

[0053]

[0054] Among them, the range of θ4 is [0°,180°].

[0055] The control method also includes a turntable scheduling step for multiple abnormal points, specifically including:

[0056] Set up a queue P[P1, P2, P3...Pn] to store the abnormal point location information according to the first-in-first-out principle. The storage order is determined by the priority. At the same time, set the variable Q to store the current turntable position information;

[0057] Calculate the relationship between the current rotating disk position and the abnormal point position, including determining whether the abnormal point is within or outside the rotating disk material spreading coverage;

[0058] If the abnormal point is within the coverage of the rotating disk, the material is spread through the rotation of the rotating disk, and the relationship between the processed abnormal point and the next abnormal point in the queue is calculated;

[0059] If the abnormal point is outside the coverage of the rotating disk, the rotating disk will revolve to the appropriate position and then rotate to complete the material spreading, and calculate the relationship between the processed abnormal point and the next abnormal point in the queue;

[0060] Repeat the above steps until the queue is empty. At this time, the turntable spreads the material in a uniform revolution and rotation manner until a new abnormal point appears and is added to the queue.

[0061] An intelligent control system for steaming mash, comprising:

[0062] The steamer pot is a circular structure with O as the center and R as the radius, used to hold the mash;

[0063] The turntable is a circular structure with point P as the center and r as the radius. There are blades inside the turntable to provide centrifugal force to make the wine

[0064] The mash is thrown out in the tangent direction of the two ends of the fixed arc AB; the center point P of the rotating disk can make a clockwise or counterclockwise circular motion on the revolution circle with point O as the center and R0 as the radius; the material spreading range of the rotating disk is set to be an annular area with point P as the center and located between the radius r and the radius r1;

[0065] The abnormal point collection module is equipped with a collection device for collecting abnormal point information on the surface of the steamer pot in real time during the wine brewing process and determining the specific location of the abnormal point;

[0066] A position relationship judgment module is used to judge the position relationship between the abnormal point and the material spreading range of the rotary disk, and judge whether the abnormal point is within the material spreading range or outside the material spreading range;

[0067] The rotating disk rotation control module is used to calculate and adjust the rotating disk's rotation angle, rotation direction and fan speed when the position relationship judgment module determines that the abnormal point is within the material spreading range, so as to achieve accurate material spreading at the abnormal point;

[0068] The turntable revolution control module is used to calculate and adjust the revolution direction and revolution angle of the turntable when the position relationship judgment module determines that the abnormal point is outside the material spreading range, so that the material spreading range can cover the abnormal point.

[0069] Compared with the prior art, the present invention has the following beneficial effects:

[0070] 1. The rotating disc design that can revolve and rotate, combined with the intelligent control algorithm, can realize accurate identification and spreading of abnormal points on the surface of the mash. Whether it is an abnormal point within the spreading range or an abnormal point outside the spreading range, accurate spreading can be achieved through the rotation and revolution of the rotating disc, thus effectively solving the problem of uneven and inaccurate spreading in the traditional steaming process.

[0071] 2. By real-time identification and automatic processing of abnormal points on the surface of fermented grains, the time for manual intervention and inspection can be reduced, and production efficiency can be improved;

[0072] 3. By introducing queues and multi-outlier point scheduling strategies, multiple outliers can be processed at the same time. For multiple outliers that appear at any time and at any location, optimal path planning can be performed to achieve fast and accurate material spreading and covering operations on the outliers. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0074] Figure 1 Schematic diagram of the positional relationship between the steamer pot and the rotating disk in the embodiment of the present application;

[0075] Figure 2 This is a flow chart of the rotating disc self-rotating and spreading materials in the embodiment of this application;

[0076] Figure 3 Schematic diagram of the positional relationship between the abnormal point and the rotating disk in the embodiment of the present application. DETAILED DESCRIPTION

[0077] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0078] In the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish descriptions and cannot be understood as indicating or suggesting relative importance. It should also be understood that although the terms "first", "second", etc. are used to describe various elements in some embodiments of the present application in the text, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first table can be named as the second table, and similarly, the second table can be named as the first table without departing from the scope of the various described embodiments. The first table and the second table are both tables, but they are not the same table.

[0079] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0080] In the winemaking process, steaming is a crucial step. During this process, the mash needs to be spread evenly and accurately in the steamer to ensure that the subsequent heating and distillation operations can proceed smoothly, which ultimately affects the quality and taste of the wine. However, due to the influence of various complex factors such as temperature and humidity, various types of abnormal points often appear on the surface of the mash. These abnormal points may include but are not limited to hot spots, concave spots, etc., which are randomly distributed on the surface of the steamer in irregular shapes.

[0081] Existing automated steaming equipment can often only achieve simple mechanical movements and lacks the ability of intelligent identification and precise control. When abnormal points appear on the surface of the mash, it is difficult to make real-time adjustments and optimizations based on actual conditions.

[0082] In view of the above problems, the embodiments of the present application provide, in a first aspect, an intelligent control method for the upper steamer of fermented grains, which mainly realizes accurate spreading of materials at abnormal points by means of a rotating disk that can revolve and rotate, wherein the spreading process of the rotating disk involves three mechanical movements:

[0083] 1. Fix the position of the circular steamer pot, and the robotic arm controls the turntable so that the center of the turntable moves in a circle on the revolution circle.

[0084] 2. The fan blades inside the rotating disk provide different centrifugal forces through different rotation speeds, so that the mash inside is thrown out along the tangent direction of the two ends of the notch.

[0085] 3. The rotating disk adjusts the notch position by self-rotation, and then adjusts the notch tangent direction to align it with the abnormal point.

[0086] The specific steps include:

[0087] S1, such as Figure 1As shown, the steamer is a circle with point O as the center and R as the radius, and the turntable is a circle with point P as the center and r as the radius; the center point P of the turntable makes a circular motion on the orbital circle with point O as the center and R0 as the radius; the mash is thrown out in the tangent direction of the two ends of the fixed arc AB on the turntable, and the spreading range of the turntable is the annular area with point P as the center and located between the radius r and the radius r1.

[0088] In order to more accurately describe the motion trajectory and positional relationship of the turntable and its related components, the present embodiment adopts a polar coordinate system, as follows.

[0089] With point O as the pole and OL1 as the polar axis, the first polar coordinate system is established. In this coordinate system, the polar coordinates of point P (i.e., the center of the disk) relative to point O can be expressed as (R0, β). Among them, R0 represents the distance from point P to point O, i.e., the radius of the revolution circle; β represents the angle between the OP line and the polar axis OL1, which is used to describe the angular position of point P in the first polar coordinate system.

[0090] Then, with point P as the pole and PL2 as the polar axis, a second polar coordinate system is established. In this coordinate system, the polar coordinates of point A, point B (the throwing point of the blade inside the turntable) and point C (the intersection of the throwing direction) relative to point P can be expressed as A(r, α+θ / 2), B(r, α-θ / 2) and C(r / cos(θ / 2), α), respectively. Among them, r represents the distance from point A and point B to point P, that is, the radius of the turntable; α represents the angle between the PC line and the polar axis PL2; θ is the fixed arc value of the notch position inside the turntable, which is used to describe the relative positions of point A and point B on the turntable; point C is the intersection of the tangents of point A and point B, and is located on the angle bisector of ∠APB.

[0091] S2. During the wine-making steaming process, abnormal points on the surface of the steamer are collected in real time, and the specific locations of the abnormal points are determined.

[0092] Specifically, S2.1, using a collection device to capture and identify abnormal points on the surface of the steamer in real time, the abnormal point collection device includes an infrared camera and a radar device.

[0093] Among them, the abnormal points include hot spots and / or convex points. The abnormal points are irregular shapes composed of multiple pixel points or point clouds, and are random points that appear at any position in the circle with O as the center and R as the radius where the steamer is located.

[0094] S2.2. The irregular shape where the abnormal point is located is represented by a minimum bounding rectangle, and the minimum bounding rectangle is calculated by using the maximum values ​​of the upper, lower, left and right directions of the irregular shape.

[0095] It should be noted that an outlier is a common descriptive term in the art and cannot be understood as a one-dimensional feature point. In this embodiment, an outlier actually means an irregular area with a certain area.

[0096] S3. According to the position of the abnormal point, determine its positional relationship with the material spreading range of the rotary disk.

[0097] Specifically, S3.1, calculate the distance between the point of the minimum circumscribed rectangle of the abnormal point farthest from point P and the center point P of the rotating disk. If the distance is less than or equal to the outer diameter r1 of the rotating disk's material spreading range, it is determined that the abnormal point is within the material spreading range.

[0098] S3.2. Calculate the distance between the point of the minimum circumscribed rectangle of the abnormal point that is farthest from point P and the center point P of the turntable. If the distance is greater than the outer diameter r1 of the material spreading range of the turntable, it is determined that the abnormal point is outside the material spreading range.

[0099] S4, such as Figure 2 and Figure 3 As shown, when the abnormal point is within the material spreading range, accurate material spreading of the abnormal point is achieved by adjusting the rotation angle, rotation direction and fan speed of the rotating disk.

[0100] Specifically, S4.1, when the abnormal point is within the material spreading range, adjust the rotation direction of the rotating disk, including:

[0101] Let point C be the intersection of the tangent lines of points A and B, and take the straight line PC as the symmetry axis of the rotating disk. Determine the position of the center point M of the minimum circumscribed rectangle of the abnormal point relative to the symmetry axis PC. The calculation formula is:

[0102]

[0103] According to the value of Δ, determine the rotation direction and discharge point of the turntable:

[0104] When Δ<0, the center point M of the smallest circumscribed rectangle of the abnormal point is located on the left side of the symmetry axis PC, the turntable needs to rotate counterclockwise, and the discharge point is point B;

[0105] When Δ=0, it is determined that the center point M of the smallest circumscribed rectangle of the abnormal point is located on the symmetry axis PC, and the turntable continues to rotate in the direction of the last rotation. The discharge point is determined to be point A or point B according to the direction of the last rotation;

[0106] When Δ>0, the center point M of the minimum circumscribed rectangle of the abnormal point is located on the right side of the symmetry axis PC, the turntable needs to rotate clockwise, and the discharge point is point A.

[0107] It should be noted that the center point here refers to the intersection of the diagonals of the minimum circumscribed rectangle of the outlier point.

[0108] S4.2. When the abnormal point is within the material spreading range, adjust the rotation angle of the rotating disk, including:

[0109] Calculate the coordinates of the tangent point D or E between the center point M of the minimum circumscribed rectangle of the outlier point and the contour circle of the disk.

[0110] Specifically, for the convenience of calculation, polar coordinates can be converted into rectangular coordinates for calculation.

[0111] In the rectangular coordinate system with O as the origin, the coordinates of the center P of the turntable are known to be (Px, Py), the coordinates of the center point M of the minimum circumscribed rectangle of the outlier are (Mx, My), and the coordinates of the tangent point N are set to be (Nx, Ny). Since the straight line MD is the tangent of the circle where the turntable is located, according to the properties of the tangent, MD⊥DP, that is, the dot product of vector MD and vector DP is 0. Similarly, ME⊥EP. The lengths of line segments DP and EP are equal to the radius r of the circle where the turntable is located.

[0112] According to the above conditions, the following equations can be listed:

[0113]

[0114] By solving the system of equations, we can obtain two solutions N1 and N2, corresponding to the two tangent points D and E respectively.

[0115] Since the outlier point M is located in the annular region between the radius (r, r1), the above equations must have two solutions, and points D and E must be distributed on both sides of the line MP. The dot product of vector MN1 and vector PN1 (denoted as Δ2) and the dot product of vector MN2 and vector PN2 (denoted as Δ3) can be calculated to determine which solution corresponds to point D and which solution corresponds to point E. Specifically, if Δ2>0 and Δ3<0 (or Δ2<0 and Δ3>0), then N1 corresponds to point D and N2 corresponds to point E; vice versa.

[0116] According to the above steps, after the rotation direction and the coordinates of points D and E are known, the rotation angle of the turntable can be calculated according to different situations, as follows.

[0117] If the turntable rotates counterclockwise and the material is discharged from point B, point B needs to rotate to point D. The calculation formula for the turntable's rotation angle is:

[0118]

[0119] Among them, the range of θ1 is [0°, 180°];

[0120] If the turntable rotates clockwise and the material is discharged from point A, point A needs to rotate to point E. The calculation formula for the turntable's rotation angle is:

[0121]

[0122] Among them, the range of θ2 is [0°,180°].

[0123] S4.3. When the abnormal point is within the material spreading range, adjust the fan speed of the rotating disk, including:

[0124] Since the throwing directions are A to C and B to C respectively, when point B rotates counterclockwise to point D or point A rotates clockwise to point E, the throwing direction is aligned with the center point M of the minimum circumscribed rectangle of the abnormal point. At this time, the line segment DM (or EM) is the throwing distance.

[0125] Given PE=PD=r (disk radius), as well as the coordinates of the center point M of the minimum circumscribed rectangle of the abnormal point (Mx, My), the coordinates of the tangent point D (Dx, Dy), and the coordinates of the tangent point E (Ex, Ey), the throwing distance DM or EM can be calculated using the Pythagorean theorem:

[0126] According to experience, after the mash is thrown out, the coverage area in the bottom mash is a rectangular area with a length and a width of L and W respectively. Therefore, when the throwing distance is set to DM or EM, the irregular shape area of ​​the abnormal point can be covered.

[0127] Then, based on the corresponding relationship between the fan blade speed and the distance of spreading the mash, the fan blade speed that the rotating disk should provide is obtained.

[0128] Among them, the corresponding relationship between the fan blade speed and the mash throwing distance can be calculated based on actual tests, instructions or empirical formulas.

[0129] S5. When the abnormal point is outside the material spreading range, the material spreading range covers the abnormal point by adjusting the direction and angle of the revolution angle of the turntable, and then the material is spread according to the method when the abnormal point is within the material spreading range.

[0130] Specifically, S5.1, when the abnormal point is outside the material spreading range, adjust the revolution direction of the rotating disk, including:

[0131] Take the straight line OP as the symmetry axis of the rotating disk's revolution circle, and determine the position of the center point M of the minimum circumscribed rectangle of the abnormal point relative to the symmetry axis OP. The calculation formula is as follows:

[0132]

[0133] According to the value of Δ1, determine the revolution direction of the turntable;

[0134] When Δ1 is less than 0, the center point M of the smallest circumscribed rectangle of the outlier point is on the left side of the symmetry axis, and the disk needs to revolve counterclockwise;

[0135] When Δ1 is equal to 0, the center point M of the smallest circumscribed rectangle of the abnormal point is located on the symmetry axis OP, and the disk revolves in the direction of the last revolution;

[0136] When Δ1 is greater than 0, the center point M of the minimum circumscribed rectangle of the outlier is on the right side of the symmetry axis, and the disk needs to revolve clockwise.

[0137] S5.2. When the abnormal point is outside the material spreading range, adjust the revolution angle of the rotating disk, including:

[0138] With the point of the smallest circumscribed rectangle of the abnormal point farthest from point P as the center, draw a circle with r1 as the radius. This circle intersects with the revolution circle of the turntable at two intersection points F and G. When the center of the turntable rotates to the intersection point F or G, the material spreading range of the turntable can cover the abnormal point.

[0139] If the turntable revolves counterclockwise, point P needs to rotate to point F. The calculation formula for the turntable's revolving angle is as follows:

[0140]

[0141] Among them, the range of θ3 is [0°, 180°];

[0142] If the turntable revolves clockwise, point P needs to rotate to point G. The calculation formula for the turntable's revolving angle is as follows:

[0143]

[0144] Among them, the range of θ4 is [0°,180°].

[0145] In some embodiments, a method for intelligently controlling the steaming of fermented grains further includes a rotating disk scheduling step S6 of multiple abnormal points, specifically including:

[0146] S6.1, set the queue P[P1, P2, P3...Pn], store the abnormal point location information according to the first-in-first-out principle, the storage order is determined by the priority, and set the variable Q to store the current turntable position information;

[0147] S6.2, calculating the relationship between the current rotating disk position and the abnormal point position, including determining whether the abnormal point is within the rotating disk material spreading coverage range or outside the rotating disk material spreading coverage range;

[0148] S6.3, if the abnormal point is within the coverage of the rotating disk, the material is spread through the rotation of the rotating disk, and the relationship between the processed abnormal point and the next abnormal point in the queue is calculated;

[0149] S6.4, if the abnormal point is outside the coverage of the rotating disk, the rotating disk will revolve to the appropriate position and then rotate to complete the material spreading, and calculate the relationship between the processed abnormal point and the next abnormal point in the queue;

[0150] S6.5. Repeat the above steps S6.2-S6.4 until the queue is empty. At this time, the turntable spreads the material in a uniform revolution and rotation manner until a new abnormal point appears and is added to the queue.

[0151] A second aspect of the embodiment of the present application provides an intelligent control system for a fermented grain steamer, comprising:

[0152] The steamer pot is a circular structure with O as the center and R as the radius, used to hold the mash;

[0153] The rotating disk is a circular structure with point P as the center and r as the radius. There are blades inside the rotating disk to provide centrifugal force to make the wine

[0154] The mash is thrown out in the tangent direction of the two ends of the fixed arc AB; the center point P of the rotating disk can make a clockwise or counterclockwise circular motion on the revolution circle with point O as the center and R0 as the radius; the material spreading range of the rotating disk is set to be an annular area with point P as the center and located between the radius r and the radius r1;

[0155] The abnormal point collection module is equipped with a collection device for collecting abnormal point information on the surface of the steamer pot in real time during the wine brewing process and determining the specific location of the abnormal point;

[0156] A position relationship judgment module is used to judge the position relationship between the abnormal point and the material spreading range of the rotary disk, and judge whether the abnormal point is within the material spreading range or outside the material spreading range;

[0157] The rotating disk rotation control module is used to calculate and adjust the rotating disk's rotation angle, rotation direction and fan speed when the position relationship judgment module determines that the abnormal point is within the material spreading range, so as to achieve accurate material spreading at the abnormal point;

[0158] The turntable revolution control module is used to calculate and adjust the revolution direction and revolution angle of the turntable when the position relationship judgment module determines that the abnormal point is outside the material spreading range, so that the material spreading range can cover the abnormal point.

[0159] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent control method for fermented grains steaming, characterized in that: The following steps are involved: Assume that the steamer is a circle with O as the center and R as the radius, and the turntable is a circle with P as the center and r as the radius; the turntable's center P moves in a circle on a revolution circle with O as the center and R0 as the radius; The mash is thrown out in the tangent direction of the two ends of the fixed arc AB on the rotating disk. The material spreading range of the rotating disk is an annular area with point P as the center and located between the radius r and the radius r1; During the wine brewing process, abnormal points on the surface of the steamer are collected in real time and their specific locations are determined; According to the position of the abnormal point, determine its positional relationship with the material spreading range of the rotary disk; When the abnormal point is within the material spreading range, the material can be spread accurately at the abnormal point by adjusting the rotation angle, rotation direction and fan speed of the rotating disk. When the abnormal point is outside the material spreading range, the material spreading range is made to cover the abnormal point by adjusting the direction and angle of the revolution angle of the turntable, and then the material is spread in the same manner as when the abnormal point is within the material spreading range.

2. The intelligent control method for fermented grains steamer according to claim 1, characterized in that: Real-time collection of abnormal points on the surface of the steamer, including: Use acquisition equipment to capture and identify abnormal points on the surface of the steamer in real time; The abnormal points include hot spots and / or convex points, and the abnormal points are irregular shapes composed of multiple pixel points or point clouds, and are random points that appear at any position in the circle where the steamer pot is located; The irregular shape where the abnormal point is located is represented by a minimum bounding rectangle, and the minimum bounding rectangle is calculated by using the maximum values ​​of the upper, lower, left and right directions of the irregular shape.

3. The intelligent control method for fermented grains steamer according to claim 1, characterized in that: According to the location of the abnormal point, the positional relationship between it and the material spreading range of the rotary disk is judged, including: Calculate the distance between the point farthest from point P and the center point P of the turntable in the minimum circumscribed rectangle of the abnormal point. If the distance is less than or equal to the outer diameter r1 of the turntable's material spreading range, the abnormal point is judged to be within the material spreading range. Calculate the distance between the point farthest from point P and the center point P of the turntable in the minimum circumscribed rectangle of the abnormal point. If the distance is greater than the outer diameter r1 of the turntable's material spreading range, it is determined that the abnormal point is outside the material spreading range.

4. The intelligent control method for fermented grains steamer according to claim 1, characterized in that: When the abnormal point is within the material spreading range, adjust the rotation direction of the rotating disk, including: Let point C be the intersection of the tangent lines of points A and B; Taking the straight line PC as the symmetry axis of the rotating disk, the position of the center point M of the minimum circumscribed rectangle of the abnormal point relative to the symmetry axis PC is determined by the calculation formula: According to the value of Δ, determine the rotation direction and discharge point of the turntable: When Δ<0, the center point M of the smallest circumscribed rectangle of the abnormal point is located on the left side of the symmetry axis PC, the turntable needs to rotate counterclockwise, and the discharge point is point B; When Δ=0, it is determined that the center point M of the smallest circumscribed rectangle of the abnormal point is located on the symmetry axis PC, and the turntable continues to rotate in the direction of the last rotation. The discharge point is determined to be point A or point B according to the direction of the last rotation; When Δ>0, the center point M of the minimum circumscribed rectangle of the abnormal point is located on the right side of the symmetry axis PC, the turntable needs to rotate clockwise, and the discharge point is point A.

5. The intelligent control method for fermented grains steamer according to claim 1, characterized in that: When the abnormal point is within the material spreading range, adjust the rotation angle of the rotating disk, including: Calculate the coordinates of the tangent point D or E between the center point M of the minimum circumscribed rectangle of the outlier point and the contour circle of the rotating disk; If the turntable rotates counterclockwise and the material is discharged from point B, point B needs to rotate to point D. The calculation formula for the turntable's rotation angle is: Among them, the range of θ1 is [0°, 180°]; If the turntable rotates clockwise and the material is discharged from point A, point A needs to rotate to point E. The calculation formula for the turntable's rotation angle is: Among them, the range of θ2 is [0°,180°].

6. The intelligent control method for fermented grains steamer according to claim 5, characterized in that: When the abnormal point is within the material spreading range, adjust the fan speed of the rotating disk, including: When point B rotates counterclockwise to point D or point A rotates clockwise to point E, the throwing direction is aligned with the center point M of the smallest circumscribed rectangle of the abnormal point, and the line segment DM or EM is the throwing distance; Given the distances PE and PD, as well as the coordinates of the abnormal point M, the tangent point D, and the tangent point E, the throwing distance DM or EM can be calculated using the Pythagorean theorem: According to the corresponding relationship between the fan blade speed and the distance of throwing the mash, the fan blade speed that the rotating disk should provide is obtained.

7. The intelligent control method for fermented grains steamer according to claim 1, characterized in that: When the abnormal point is outside the material spreading range, adjust the revolution direction of the rotating disk, including: Take the straight line OP as the symmetry axis of the rotating disk's revolution circle, and determine the position of the center point M of the minimum circumscribed rectangle of the abnormal point relative to the symmetry axis OP. The calculation formula is: According to the value of Δ1, determine the revolution direction of the turntable; When Δ1 is less than 0, the center point M of the smallest circumscribed rectangle of the outlier point is on the left side of the symmetry axis OP, and the disk needs to revolve counterclockwise; When Δ1 is equal to 0, the center point M of the smallest circumscribed rectangle of the abnormal point is located on the symmetry axis OP, and the disk revolves in the direction of the last revolution; When Δ1 is greater than 0, the center point M of the minimum circumscribed rectangle of the outlier point is on the right side of the symmetry axis OP, and the disk needs to revolve clockwise.

8. The intelligent control method for fermented grains steamer according to claim 1, characterized in that: When the abnormal point is outside the material spreading range, adjust the rotation angle of the rotating disk, including: With the point of the smallest circumscribed rectangle of the abnormal point farthest from point P as the center, draw a circle with r1 as the radius. This circle intersects with the revolution circle of the turntable at two intersection points F and G. When the center of the turntable rotates to the intersection point F or G, the material spreading range of the turntable can cover the abnormal point. If the turntable revolves counterclockwise, point P needs to rotate to point F. The calculation formula for the turntable's revolving angle is: Among them, the range of θ3 is [0°, 180°]; If the turntable revolves clockwise, point P needs to rotate to point G. The calculation formula for the turntable's revolving angle is: Among them, the range of θ4 is [0°, 180°].

9. The intelligent control method for fermented grains steamer according to claim 1, characterized in that: It also includes the disk scheduling steps for multiple outliers, including: Set up a queue P[P1, P2, P3...Pn] to store the abnormal point location information according to the first-in-first-out principle. The storage order is determined by the priority. At the same time, set the variable Q to store the current turntable position information; Calculate the relationship between the current rotating disk position and the abnormal point position, including determining whether the abnormal point is within or outside the rotating disk material spreading coverage; If the abnormal point is within the coverage of the rotating disk, the material is spread through the rotation of the rotating disk, and the relationship between the processed abnormal point and the next abnormal point in the queue is calculated; If the abnormal point is outside the coverage of the rotating disk, the rotating disk will revolve to the appropriate position and then rotate to complete the material spreading, and calculate the relationship between the processed abnormal point and the next abnormal point in the queue; Repeat the above steps until the queue is empty. At this time, the turntable spreads the material in a uniform revolution and rotation manner until a new abnormal point appears and is added to the queue.

10. An intelligent control system for fermented grains steaming, characterized in that: include: The steamer pot is a circular structure with O as the center and R as the radius, used to hold the mash; The rotating disk is a circular structure with point P as the center and r as the radius. Fan blades are arranged inside the rotating disk to provide centrifugal force to make the mash be thrown out through the tangent directions of the two ends of the fixed arc AB; the center point P of the rotating disk can make a clockwise or counterclockwise circular motion on the revolution circle with point O as the center and R0 as the radius; the spreading range of the rotating disk is set to be an annular area with point P as the center and located between the radius r and the radius r1; The abnormal point collection module is equipped with a collection device for collecting abnormal point information on the surface of the steamer pot in real time during the wine brewing process and determining the specific location of the abnormal point; A position relationship judgment module is used to judge the position relationship between the abnormal point and the material spreading range of the rotary disk, and judge whether the abnormal point is within the material spreading range or outside the material spreading range; The rotating disk rotation control module is used to calculate and adjust the rotating disk's rotation angle, rotation direction and fan speed when the position relationship judgment module determines that the abnormal point is within the material spreading range, so as to achieve accurate material spreading at the abnormal point; The turntable revolution control module is used to calculate and adjust the revolution direction and revolution angle of the turntable when the position relationship judgment module determines that the abnormal point is outside the material spreading range, so that the material spreading range can cover the abnormal point.

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