Scraping and cellar pressing system and method

Abstract

The invention relates to a slicking and cellar pressing system, which comprises a detection module configured to monitor surface accumulation form information of a to-be-processed material and temperature information of a working space where the to-be-processed material is located; the industrial robot is in signal connection with the detection module and is configured to output scraping and cellar pressing parameters of the materials to be processed to the execution module based on the surface accumulation form information and the temperature information collected by the detection module; the execution module is in signal connection with the industrial robot and is configured to perform scraping and cellar pressing on the to-be-processed materials according to scraping and cellar pressing parameters, output by the industrial robot, of the to-be-processed materials, and the scraping and cellar pressing parameters comprise a cellar pressing path, cellar pressing acting force and / or cellar pressing frequency of the execution module. The problems that an existing cellar pressing device lacks automatic and intelligent functions and cannot be accurately controlled and adjusted according to the actual condition of fermented grains, and consequently the cellar pressing effect is poor can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of automated liquor brewing, in particular to a scraping and leveling cellar pressing system, and in particular to a novel intelligent scraping and leveling cellar pressing system. Background Art

[0002] In the process of brewing liquor, scraping and pressing the cellar is an important production process. Scraping and pressing the cellar is mainly used to control the temperature, humidity and ventilation during the fermentation process to promote the activity of yeast and fermentation efficiency. Before the start of fermentation or during the fermentation process, the surface of the raw materials (such as fermented grains) in the fermentation tank or cellar is scraped flat. After scraping, use special tools (such as wooden boards and stone slabs) to lightly press the surface of the raw materials to increase the compactness of the raw materials. The level of oxygen content in the fermented grains will affect the fermentation cycle. The cellar pressing process can be used to control the looseness of the fermented grains, and then control the oxygen content in the fermented grains, so as to avoid the phenomenon of too fast fermentation and too fierce temperature rise, which will affect the quality of the wine. This production process plays an important role in improving the fermentation efficiency of liquor, stabilizing the quality of the wine and forming a unique flavor.

[0003] The cellar pressing process involves the compaction of the mash to ensure the smooth progress of the fermentation process. In the traditional liquor brewing technique, after each steamer of mash is put into the cellar, it is required to be pressed by manual trampling according to different seasons, requiring "close trampling at the cellar edge, sparse trampling in the cellar in winter, and close trampling in summer". The edge of the cellar is prone to dryness due to its contact with the cellar and air. Therefore, it needs to be trampled intensively to increase the compactness of the mash, reduce the entry of air, and prevent the surface of the mash from drying out and affecting fermentation. In winter, due to the low temperature and slow fermentation speed, the mash in the central part of the cellar needs to be trampled more sparsely. This operation can keep the mash loose, which is conducive to the dissipation of heat and the circulation of air, avoid local overheating, and promote uniform fermentation. In summer, due to the high temperature and fast fermentation, the mash in the center of the cellar needs to be intensively trampled. This operation can increase the compactness of the mash, reduce air circulation, and prevent the temperature from getting out of control due to excessive fermentation. It also helps to maintain the humidity of the mash and promote stable fermentation. In the large-scale liquor brewing process, manual trampling is too labor-intensive and has low production efficiency.

[0004] In order to increase production efficiency, liquor production tends to develop towards mechanization and automation. The mechanized equipment in each process of winemaking has been developed to a certain extent, and various types of scraping and pressing cellar equipment have appeared. For example, CN205603567U discloses a cellar pressing device for liquor solid-state fermentation cellars, the device is provided with a pressing plate, a connecting shaft is fixed on the pressing plate; a telescopic rod is hinged on the connecting shaft; the telescopic rod is adjusted through the connecting shaft to adjust the angle with the pressing plate, so as to form a cellar pressing structure at any position in the cellar. The device still requires manual operation to realize cellar pressing, and the level of intelligence in controlling the cellar pressing force and cellar pressing frequency is low, which affects production efficiency. CN220224130U discloses a cellar pressing device and a cellar surface raking device, the cellar pressing device includes: a trolley, including a frame, a horizontal drive mechanism and a lifting drive mechanism; a rigid sleeve, connected to the trolley and extending from the trolley; a lifting wire rope, inserted in the rigid sleeve, connected to the lifting drive mechanism, driven by the lifting drive mechanism to slide along the extension direction of the rigid sleeve; a grab bucket, connected to the lifting wire rope, driven by the lifting wire rope; a pressing plate, arranged at the bottom of the grab bucket, and having a plane; and a cellar surface raking device detachably connected to the cellar pressing device. Although the device can realize the processes of grabbing, dropping, and pressing, the degree of intelligence in the cellar pressing process is low, and the parameters such as the cellar pressing force and the cellar pressing frequency cannot be set according to the preset requirements; and the rake claw can be inserted into the wine lees during the raking process, and the rake claw is easy to affect the flattened part during the continuous operation; in addition, the device needs to operate in the cellar area, and the actual operation process will be limited by the influence of the space where the cellar is located.

[0005] In addition, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making the present invention, but due to space limitations, not all details and contents are listed in detail. However, this does not mean that the present invention does not have the characteristics of these prior arts. On the contrary, the present invention already has all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology. Summary of the invention

[0006] In order to improve the production efficiency of liquor, its production process is constantly developing towards mechanization and automation, especially the scraping and pressing cellar process that required manual trampling in the past. At present, many types of scraping and pressing cellar equipment have appeared. However, the cellar pressing process requirements are very complex, and the existing scraping and pressing cellar equipment cannot meet the production process requirements. First, the spatial adaptability of the existing scraping and pressing cellar equipment is poor. Due to the special space limitations of the cellar area, the existing equipment is often simple in structure and difficult to adapt to the complex and changeable working environment, resulting in low operating efficiency. Second, the existing scraping and pressing cellar equipment has a high degree of manpower dependence. Although the equipment has reduced the labor intensity to a certain extent, it still requires a large amount of manpower to participate in the operation, especially in the process of carrying, installing and adjusting the equipment. Third, the existing scraping and pressing cellar equipment has problems with volume and portability. Some equipment is large in size, not only taking up a lot of space, but also inconvenient to move and use, which limits its flexible application between different cellars. Fourth, the automation and intelligence level of the existing scraping and pressing cellar equipment is low. Most of the scraping and pressing cellar equipment can only realize basic downward pressing operations, lacking automation and intelligent functions, and cannot be accurately controlled and adjusted according to the actual situation of the mash, resulting in unsatisfactory cellar pressing effect.

[0007] In view of the shortcomings of the prior art, the first aspect of the present invention provides a scraping and pressing cellar system, the system comprising:

[0008] A detection module configured to monitor the surface accumulation morphology information of the material to be processed and the temperature information of the working space where the material to be processed is located;

[0009] An industrial robot connected to the detection module signal, which is configured to output scraping and pressing parameters of the material to be processed to the execution module based on the surface accumulation morphology information and temperature information collected by the detection module;

[0010] and an execution module connected to the industrial robot signal, which is configured to scrape and press the material to be processed according to the scraping and pressing parameters of the material to be processed output by the industrial robot,

[0011] The scraping and cellar pressing parameters include the cellar pressing path, cellar pressing force and / or cellar pressing frequency of the execution module.

[0012] The beneficial effects of this technical solution: through the material surface accumulation morphology information and workspace temperature information collected by the detection module, the industrial robot can generate targeted adjustment instructions for the scraping and pressing parameters, especially in the setting of the pressing path, pressing force and / or pressing frequency. At present, there is a cellar pressing device and a cellar pressing method, which acts on the material surface with a preset cellar pressing force through a flattening roller assembly, and at the same time provides a pressure sensor that can feedback the current cellar pressing force, so as to achieve the purpose of adjusting the cellar pressing force and solve the problem of low production efficiency caused by manual operation. However, the device still needs to be installed in the space where the cellar is located. The material to be processed first needs to be transported from the drying machine to the cellar, and then flattened and pressed by the cellar pressing device. Therefore, the existing device has high space requirements and the processing cycle of each process is long; in addition, the existing automation device considers a single factor, and does not consider the influence of temperature and material surface accumulation morphology (for example, more and larger protrusions in some positions) on the cellar pressing process.

[0013] The present technical solution is completely different from the traditional cellar pressing method. First, the present invention is to load the material to be processed into the fermentation box and then arrive at the preset position, and then detect the relevant parameters thereof. This step does not involve the cellar, so the space requirement is reduced, that is, the spatial adaptability of the present invention is high. Second, the traditional cellar pressing method starts from one side and gradually compacts to the other side, and does not consider the cellar pressing path. Since the cellar pressing tool itself has a certain weight, if the cellar pressing path is not considered, the following situations may occur: the surface of the material looks flat, but the density of the material in different areas is uneven, and the density difference of the material appears when the cellar is pressed, that is, the material in some areas is too compact and the material in some areas is relatively loose. In view of this defect, the present technical solution provides a corresponding cellar pressing path by detecting the stacking morphological characteristics of the material surface, and at the same time sets the cellar pressing force and cellar pressing frequency according to the temperature conditions and the material's own characteristics, which can not only shorten the cellar pressing process time, but also ensure the consistency of the density of the material in each area, thereby making the penetration and distribution of oxygen in the material uniform, thereby ensuring the uniform distribution and activity of microorganisms during the fermentation process. Third, the design of the cellar pressing path, cellar pressing force and cellar pressing frequency can also help control the heat distribution inside the material, avoid local overheating or overcooling, maintain a suitable fermentation temperature, and further promote the conversion of starch, sugar and other substances in the material, accelerate the fermentation process, and ultimately shorten the brewing cycle. Under a uniform fermentation environment and suitable oxygen supply conditions, the taste, aroma and overall quality of the wine can be improved. Fourth, the design of a reasonable cellar pressing path, cellar pressing force and cellar pressing frequency can reduce unnecessary energy consumption, such as reducing the number and intensity of mechanical operations and improving energy efficiency. Fifth, the design of different cellar pressing paths, cellar pressing forces and cellar pressing frequencies enables the process to adapt to the characteristics of different batches of materials, enhancing the flexibility and adaptability of the process. In addition, the relevant data of the cellar pressing path, cellar pressing force and / or cellar pressing frequency can provide a basis for subsequent process improvements during implementation, enhancing the traceability of the product. In addition, the automated and intelligent scraping and cellar pressing system reduces the need for manual operation, improves the continuity and stability of operations, and improves the production efficiency of the overall process. In large-scale liquor production, the economic benefits are significantly improved.

[0014] According to a preferred embodiment, the detection module includes a computer vision system for collecting surface accumulation morphology information of the material to be processed and a temperature sensor for collecting temperature information of the working space where the material to be processed is located. The computer vision system can accurately capture the surface details of the material, ensure the accuracy of the accumulation morphology information, and ensure the consistency of each measurement and control, thereby improving the standardization of the operation. On this basis, the system can continuously optimize the cellar pressing path and force, provide the best fermentation conditions, and improve product quality.

[0015] According to a preferred embodiment, the industrial robot is configured to output a pressing path of the execution module based on the surface accumulation morphology information of the material to be processed, so as to scrape the raised surface toward the recessed point.

[0016] According to a preferred embodiment, the industrial robot is configured to: output the pressing force and / or pressing frequency of the execution module based on the temperature information of the working space where the material to be processed is located, so as to control the looseness of the material and further control the oxygen content in the material.

[0017] According to a preferred embodiment, the execution module is configured to: firstly scrape the surface of the material to be processed according to the cellar pressing path output by the industrial robot, and then press down the scraped material according to the cellar pressing force and / or cellar pressing frequency in the scraping and cellar pressing parameters. This setting makes the process control of each step clearer, and first scraping can provide a better foundation for the subsequent cellar pressing.

[0018] According to a preferred embodiment, the execution module is configured to: scrape and press the material to be processed according to the pressing path, pressing force and / or pressing frequency in the scraping and pressing parameter adjustment instruction output by the industrial robot at the same time, so as to shorten the production cycle. Scraping and pressing simultaneously greatly reduces the processing time of each batch and reduces repetitive work. This setting helps to better control the density and uniformity of the material and promote the discharge of gas. More uniform compaction and scraping can improve fermentation efficiency and product quality.

[0019] According to a preferred embodiment, the industrial robot is configured as follows: when the surface accumulation morphology information of the material to be processed shows that the material is a single cone, the output cellar pressing path is: starting from the 1 / 3 of the center of the material cone of the fermentation box, the cellar pressing is carried out along an "S"-shaped route, and when half of the cellar pressing work is completed, it returns to the starting point, repeats the "S"-shaped route, and presses the other half. This setting is for single-cone materials, which makes the cellar pressing work more efficient, and the regular cellar pressing path makes it easier to monitor and check the cellar pressing effect, which helps to timely discover and correct the problem of uneven compaction.

[0020] According to a preferred embodiment, the industrial robot is configured as follows: when the surface accumulation morphology information of the material to be processed shows that the material is multi-conical, the output cellar pressing path is: starting from the lowest angle of the material cone in the fermentation box and moving to the opposite side, turning when reaching the opposite edge, and moving in the opposite direction of the initial route to form an "S" shape, and then pressing the cellar in a manner perpendicular to the initial "S" shaped route. This setting is for multi-conical materials, which can increase the contact area and number of contacts between the end effector and the material, so that all multi-conical materials can be compacted.

[0021] According to a preferred embodiment, the industrial robot is configured to control the output cellar pressing force and cellar pressing frequency according to the temperature information of the working space where the material to be processed is located and the ground temperature information.

[0022] According to a preferred embodiment, the detection module further comprises a pressure sensor for collecting pressure information applied by the execution module to the material to be processed.

[0023] According to a preferred embodiment, the industrial robot adjusts the pressure of the execution module according to the detection value feedback of the pressure sensor.

[0024] According to a preferred embodiment, the detection module further includes an oxygen sensor for collecting the oxygen content of the material in the fermentation box.

[0025] According to a preferred embodiment, the industrial robot is configured to maintain or adjust the pressing force and / or pressing frequency applied by the execution module to the material to be processed based on the comparison result of the oxygen content of the material in the fermentation box with the preset oxygen content.

[0026] According to a preferred embodiment, the industrial robot is configured to reduce the pressing force and / or pressing frequency applied by the execution module to the material to be processed when the oxygen content of the material in the fermentation box is lower than a preset oxygen content.

[0027] According to a preferred embodiment, the industrial robot is configured to increase the cellar pressing force and / or cellar pressing frequency applied by the execution module to the material to be processed when the oxygen content of the material in the fermentation box exceeds a preset oxygen content.

[0028] According to a preferred embodiment, the industrial robot is configured to maintain the pressing force and / or pressing frequency applied by the execution module to the material to be processed when the oxygen content of the material in the fermentation box is equal to a preset oxygen content.

[0029] According to a preferred embodiment, the scraping and pressing pit system further comprises a transfer and conveying module, which is used to transport the materials to be processed.

[0030] According to a preferred embodiment, the transfer and conveying module includes a fermentation box and a positioning unit for obtaining position information of the fermentation box. When the positioning unit shows that the fermentation box is at a predetermined position, the industrial robot controls the computer vision system to start working.

[0031] According to a preferred embodiment, the execution module can be integrated with the industrial robot.

[0032] According to a preferred embodiment, the transfer and transportation of the fermentation box can be carried out by a motor-driven steel chain, and an intelligent crane can also be used as the transfer and transportation equipment.

[0033] The second aspect of the present invention provides a method for scraping and pressing a cellar, which is implemented based on the scraping and pressing system provided by the first aspect of the present invention, and comprises the following steps:

[0034] Collecting the location information of the fermentation tank;

[0035] Obtaining surface accumulation morphology information of the material to be processed and temperature information of the working space where the material to be processed is located;

[0036] Output the scraping and pressing parameters of the material to be processed;

[0037] According to the output scraping and pressing parameters, the material to be processed is scraped and pressed.

[0038] The scraping and cellar pressing parameters include the cellar pressing path, cellar pressing force and / or cellar pressing frequency of the execution module.

[0039] The scraping and pressing of the cellar in the prior art is difficult to achieve the effect of manual cellar pressing. As far as manual cellar pressing is concerned, the scraping and pressing operation of a single fermentation box (loaded with about 1,800 kg of lees) takes at least 20 minutes, while the scraping and pressing system provided by the present invention can process a fermentation box within 2.5 minutes, and the processing efficiency far exceeds the existing technology, greatly improving the production capacity. Manual cellar pressing may lead to inconsistent compaction effects due to differences in the physical strength and skills of the operator. The system of the present invention ensures that the lees in each fermentation box can be compacted evenly and fully by precisely controlling the compaction strength and path, thereby improving the uniformity and efficiency of fermentation. On the other hand, the scraping and pressing system of the present invention reduces manual participation and labor intensity through automated operation, can achieve continuous operation, reduce production interruptions caused by manual factors, ensure the continuity and stability of the production process, and also reduce the risk of injury caused by improper operation. In addition, the scraping and pressing system of the present invention can integrate a data recording function to automatically record the parameters and results of each cellar pressing, which is convenient for subsequent data analysis and process optimization, and further improves production efficiency and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a top view of the scraping and pressing cellar system provided by the present invention;

[0041] Figure 2 This is a side view of the scraping and pressing cellar system provided by the present invention.

[0042] Figure 3 It is a work flow chart of the scraping and pressing cellar system provided by the present invention;

[0043] Figure 4 It is a process flow chart of a scraping and pressing kiln method based on a scraping and pressing kiln system provided by the present invention;

[0044] Figure 5It is a schematic diagram of scraping the surface of the material in the fermentation box provided by the present invention;

[0045] Figure 6 This is a schematic diagram of a cellar pressing path provided by the present invention (the black dot in the figure indicates the starting point);

[0046] Figure 7 This is another schematic diagram of a cellar pressing path provided by the present invention (the black dot in the figure indicates the starting point).

[0047] Reference numerals list

[0048] 100: transfer and conveying module; 110: fermentation box; 120: power unit; 121: conveying component; 121.1: conveying steel chain; 121.2: load-bearing steel frame; 122: transmission component; 122.1: motor; 122.2: gear set; 122.3: transmission shaft; 122.4: roller; 130: positioning unit; 200: detection module; 210: computer vision system; 220: temperature sensor; 230: pressure sensor; 300: industrial robot; 400: execution module; 410: execution component; 420: end effector; 500: drying machine. DETAILED DESCRIPTION

[0049] The following is a detailed description with reference to the accompanying drawings.

[0050] In view of the problems that the existing cellar pressing equipment in the liquor industry is bulky and inconvenient to use, has low automation and intelligence, and has unsatisfactory cellar pressing effects, the present invention adopts a brand-new technical route. Specifically, the present invention adopts a modern intelligent system to replace the traditional cellar pressing equipment. The intelligent scraping and cellar pressing system realizes the scraping and leveling operation of the complex dregs through robot action, deep learning algorithm and path planning algorithm; the end actuator is designed according to the traditional process, simulating the manual stepping on the cellar pressing method, realizing the precise quantitative control of the cellar pressing pressure, restoring the traditional process to the greatest extent, and realizing the stable control of the wine quality. Compared with traditional means, the scraping and cellar pressing system of the present invention greatly improves the production efficiency, can well match the high efficiency characteristics of the automated production line, has a compact structure, and improves the space utilization rate of the automated workshop. In addition, the system is easy to operate, reduces the labor intensity of workers, improves the scraping and cellar pressing effect, and meets the automation, intelligence and high-quality production requirements of cellar pressing.

[0051] Example 1

[0052] This embodiment provides a scraping and pressing cellar system, such as Figure 1 to Figure 3 As shown, the system includes a transfer and conveying module 100, a detection module 200, an industrial robot 300 and an execution module 400. Preferably, the transfer and conveying module 100, the detection module 200 and the execution module 400 are respectively connected to the control system signal of the industrial robot 300.

[0053] According to a preferred embodiment, the transport module 100 includes a fermentation box 110, a power unit 120 and a positioning unit 130. The fermentation box 110 is used to load the fermented material to be fermented. Preferably, the fermentation box 110 is made of corrosion-resistant and high-temperature resistant (304) stainless steel material through cold rolling and welding processes. The manufacturing materials and processes of the fermentation box 110 can ensure its reliability as a fermentation container.

[0054] The power unit 120 includes a conveying assembly 121 and a transmission assembly 122. Preferably, the conveying assembly 121 includes a conveying steel chain 121.1 and a load-bearing steel frame 121.2. Preferably, the transmission assembly 122 includes a motor 122.1, a gear set 122.2, a transmission shaft 122.3 and a roller 122.4. Specifically, the specific working process of the power unit 120 is as follows: after the motor 122.1 is started, the power is transmitted to the gear set 122.2 through the transmission shaft 122.3, the conveying steel chain 121.1 connects the gear set 122.2 and the roller 122.4 to form a closed conveying line, the gear set 122.2 transmits the power from the motor 122.1 to the conveying steel chain 121.1, when the gear set 122.2 rotates, it drives the conveying steel chain 121.1 to move, the gear set 122.2 drives the steel chain to circulate between the rollers 122.4, and the object on the conveying steel chain 121.1 is transmitted along the predetermined path as the steel chain moves. During the whole process, the roller 122.4 supports and guides the movement of the conveying steel chain 121.1 to ensure the smooth movement of the object. Preferably, the roller 122.4 is installed at both ends and the middle support point of the load-bearing steel frame 121.2 to support, guide and change the movement direction of the conveying steel chain 121.1. Preferably, four rollers 122.4 are installed at both ends of the load-bearing steel frame 121.2, and this setting can reduce the deformation of the fermentation box 110 during transportation. When entering or leaving the end of the steel chain, the roller 122.4 can provide a smooth transition path and play a buffering role to prevent the object from shifting sideways or suddenly falling after passing through the discontinuity. Preferably, the load-bearing steel frame 121.2 is installed on the entire conveyor line to increase the strength and stability of the overall structure, prevent the conveying equipment from excessive displacement or deformation during operation, and ensure the smooth transportation of materials. The fermentation box 110 is on the conveying steel chain 121.1 to realize the transfer of the fermented mash to be fermented, for example, from the end of the airing machine 500 to the bottom of the industrial robot 300. Preferably, an intelligent transporter is used as the transfer and conveying equipment. Preferably, the scraping and pressing cellar system of this embodiment can control the forward and reverse rotation of the motor 122.1 through the PLC (programmable logic controller) to realize the forward and backward movement of the fermentation box 110.

[0055] According to a preferred embodiment, the positioning unit 130 is disposed on / inside the fermentation box 110. Preferably, the positioning unit 130 can be a position sensor configured to obtain position information of the fermentation box 110. Preferably, the position sensor can be disposed at the bottom of the fermentation box 110.

[0056] According to a preferred embodiment, the detection module 200 includes a computer vision system 210, a temperature sensor 220 and a pressure sensor 230. Preferably, the computer vision system 210 includes an industrial camera, which is used to collect image data of the stacking morphology of the mash surface when the mash enters the cellar. Preferably, the temperature sensor 220 is used to collect the ambient temperature. Preferably, the temperature sensor 220 can be integrated into the industrial robot 300. Preferably, the temperature sensor 220 can be arranged in the working space where the scraping and pressing cellar system is located, for example, installed near machinery or equipment that particularly requires temperature monitoring. Preferably, the temperature information can be the local climate data received by the industrial robot 300.

[0057] According to a preferred embodiment, the pressure sensor 230 is used to collect the pressure information applied to the mash by the execution module 400. Preferably, the pressure sensor 230 can be arranged on the execution module 400. Specifically, the pressure sensor 230 is arranged on the surface of the execution module 400 contacting the mash.

[0058] According to a preferred embodiment, the industrial robot 300 comprises a control system. Preferably, the computer vision system 210 is arranged on the industrial robot 300 .

[0059] According to a preferred embodiment, the control system of the industrial robot 300 is configured to: integrate and process the data collected by the detection module 200 and then output the scraping and pressing parameters to the execution module 400.

[0060] According to a preferred embodiment, the execution module 400 is configured to: scrape and press the material to be processed according to the adjustment instructions output by the control system of the industrial robot 300. The execution module 400 includes an execution component 410 and an end effector 420 connected to the execution component 410. The execution component 410 drives the end effector 420 to move. Specifically, the end effector 420 is a pressing plate that directly contacts the material to be pressed. The material to be pressed is also represented as mash or fermented mash in this embodiment.

[0061] According to a preferred embodiment, the scraping and cellar pressing parameters include the cellar pressing path, cellar pressing force and / or cellar pressing frequency of the execution module 400 .

[0062] According to a preferred embodiment, the execution module 400 is configured to: simultaneously scrape and press the material to be processed according to the cellar pressing path, cellar pressing force and / or cellar pressing frequency in the scraping and pressing parameter adjustment instructions output by the industrial robot 300 to shorten the production cycle.

[0063] According to a preferred embodiment, the industrial robot 300 is configured as follows: when the surface accumulation morphology information of the material to be processed shows that the material is a single cone, the output cellar pressing path is: starting from the 1 / 3 of the center of the material cone of the fermentation box 110, the cellar pressing is performed along an "S"-shaped route, and when half of the cellar pressing work is completed, it returns to the starting point, repeats the "S"-shaped route, and presses the other half. Figure 6 As shown, this setting is for single-cone materials, which makes the cellar pressing work more efficient. The regular cellar pressing path makes it easier to monitor and check the cellar pressing effect, which helps to promptly discover and correct the problem of uneven compaction. Single cone is the most common shape of materials entering the fermentation box 110 through the spreading equipment. The materials are piled into a cone in the fermentation box 110. The bottom surface of the cone is, for example, 1.8×1.5m and the height is 0.3-0.8m.

[0064] According to a preferred embodiment, the industrial robot 300 is configured as follows: when the surface accumulation morphology information of the material to be processed shows that the material is multi-conical, the output cellar pressing path is: starting from the lowest angle of the material cone in the fermentation box 110, moving toward the opposite side, turning when reaching the opposite edge, and moving in the opposite direction of the initial route to form an "S" shape, and then pressing the cellar in a manner perpendicular to the initial "S" shaped route. Figure 7 As shown, this setting is for multi-cone materials, which can increase the contact area and contact times between the end effector 420 and the materials, so that all multi-cone materials can be compacted. Compared with a single cone, the number of times the material passes through the airing machine 500 to enter the fermentation box 110 to form multi-cone materials is less, and the material is accumulated in the fermentation box 110 into multiple irregular cones, and the shapes and sizes of the cones are different.

[0065] According to a preferred embodiment, the industrial robot 300 is configured to control the output cellar pressing force and cellar pressing frequency according to the temperature information of the working space where the material to be processed is located and the ground temperature information.

[0066] The frequency of cellar pressing is shown in Table 1.

[0067] Table 1

[0068]

[0069]

[0070] In this embodiment, the squeezing frequency is expressed as the number of completed cycles. The entire process from the start of scraping to returning to the starting position and preparing for the next scraping operation is called a cycle.

[0071] The following are the specific implementation steps of the scraping and pressing cellar system.

[0072] The control system of the industrial robot 300 (taking Estun industrial robot as an example) has a processor, a memory and a path planning unit. The processor receives data from the positioning unit 130, the computer vision system 210, the temperature sensor 220, and the pressure sensor 230 and integrates and processes the acquired data, such as Figure 3 shown.

[0073] The computer vision system 210 and machine learning algorithms equipped in Estun industrial robots can help achieve accurate feature extraction and object recognition. For example, Estun industrial robots achieve accuracy and reliability of feature extraction through deep learning algorithms such as convolutional neural networks (CNN), transfer learning, data enhancement, real-time processing, multimodal fusion, and adaptive learning.

[0074] In the liquor brewing process, after the mash is put into the cellar, the airing machine 500 stops working, and the motor 122.1 of the power unit 120 starts to rotate forward to drive the conveying steel chain 121.1 to move, that is, the fermentation box 110 loaded with the mash to be scraped is on the conveying steel chain 121.1, and moves from the mash receiving area of ​​the airing machine 500 toward the scraping and pressing cellar area. When the positioning unit 130 senses that the fermentation box 110 moves to the specified position, the positioning unit 130 sends a sensing signal. The sensing signal of the positioning unit 130 is sent to the control system of the industrial robot 300, and the control system sends a command to the motor 122.1 to stop conveying. The control system of the industrial robot 300 sends a command to the execution component 410, and the execution component 410 drives the end effector 420 to move to the upper end of the fermentation box 110 according to the command. The computer vision system 210 collects image data of the stacking morphology of the mash surface when the mash enters the cellar and sends it to the control system of the industrial robot 300. The control system uses a feature extraction deep learning algorithm to extract point cloud data of the geometric features of the mash surface. Specifically, a point cloud is a collection of a series of points in space, which represent the position information of the surface of an object or environment in three-dimensional space. Each point usually contains three-dimensional coordinates (X, Y, Z), and sometimes other attributes such as color, intensity, and normal. Point cloud processing technologies include point cloud registration, segmentation, filtering, feature extraction, surface reconstruction, etc. These technologies enable point cloud data to be effectively analyzed and utilized, such as for object recognition and path planning. The point cloud data extracted by the feature extraction deep learning algorithm is connected to the path planning unit. Preferably, the path planning unit uses an artificial fish school path planning algorithm to calculate the optimal movement route of the press plate. At the same time, the control system obtains the ambient temperature information collected by the temperature sensor 220. The control system combines the physical properties of the mash pre-stored in the memory and the process requirements for the density of the mash under different temperature conditions, and outputs instructions on the pressing point density of the pressing plate under the current temperature conditions (as shown in Table 2), uniform position distribution, pressing force, pressing frequency and the optimal movement route of the pressing plate to the execution module 400.

[0075] Table 2 Pressed cellar density under different temperature conditions

[0076]

[0077] It should be understood that the data in Table 2 are exemplary and need to be adaptively adjusted according to the specific equipment performance, mash characteristics and fermentation process requirements. When the temperature is high, a higher pressure point density may be required to ensure that the mash is fully compacted to avoid heating too quickly and affecting the wine quality. When the temperature is low, the pressure point density can be appropriately reduced to avoid excessive compaction resulting in insufficient air inside the mash, which affects fermentation.

[0078] Preferably, the control system uses the Colmap algorithm to process and sparsely reconstruct the image of the mash surface, and then uses the PatchmatchNet deep learning algorithm to densely reconstruct the image. Specifically, the control system performs surface reconstruction and point cloud integration processing on the acquired point cloud, and then inputs the point cloud data into the artificial fish school algorithm, and plans the movement path of the pressing plate in the three-dimensional space through the artificial fish school algorithm. According to a preferred embodiment, after receiving the instruction of the control system, the execution component 410 controls the pressing plate to move toward the point cloud dense point (the convex point of the mash surface) to achieve the surface of the mash being scraped flat, such as Figure 5 shown.

[0079] After receiving the instruction, the execution module 400 simulates manual stepping on the cellar pressing, and the pressure sensor 230 collects the pressure data applied by the pressing plate to the mash, which is fed back to the control system and used to control the pressing force and pressing frequency.

[0080] According to a preferred embodiment, the scraping and pressing system can also perform layered pressing, that is, placing the mash in layers in the fermentation box 110 and appropriately compacting each layer. Different layers of mash can be compacted with different strengths to achieve different levels of oxygen content control.

[0081] According to a preferred embodiment, the cellar pressing force can be controlled in the following manner: during the cellar pressing process, the compactness of the mash is controlled by adjusting the weight and / or pressure of the pressing plate. The looseness of the material directly affects the gas exchange inside it, especially the oxygen content. The tighter the pressing, the smaller the gaps in the mash and the lower the oxygen content; conversely, the looser the pressing, the larger the gaps in the mash and the higher the oxygen content.

[0082] This embodiment provides the corresponding relationship between the looseness of the material and the oxygen content (Table 3) as an example to illustrate the change of the oxygen content under different looseness.

[0083] Table 3 Corresponding relationship between material looseness and oxygen content

[0084] Looseness (looseness coefficient) Oxygen content (volume percentage) 0.1 (very tight) 0.5％ 0.3 (tighter) 1.0％ 0.5 (medium loose) 2.0％ 0.7 (loose) 3.5％ 0.9 (very loose) 5.0％

[0085] The relationship between the bulk coefficient (usually referred to as porosity or porosity) of a material and the oxygen content is affected by many factors. The oxygen content can be estimated by considering the air composition in the pores of the material. In this embodiment, the data in Table 3 are verified and adjusted through experimental data and specific conditions.

[0086] According to a preferred embodiment, the industrial robot 300 can determine the required looseness and oxygen content of the mash in the cellar pressing process based on the fermentation target, the characteristics of the mash and the temperature conditions, and then control the cellar pressing force and / or cellar pressing frequency applied by the end effector 420 to the mash in the fermentation box 110.

[0087] According to a preferred embodiment, the detection module 200 further includes an oxygen sensor for collecting the oxygen content of the fermented material in the fermentation box 110 .

[0088] The industrial robot 300 is configured to maintain or adjust the pressing force and / or pressing frequency applied by the execution module 400 to the material to be processed based on the comparison result between the oxygen content of the material in the fermentation box 110 and the preset oxygen content.

[0089] According to a preferred embodiment, the industrial robot 300 is configured to reduce the pressing force and / or pressing frequency applied by the execution module 400 to the material to be processed when the oxygen content of the material in the fermentation box 110 is lower than a preset oxygen content.

[0090] According to a preferred embodiment, the industrial robot 300 is configured to increase the pressing force and / or pressing frequency applied by the execution module 400 to the material to be processed when the oxygen content of the material in the fermentation box 110 exceeds a preset oxygen content.

[0091] According to a preferred embodiment, the industrial robot 300 is configured to maintain the pressing force and / or pressing frequency applied by the execution module 400 to the material to be processed when the oxygen content of the material in the fermentation box 110 is equal to the preset oxygen content.

[0092] Example 2

[0093] This embodiment is a further improvement of Embodiment 1, and repeated contents will not be repeated here.

[0094] The present embodiment provides a scraping and pressing system, which includes a transfer and conveying module 100, a detection module 200, an industrial robot 300 and an execution module 400. The execution module 400 is configured to scrape and press the material to be processed according to the adjustment instructions output by the control system of the industrial robot 300. The execution module 400 includes an execution component 410 and an end effector 420 connected to the execution component 410. The execution component 410 drives the end effector 420 to move. The control system of the industrial robot 300 has a processor, a memory and a path planning unit. In this embodiment, the material to be pressed can be mash or fermented grains.

[0095] The temperature sensor 220 in the detection module 200 preferably includes a workspace sensor installed in the workspace where the material is located to measure the temperature of its workspace and a ground temperature sensor installed on the ground to measure the ground temperature. The workspace temperature refers to the ambient temperature of the material, and in this embodiment, it refers to the temperature in the fermentation box 110. The workspace temperature sensor is preferably installed at a favorable position that can be determined by a person skilled in the art, for example, in the middle of the height, width and depth of the fermentation box 110, the bottom is affected by the ground temperature, and the top ventilation will affect the surface temperature. This position avoids the influence of the temperature difference between the top and the bottom; or at multiple positions inside the material in the fermentation box 110 (such as setting a sensor at a certain depth), the temperature is monitored, and the multiple temperature values ​​are integrated to obtain data that more accurately reflects the material temperature, which can better represent the temperature conditions in the entire fermentation box 110. The workspace temperature directly affects the microbial activity, chemical reaction rate and physical properties of the material during the fermentation process. The ground temperature refers to the temperature of the ground or underground, usually the temperature of the bottom or ground of the fermentation tank. The ground temperature is usually relatively stable, while the working space temperature fluctuates greatly. This is because there are a variety of instruments and equipment in the space where the mash is scraped and pressed. For example, the wind speed and direction of the ventilation system will affect the flow of air, and then affect the temperature distribution in the space; and the running time and running power of the motor 122.1, the drive system and some other electric equipment (control cabinet, sensor, inverter) in the space will affect the temperature in the space. The difference between the ground temperature and the working space temperature will form a temperature gradient, affecting the temperature distribution and heat transfer of the material. The difference between the ground temperature and the working space temperature will affect the effect of the pressing operation. Taking mash as an example, specifically, when the working space temperature of the mash increases, the mash will expand, and the viscosity between the mash decreases, and the fluidity increases; when the working space temperature of the mash decreases, the mash will shrink, and the viscosity between the mash increases, and the fluidity decreases. The looseness of the mash and the change in fluidity are related to the cellar pressing force and cellar pressing frequency. Appropriate cellar pressing force can prevent the mash from being too tight or loose, and appropriate cellar pressing frequency can improve the uniform distribution of the mash, thereby improving the subsequent fermentation effect. Therefore, the cellar pressing force and cellar pressing frequency need to be dynamically adjusted to adapt to the fluctuation of the difference between the ground temperature and the working space temperature.

[0096] The volume of the material loaded into the fermentation box 110 is preferably between 70% and 80% of the volume of the fermentation box 110, and the reserved space is convenient for scraping and pressing the cellar to avoid the material being too dense and causing difficulty in operation. On the other hand, filling too much material will cause uneven temperature and humidity distribution in the fermentation box 110.

[0097] According to this embodiment, the control system of the industrial robot 300 is configured to calculate the cellar pressing force K and the cellar pressing frequency F, so as to more accurately control the temperature, humidity and oxygen distribution of the mash during the fermentation process. The execution module 400 is configured to: scrape and press the material to be processed according to the cellar pressing path, cellar pressing force and / or cellar pressing frequency in the scraping and pressing parameters output by the industrial robot 300.

[0098] The calculation formula of the cellar pressure force is as follows:

[0099] K=K 0 +k 1 ·(T ws -T gw )+k 2 ·(T ws -T gw ) 2

[0100] In this formula, K 0 is the basic force; T ws is the working space temperature; T gw is ground temperature; k 1 is the linear temperature difference coefficient, which directly reflects the temperature difference (T ws -T gw ) has a linear effect on the cellar pressure force K; k 2 is the quadratic temperature difference coefficient, which reflects the square of the temperature difference (T ws -T gw ) 2 The square term of the temperature difference can capture the nonlinear effect of temperature change on the force K. When the temperature difference increases, the cellar pressing force increases accordingly. This setting helps to better control the compactness of the material during the fermentation process.

[0101] The calculation formula of cellar pressure frequency F is as follows:

[0102] F=F 0 +f 1 ·(T ws -T gw )+f 2 ·sin(f 3 ·(T ws -T gw ))

[0103] In this formula, F 0 is the fundamental frequency; f 1 is the linear temperature difference coefficient, which is used to reflect the temperature difference (T ws -T gw ) linear effect on the cellar pressing frequency; f 2 is the temperature difference coefficient of the sine term; f 3is the frequency coefficient of the sine term. The temperature difference coefficient of the sine term f 2 and frequency coefficient f 3 Used to introduce periodic changes to simulate the impact of temperature fluctuations. Temperature fluctuations can cause instability in the fermentation process, and the sine term can simulate this periodic change and help adjust the cellar pressing frequency to adapt to temperature fluctuations.

[0104] Basic force K 0 and the fundamental frequency F 0 It is determined based on historical experimental data or operating experience. Specifically, the basic force K is determined based on historical experience. 0 and fundamental frequency F 0 The method is as follows: collect the data of cellar pressing operations in the past fermentation process, including records of force and frequency; evaluate the impact of these operations on the fermentation process, such as the uniformity of temperature, humidity and oxygen distribution, the quality of fermentation products, etc.; summarize the basic force and frequency suitable for the current fermentation conditions based on historical data and operation results. Determine the basic force K based on historical experimental data 0 and the fundamental frequency F 0 The method is as follows: design a series of experiments to test the effects of different forces and frequencies on the fermentation process; change the forces and frequencies under the same temperature, humidity and other environmental conditions, and record the key parameters of the fermentation process, such as temperature distribution, humidity distribution, oxygen distribution and the quality of the fermentation products; compare the experimental results under different forces and frequencies to find the optimal forces and frequencies.

[0105] After the material passes through the spreading device and enters the fermentation box 110, it usually forms different accumulation forms in the fermentation box 110, for example, the material accumulates into a cone or other irregular shapes in the fermentation box 110. The execution module 400 of this embodiment can scrape and press the material to be processed according to the accumulation form of the material in the fermentation box 110 with a specified pressing path, pressing force and / or pressing frequency.

[0106] This embodiment takes into account that the surface accumulation form of the material in the fermentation box 110 affects the temperature, humidity and oxygen distribution of the subsequent fermentation process, and in order to reduce the uneven distribution of temperature, humidity and oxygen during the fermentation process that affects the flavor and quality of the final wine, the control system of the industrial robot 300 of this embodiment specifically adjusts the scraping and pressing path, pressing force and pressing frequency and other operating parameters according to the surface form of the material in the fermentation box 110 (such as a single pile or multiple piles), and controls the execution module 400 to scrape and press the cellar.

[0107] Specifically, the end effector 420 of the execution module 400 is configured as follows: when the stacking form of the mash is a single pile form with center stacking, the scraping and cellar pressing path starts from a first point located in the central area, and is scraped and leveled in a spiral manner gradually expanding outward from the center to a second point on the edge with a cellar pressing force of K + a cellar pressing frequency of F, and then returns from the second point to the first point in the opposite direction of the aforementioned path.

[0108] According to the calculation formula of the cellar pressing force K and the cellar pressing frequency F of this embodiment, the following example is obtained, wherein the parameters are set as follows:

[0109] K 0 =50N; F 0 =1.0 times / minute; k 1 =2N / ℃; k 2 =0.1N / ℃ 2 ;f 1 =0.1 times / minute / ℃; f 2 =0.5 times / minute; f 3 =0.11 / ℃; T ws =30℃; T gw =25℃.

[0110] According to this embodiment, the control system of the industrial robot 300 is configured to perform the following steps:

[0111] 1. Calculate the temperature difference:

[0112] ΔT=T ws -T gw =30-25=5℃

[0113] 2. Calculate the cellar pressure force K:

[0114] K=K 0 +k 1 ΔT+k 2 (ΔT) 2

[0115] K=50+2·5+0.1·(5) 2

[0116] K = 50 + 10 + 0.1.25

[0117] K = 50 + 1 0 + 2.5

[0118] K=62.5N

[0119] 3. Calculate the cellar pressing frequency F:

[0120] F=F 0 +f 1 ΔT+f 2 ·Sin(f3 ·ΔT)

[0121] F=1.0+0.1·5+0.5·Sin(0.1·5)

[0122] F=1.0+0.5+0.5·sinn(0.5)

[0123] sin(0.5)≈0.479426

[0124] F=1.0+0.5+0.5·0.479426

[0125] F=1.0+0.5+0.239713

[0126] F≈1.739713 times / minute

[0127] Therefore, the end effector 420 of the execution module 400 is configured as follows: starting from point A, it gradually expands outward in a spiral from the center to point B with a pressing force of 62.5N + a pressing frequency of 1.74 times / minute, and then returns from point B to point A in the opposite direction of the aforementioned path.

[0128] According to a preferred embodiment, when performing a cellar pressing operation, since the control and execution of mechanical equipment are usually carried out at discrete time intervals, the cellar pressing frequency is more in line with the operating procedures of the equipment when it is an integer. Therefore, this embodiment obtains the cellar pressing frequency of a specific operation by taking the nearest integer, rounding down, or rounding up. This embodiment uses the time variable and periodic changes to provide the following calculation formula to dynamically adjust the cellar pressing frequency. The calculation formula for the dynamic cellar pressing frequency is as follows:

[0129]

[0130] Wherein, T is the adjustment period, i.e., a complete high-low frequency alternation period, and this embodiment takes 1 minute as an example; F high is the high frequency within the period; F low is the low frequency within the cycle; t high is the duration of high frequency in one cycle; t low It is the duration of low frequency in one cycle.

[0131] Furthermore, this embodiment provides the following calculation formula to obtain the high frequency duration and the low frequency duration.

[0132] The high frequency duration is calculated as follows:

[0133]

[0134] The low frequency duration is calculated as follows:

[0135] t low =Tt high

[0136] Among them, F calc is the calculated target cellar pressing frequency, which is equivalent to the aforementioned cellar pressing frequency F.

[0137] Therefore, the F calculated above is calc = 1.739713 times / minute, the cellar pressing frequency is dynamically adjusted according to the following calculation method:

[0138] Round up:

[0139] Round down:

[0140]

[0141] t high =0.739713×60

[0142] t high ≈44.38 seconds low =60-44.38

[0143] t low ≈15.62 seconds

[0144] That is, starting from the first point, the scraping is gradually expanded outward in a spiral path to the second point. In the first 44.38 seconds, the cellar is pressed at a frequency of 2 times / minute; in the next 15.62 seconds, the cellar is pressed at a frequency of 1 time / minute.

[0145] Then return from the second point to the first point in the opposite direction of the aforementioned path, and in the first 44.38 seconds, press the cellar at 62.5N+2 times / minute; in the next 15.62 seconds, press the cellar at 62.5N+1 time / minute.

[0146] In addition, the surface of the material in the fermentation box 110 may also be in the form of multiple piles of evenly distributed small piles or multiple piles of irregularly distributed large and small piles, which are not listed one by one in this embodiment.

[0147] Example 3

[0148] This embodiment provides a method for scraping and pressing a cellar, which is implemented based on the scraping and pressing cellar system provided in Embodiments 1 and 2. Figure 4As shown, the method comprises the following steps: S100, collecting the position information of the fermentation box 110; S200, acquiring the surface stacking morphology information of the material to be processed and the temperature information of the working space where the material to be processed is located; S300, outputting the scraping and pressing parameters of the material to be processed; S400, scraping and pressing the material to be processed according to the output scraping and pressing parameters, wherein the scraping and pressing parameters include the pressing path, pressing force and / or pressing frequency of the execution module 400.

[0149] It should be noted that the above-mentioned specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention. The equivalent replacement of the raw materials selected by the present invention, the addition of auxiliary components, the selection of specific methods, etc., also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the description of the present invention and its drawings are illustrative and do not constitute limitations on the claims. The scope of protection of the present invention is defined by the claims and their equivalents. The description of the present invention contains multiple inventive concepts, such as "preferably" and "according to a preferred embodiment", which means that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to file a divisional application based on each inventive concept.

Claims

1. A scraping and pressing cellar system, characterized in that: The system comprises: A detection module (200) configured to monitor surface accumulation morphology information of the material to be processed and temperature information of a working space where the material to be processed is located; an industrial robot (300) connected to the detection module (200) by signal, and configured to output scraping and pressing parameters of the material to be processed to the execution module (400) based on the surface accumulation morphology information and temperature information collected by the detection module (200); and the execution module (400) connected to the industrial robot (300) by signal, configured to perform scraping and pressing of the material to be processed according to the scraping and pressing parameters of the material to be processed output by the industrial robot (300), The scraping and cellar pressing parameters include the cellar pressing path, cellar pressing force and / or cellar pressing frequency of the execution module (400).

2. The scraping and pressing cellar system according to claim 1 is characterized in that: The detection module (200) comprises a computer vision system (210) for collecting surface accumulation morphology information of the material to be processed and a temperature sensor (220) for collecting temperature information of a working space where the material to be processed is located.

3. The scraping and pressing cellar system according to claim 1 or 2, characterized in that: The industrial robot (300) is configured to output a cellar pressing path of the execution module (400) based on surface accumulation morphology information of the material to be processed, so as to scrape the convex surface toward the concave point.

4. The scraping and pressing cellar system according to any one of claims 1 to 3, characterized in that: The industrial robot (300) is configured to output the pressing force and / or pressing frequency of the execution module (400) based on the temperature information of the working space where the material to be processed is located, so as to control the looseness of the material and further control the oxygen content in the material.

5. The scraping and pressing cellar system according to any one of claims 1 to 4, characterized in that: The industrial robot (300) is configured such that, when the surface accumulation morphology information of the material to be processed shows that the material is in a single cone shape, the output cellar pressing path is: starting from the 1 / 3 of the center of the material cone of the fermentation box (110), the cellar pressing is performed along an "S"-shaped route, and when half of the cellar pressing work is completed, the starting point is returned, and the "S"-shaped route is repeated to press the other half.

6. The scraping and pressing cellar system according to any one of claims 1 to 5, characterized in that: The industrial robot (300) is configured such that, when the surface accumulation morphology information of the material to be processed shows that the material is multi-conical, the output cellar pressing path is: starting from the lowest angle of the material cone in the fermentation box (110) and moving toward the opposite side, turning when reaching the opposite edge, and moving in the opposite direction to the initial route to form an "S" shape, and then pressing the cellar in a manner perpendicular to the initial "S" shaped route.

7. The scraping and pressing cellar system according to any one of claims 1 to 6, characterized in that: The detection module (200) further comprises a pressure sensor (230) for collecting pressure information applied by the execution module (400) to the material to be processed.

8. The scraping and pressing cellar system according to any one of claims 1 to 7, characterized in that: The scraping and pressing system further comprises a transfer and conveying module (100) for conveying materials to be processed.

9. The scraping and pressing cellar system according to any one of claims 1 to 8, characterized in that: The transfer and conveying module (100) comprises a fermentation box (110) and a positioning unit (130) for obtaining position information of the fermentation box (110); when the positioning unit (130) shows that the fermentation box (110) is at a predetermined position, the industrial robot (300) controls the computer vision system (210) to start working.

10. A method for scraping and pressing a cellar, characterized in that: The scraping and pressing cellar system according to claims 1 to 9 is implemented, comprising the following steps: Collecting position information of the fermentation box (110); Obtaining surface accumulation morphology information of the material to be processed and temperature information of the working space where the material to be processed is located; Output the scraping and pressing parameters of the material to be processed; According to the output scraping and pressing parameters, the material to be processed is scraped and pressed. The scraping and cellar pressing parameters include the cellar pressing path, cellar pressing force and / or cellar pressing frequency of the execution module (400).

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