Intelligent fermentation system and control method thereof

Abstract

The invention discloses an intelligent fermentation system and a control method thereof, the intelligent fermentation system comprises a sensing unit, and a first parameter is obtained through the sensing unit; the control unit performs progress calculation according to the second parameter to obtain a progress calculation result, obtains the first parameter, performs progress verification on the progress calculation result according to the first parameter to obtain a progress verification result, and performs progress update judgment according to the progress verification result to obtain a progress update judgment result; the remote monitoring unit obtains a progress calculation result and a progress updating judgment result, and updates the progress according to the progress updating judgment result; according to the invention, the accuracy of fermentation monitoring is improved, the problem of insufficient fermentation or excessive fermentation is avoided, and automatic monitoring and management of the fermentation process are realized. And a production manager can master the fermentation state in real time, so that a decision can be made in time, and the intelligent level of the system is further improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent fermentation technology, and in particular to an intelligent fermentation system and a control method thereof. Background Art

[0002] As a traditional fermented food, sauerkraut is loved by consumers for its unique taste and rich nutritional value. In the production process of sauerkraut, the fermentation process is crucial, which directly determines the flavor and quality of sauerkraut. Traditionally, sauerkraut fermentation uses the method of placing fresh mustard and other main ingredients in a clean pottery jar for natural fermentation after salting or unsalting, adding or not adding salt, white wine and other auxiliary materials. Although this method can retain the traditional flavor of sauerkraut, it is limited by production efficiency and sanitary conditions and has gradually failed to meet the needs of the modern market.

[0003] With the advancement of science and technology and the development of the food industry, the production method of sauerkraut has also undergone a transformation from traditional manual to factory-based, automated and intelligent production. At present, the most commonly used equipment for sauerkraut fermentation is the fermentation system, which accurately controls the ratio of raw materials to auxiliary materials and feeds the mixture into the fermentation tank. The fermentation tank is equipped with advanced temperature control modules and sensor modules, which can realize intelligent control of the sauerkraut fermentation process, thereby achieving the goal of unmanned production and greatly improving production efficiency and product quality stability.

[0004] However, despite the significant progress made in automation and intelligence in the existing fermentation system, there are still some defects. In particular, in terms of monitoring the fermentation progress, the existing system mainly relies on the fermentation time to judge the fermentation degree of sauerkraut. However, the fermentation process is a complex biochemical process, which is affected by many factors such as temperature, humidity, and microbial activity. It is difficult to accurately reflect the actual fermentation progress of sauerkraut based on the fermentation time alone. This inaccurate monitoring method may lead to insufficient or excessive fermentation, which in turn affects the flavor and quality of sauerkraut. Summary of the invention

[0005] Therefore, in order to solve the above-mentioned shortcomings, on the one hand, the present invention provides an intelligent fermentation system, comprising: A sensing unit, for obtaining a first parameter through the sensing unit; A control unit, wherein the control unit performs a progress calculation according to the second parameter to obtain a progress calculation result, obtains the first parameter, performs a progress verification on the progress calculation result according to the first parameter to obtain a progress verification result, performs a progress update judgment according to the progress verification result to obtain a progress update judgment result; The remote monitoring unit obtains the progress calculation result and the progress update judgment result, and updates the progress according to the progress update judgment result; Update the progress according to the progress update judgment result, including: If the progress verification is passed, the progress calculation result is output to the first designated display window to cover the historical progress; If the progress verification fails, the progress calculation result will be output to the second designated display window.

[0006] Furthermore, the control unit comprises: A progress calculation module performs progress calculation according to the second parameter to obtain a progress calculation result; A data acquisition module receives a first parameter uploaded by the sensor unit; The progress verification module verifies the progress calculation result according to the first parameter to obtain a progress verification result, and makes a progress update judgment according to the progress verification result to obtain a progress update judgment result.

[0007] Furthermore, the control unit also includes a data correction module, which obtains the first parameter, performs correction calculation on the first parameter, obtains the correction calculation result, and sends the correction calculation result to the progress verification module, so that the progress verification module performs progress verification according to the correction calculation result.

[0008] Furthermore, the fermentation system also includes an image acquisition unit, which acquires an image of the target area; The control unit also includes: An image processing module is provided to obtain a target area image, identify a target feature image in the target area image, extract the target feature image, extract a first feature based on the target feature image, perform feature area analysis based on the first feature, obtain a feature area analysis result, and extract a first feature area and a second feature area in the target feature image based on the feature area analysis result; The state judgment module obtains the first feature area image and the second feature area image, analyzes the third parameters of the first feature area image and the second feature area image, judges the target state according to the third parameter analysis result, and sends the target state judgment result to the progress verification module, so that the progress verification module performs a secondary progress verification according to the target state judgment result and the correction calculation result.

[0009] The present invention obtains the first parameter in the fermentation process in real time through the sensing unit, and the control unit verifies the progress according to the first parameter, which significantly improves the accuracy of fermentation monitoring and avoids the problem of insufficient or excessive fermentation. The present invention realizes the automatic monitoring and management of the fermentation process by integrating the sensing unit, the control unit and the remote monitoring unit. The control unit can intelligently calculate and verify the progress, and automatically update the fermentation progress according to the result, which greatly reduces manual intervention and improves production efficiency. At the same time, the remote monitoring unit enables production managers to grasp the fermentation status in real time, which is convenient for making decisions in time, and further improves the intelligence level of the system. At the same time, by distinguishing the first designated display window and the second designated display window, clear and intuitive fermentation progress information is provided to the user. When the progress verification passes, the new progress calculation result will cover the historical progress to ensure that the user sees the latest and accurate fermentation status; when the progress verification fails, the result will be output to another window, which is convenient for the user to review and adjust. This design not only improves the user experience, but also helps to find and solve problems in time, thereby improving production efficiency.

[0010] Furthermore, the control unit further includes a fermentation control module, which generates a control signal according to the correction calculation result or the progress verification result. The fermentation system further includes a fermentation unit, which performs an action corresponding to the control signal according to the control signal. The fermentation unit includes: A fermentation module, wherein a sensor unit and an image acquisition unit are provided in the fermentation module; A stirring module, wherein the stirring module is installed on the fermentation module; A temperature control module is arranged on the fermentation module.

[0011] The present invention uses a fermentation control module to execute an action corresponding to the control signal according to the control signal, and can timely adjust fermentation conditions, such as temperature, humidity, etc., to optimize the activity of microorganisms, thereby producing a sauerkraut product with better taste and better quality.

[0012] Furthermore, the fermentation unit further comprises a sampling module, through which a target sample in the fermentation module is collected to be sent to a target area; The sampling module comprises: The first power unit; A first connecting arm, one end of which is connected to a first power device, and the first power device drives the connecting arm to rotate horizontally around one end thereof; Second power unit; The clamping claw is connected to the first connecting arm and is driven to slide vertically by the second power device.

[0013] Furthermore, the first connecting arm comprises: A first telescopic arm, one end of which is connected to the first power device; A third power device, the third power device is installed on the first telescopic arm; The second telescopic arm is sleeved on the outside of the first telescopic arm and is driven by a third power device to move horizontally and linearly.

[0014] Furthermore, the sampling module further comprises a second connecting arm, the clamp is connected to the first connecting arm via the second connecting arm, and the second connecting arm comprises: A first-stage telescopic arm, one end of which is fixedly connected to an end of the first connecting arm away from the first power device, and the third power device is mounted on the first-stage telescopic arm; A secondary telescopic arm, wherein the secondary telescopic arm is wrapped in the primary telescopic arm and driven by a third power device to move linearly along the axis direction of the primary telescopic arm; A three-stage telescopic arm, wherein the three-stage telescopic arm is wrapped in the two-stage telescopic arm, and the three-stage telescopic arm is driven by a third power device to move linearly along the axis direction of the two-stage telescopic arm; The four-stage telescopic arm is wrapped in the three-stage telescopic arm, and the four-stage telescopic arm is driven by the third power device to move linearly along the axis direction of the three-stage telescopic arm.

[0015] The sauerkraut in the fermentation module is randomly sampled through the sampling module and sent to the target area for image acquisition, thereby improving the image recognition accuracy and avoiding interference from the fermentation liquid.

[0016] On the other hand, the present invention also provides a control method for an intelligent fermentation system, the control method comprising: Perform progress calculation according to the second parameter to obtain a progress calculation result; Obtaining a first parameter, performing progress verification on a progress calculation result according to the first parameter to obtain a progress verification result, performing progress update judgment according to the progress verification result to obtain a progress update judgment result; Obtain the progress calculation results and progress update judgment results, and update the progress according to the progress update judgment results; Update the progress according to the progress update judgment result, including: If the progress verification is passed, the progress calculation result is output to the first designated display window to cover the historical progress; If the progress verification fails, the progress calculation result will be output to the second designated display window.

[0017] Furthermore, the control method further includes performing a correction calculation on the first parameter to obtain a correction calculation result, and sending the correction calculation result to the progress verification module so that the progress verification module performs progress verification according to the correction calculation result.

[0018] The present invention has the following advantages: The present invention obtains the first parameter in the fermentation process in real time through the sensing unit, and the control unit verifies the progress according to the first parameter, which significantly improves the accuracy of fermentation monitoring and avoids the problem of insufficient or excessive fermentation. The present invention realizes the automatic monitoring and management of the fermentation process by integrating the sensing unit, the control unit and the remote monitoring unit. The control unit can intelligently calculate and verify the progress, and automatically update the fermentation progress according to the result, which greatly reduces manual intervention and improves production efficiency. At the same time, the remote monitoring unit enables production managers to grasp the fermentation status in real time, which is convenient for making decisions in time, and further improves the intelligence level of the system. At the same time, by distinguishing the first designated display window and the second designated display window, clear and intuitive fermentation progress information is provided to the user. When the progress verification passes, the new progress calculation result will cover the historical progress to ensure that the user sees the latest and accurate fermentation status; when the progress verification fails, the result will be output to another window, which is convenient for the user to review and adjust. This design not only improves the user experience, but also helps to find and solve problems in time, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the logical structure of the fermentation system; Figure 2 yes Figure 1 A schematic diagram of the logical structure of the control unit in the fermentation system shown; Figure 3 yes Figure 1 A schematic diagram of the structure of a fermentation unit in the fermentation system shown; Figure 4 yes Figure 3 A schematic diagram of the structure of a sampling module in the fermentation unit shown; Figure 5 yes Figure 4 A side view of the sampling module shown; Figure 6 yes Figure 4 A schematic diagram of the explosion structure of the second connecting arm in the sampling module shown; Figure 7 yes Figure 6 A schematic structural diagram of the secondary telescopic arm in the second connecting arm shown; Figure 8 yes Figure 6 A schematic cross-sectional view of the second connecting arm shown; Fig. 9is a schematic diagram of the partial structural movement of the second connecting arm; In the figure: 100. Sensing unit; 200, image acquisition unit; 300. Remote monitoring unit; 400, control unit; 410, image processing module; 420, data acquisition module; 430, state judgment module; 440, data correction module; 450, progress verification module; 460, fermentation control module; 470, progress calculation module; 1000, fermentation unit; 1100, stirring module; 1200, fermentation module; 1300, sampling module; 1310, first power device; 1320, first connecting arm; 1321, first telescopic arm; 1322, second telescopic arm; 1323, third power device; 1330, second power device; 1340, clamp; 1350, second connecting arm; 1351, first telescopic arm; 1352, second telescopic arm; 1353, third telescopic arm; 1354, fourth telescopic arm; 1355, pulley; 1356, wire rope. DETAILED DESCRIPTION

[0020] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0021] In this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises", or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0022] As described in the background technology, the existing system mainly relies on fermentation time to judge the fermentation degree of sauerkraut. However, the fermentation process is a complex biochemical process, which is affected by many factors such as temperature, humidity, and microbial activity. It is difficult to accurately reflect the actual fermentation progress of sauerkraut based on fermentation time alone. This inaccurate monitoring method may lead to insufficient or excessive fermentation, which in turn affects the flavor and quality of sauerkraut.

[0023] Embodiment 1: Therefore, in order to solve the above technical problems existing in the prior art, this embodiment provides an intelligent fermentation system, such as Figure 1 As shown, the fermentation system shown comprises: A sensing unit 100, which obtains a first parameter through a sensing unit; A control unit 400, wherein the control unit performs a progress calculation according to the second parameter to obtain a progress calculation result, obtains the first parameter, performs a progress verification on the progress calculation result according to the first parameter to obtain a progress verification result, performs a progress update judgment according to the progress verification result to obtain a progress update judgment result; The remote monitoring unit 300 obtains the progress calculation result and the progress update judgment result, and updates the progress according to the progress update judgment result; In this embodiment, updating the progress according to the progress update judgment result includes: If the progress verification is passed, the progress calculation result is output to the first designated display window to cover the historical progress; If the progress verification fails, the progress calculation result will be output to the second designated display window.

[0024] like Figure 2 As shown, the control unit includes: The progress calculation module 470 performs progress calculation according to the second parameter to obtain a progress calculation result; The data acquisition module 420 receives the first parameter uploaded by the sensor unit; The progress verification module 450 performs progress verification on the progress calculation result according to the first parameter to obtain a progress verification result, and performs progress update judgment according to the progress verification result to obtain a progress update judgment result.

[0025] The control unit also includes a data correction module 440, which obtains a first parameter, performs correction calculation on the first parameter, obtains a correction calculation result, and sends the correction calculation result to a progress verification module, so that the progress verification module performs progress verification according to the correction calculation result.

[0026] The progress calculation module in the control unit performs progress calculation according to the second parameter. In this embodiment, the second parameter is time. The progress calculation method is: ; in, A For fermentation progress; t is the real-time fermentation time in hours; t 0 The preset fermentation time.

[0027] At the same time, the data acquisition module obtains the real-time first parameter. In this embodiment, the first parameter includes parameters such as temperature, Ph value, biomass content, etc. The data correction module performs correction calculation on the first parameter. The correction calculation on the first parameter includes: A first correction calculation is performed on the first parameter uploaded by each sensor unit, and the first correction calculation method is as follows: ; in, B x First correction calculation result; ω x is the first weight; σ is the ReLU activation function; W x is the second weight; C x is the measured value of the sensor; D x is the offset; Said ω , W , D They are obtained by inputting a large amount of sensor data into the BP neural network for training, mapping and testing.

[0028] A second correction calculation is performed based on the same type of first parameter, and the second correction calculation method is as follows: ; in, E x is the result of the second correction calculation, ε x is the third weight; Said ε x It is determined by the importance of the location of the sensor.

[0029] The progress verification module obtains a first parameter verification table matching the progress calculation result according to the progress calculation result, performs a first matching between the second correction calculation result and the first parameter verification table to obtain a first matching result, and performs a progress update judgment according to the first matching result to obtain a progress update judgment result; Specifically, if the second correction calculation result matches the first parameter verification table, the progress verification is passed; if the second correction calculation result does not match the first parameter verification table, the progress verification is failed.

[0030] Sending the progress update judgment result to the remote monitoring unit, obtaining the progress calculation result and the progress update judgment result, and updating the progress according to the progress update judgment result; Specifically, updating the progress according to the progress update judgment result includes: if the progress verification passes, outputting the progress calculation result to the first designated display window to cover the historical progress; if the progress verification fails, outputting the progress calculation result to the second designated display window.

[0031] The present invention obtains the first parameter in the fermentation process in real time through the sensing unit, and the control unit verifies the progress according to the first parameter, which significantly improves the accuracy of fermentation monitoring and avoids the problem of insufficient or excessive fermentation. The present invention realizes the automatic monitoring and management of the fermentation process by integrating the sensing unit, the control unit and the remote monitoring unit. The control unit can intelligently calculate and verify the progress, and automatically update the fermentation progress according to the result, which greatly reduces manual intervention and improves production efficiency. At the same time, the remote monitoring unit enables production managers to grasp the fermentation status in real time, which is convenient for making decisions in time, and further improves the intelligence level of the system. At the same time, by distinguishing the first designated display window and the second designated display window, clear and intuitive fermentation progress information is provided to the user. When the progress verification passes, the new progress calculation result will cover the historical progress to ensure that the user sees the latest and accurate fermentation status; when the progress verification fails, the result will be output to another window, which is convenient for the user to review and adjust. This design not only improves the user experience, but also helps to find and solve problems in time, thereby improving production efficiency.

[0032] Exemplarily, the sensing unit includes a temperature sensor, a Ph sensor, a biomass sensor, and the like.

[0033] Embodiment 2: In order to improve the accuracy of progress verification, this embodiment is optimized on the basis of embodiment 1, such as Figure 1 As shown, the fermentation system further includes an image acquisition unit 200, which acquires an image of the target area; like Figure 2 As shown, the control unit also includes: The image processing module 410 acquires a target area image, identifies a target feature image in the target area image, extracts the target feature image, extracts a first feature based on the target feature image, performs feature area analysis based on the first feature, obtains a feature area analysis result, and extracts a first feature area and a second feature area in the target feature image based on the feature area analysis result; The state judgment module 430 obtains the first feature area image and the second feature area image, analyzes the third parameters of the first feature area image and the second feature area image, judges the target state according to the third parameter analysis result, and sends the target state judgment result to the progress verification module, so that the progress verification module performs a secondary progress verification according to the target state judgment result.

[0034] Specifically, when the data correction module corrects the first parameter, the image processing module 410 obtains the target area image, identifies the target feature image in the target area image, extracts the target feature image, extracts the first feature based on the target feature image, performs feature area analysis according to the first feature, obtains the feature area analysis result, and extracts the first feature area and the second feature area in the target feature image according to the feature area analysis result; the state judgment module 430 obtains the first feature area image and the second feature area image, analyzes the third parameter of the first feature area image and the second feature area image, and judges the target state according to the third parameter analysis result; When the second correction result matches the first parameter verification table, the progress verification module obtains the target state judgment result and the progress-target state corresponding data table, matches the target state judgment result with the progress-target state corresponding data table, and obtains the target state matching result; If the target status matches the progress-target status corresponding data table, the progress verification passes; if the target status does not match the progress-target status corresponding data table, the progress verification fails.

[0035] Exemplarily, in this embodiment, the first feature is texture, and the third parameter is color.

[0036] This embodiment distinguishes kimchi leaves and stems by texture, and identifies the colors of leaves and stems respectively. By analyzing the colors of leaves and stems, the current fermentation state of the kimchi can be realized. By judging whether the fermentation state matches the current one, the purpose of secondary verification of the fermentation progress can be achieved, thereby improving the accuracy of progress monitoring.

[0037] Embodiment 3: Based on the fermentation system described in Examples 1 and 2, this embodiment provides a fermentation unit. In this embodiment, Figure 2 As shown, the control unit also includes a fermentation control module 460, which generates a control signal according to the correction calculation result or the progress verification result, such as Figure 3 As shown, the fermentation system further includes a fermentation unit 1000, and the fermentation unit performs an action corresponding to the control signal according to the control signal, and the fermentation unit includes: A fermentation module 1200, wherein a sensor unit and an image acquisition unit are provided in the fermentation module; A stirring module 1100, which is installed on the fermentation module; A temperature control module is arranged on the fermentation module.

[0038] The present invention uses a fermentation control module to execute an action corresponding to the control signal according to the control signal, and can timely adjust fermentation conditions, such as temperature, humidity, etc., to optimize the activity of microorganisms, thereby producing a sauerkraut product with better taste and better quality.

[0039] like Figure 3 As shown, the stirring module may include a motor and a stirrer. The stirrer may be arranged on one side of the fermentation module and tilted, and the stirrer may be driven to rotate by the motor on the outside.

[0040] The fermentation control module performs difference calculation on the first correction calculation results of the same type, and generates a control signal according to the difference calculation results to control the motor to drive the agitator to rotate, thereby stirring the raw materials in the fermentation module to keep the temperature, biomass, salinity and other parameters in the fermentation tank in a relatively uniform state.

[0041] Specifically, the difference calculation is performed as follows: ; in, Y max is the maximum value of the difference calculation result, E m , E n The first correction calculation result of the data uploaded by the same type of sensors at different locations.

[0042] like Y max If the stirring value is greater than the first preset value, the stirring module is started, otherwise it is not started.

[0043] When the second correction calculation result of the temperature exceeds or is lower than the preset temperature range, the fermentation control module generates a temperature control signal and sends it to the temperature control module, so that the temperature control module regulates the temperature in the fermentation module.

[0044] In this embodiment, if Figure 3 As shown, the fermentation unit further includes a sampling module 1310, through which a target sample in the fermentation module is collected to be sent to a target area; For example, Figure 4 As shown, the sampling module includes: First power unit 1310; A first connecting arm 1320, one end of which is connected to a first power device, and the first power device drives the connecting arm to rotate horizontally around one end thereof; Second power unit 1330; The clamping jaw 1340 is connected to the first connecting arm and is driven to slide vertically by the second power device 1330.

[0045] For example, Figure 5 As shown, the first connecting arm includes: A first telescopic arm 1320, one end of which is connected to the first power device; A third power device 1323, the third power device is installed on the first telescopic arm; The second telescopic arm 1322 is mounted on the outside of the first telescopic arm and is driven by a third power device to move horizontally and linearly.

[0046] like Figure 4 , 5 As shown, the sampling module also includes a second connecting arm 1330, and the clamp is connected to the first connecting arm through the second connecting arm. Figure 6 As shown, the second connecting arm includes: A first-stage telescopic arm 1351, one end of which is fixedly connected to an end of the first connecting arm away from the first power device, and the third power device is installed on the first-stage telescopic arm; A secondary telescopic arm 1352, wherein the secondary telescopic arm is wrapped in the primary telescopic arm and driven by a third power device to move linearly along the axis direction of the primary telescopic arm; A third telescopic arm 1353, which is wrapped in the second telescopic arm and driven by a third power device to move linearly along the axis of the second telescopic arm; The four-stage telescopic arm 1354 is wrapped in the three-stage telescopic arm, and the four-stage telescopic arm is driven by the third power device to move linearly along the axis direction of the three-stage telescopic arm.

[0047] In this embodiment, if Figure 7 As shown, pulleys 1355 can be provided at both ends of the secondary telescopic arm and the tertiary telescopic arm, and connected to the adjacent telescopic arm through a steel wire rope 1356. The third power device is connected to the pulley at one end of the secondary telescopic arm, and drives the linear movement of the tertiary and quaternary telescopic arms by driving the linear movement of the secondary telescopic arm. For example, Figure 8 As shown, one end of a group of steel wire ropes is fixedly connected to the first-level telescopic arm, and the other end passes over the pulley installed on the second-level telescopic arm to remain connected to the third-level telescopic arm. Similarly, one end of a group of steel wire ropes is fixedly connected to the second-level telescopic arm, and the other end passes over the pulley installed on the third-level telescopic arm to remain fixedly connected to the fourth-level telescopic arm.

[0048] After the progress calculation module calculates the fermentation progress according to the preset time interval, the fermentation control module generates random coordinates and controls the clamping claws of the sampling module to move to the random sampling points to sample the kimchi in the fermentation module and send the samples to the target area.

[0049] Specifically, when sampling, the first power device drives the clamp to move to the first coordinate, and then the third power device drives the clamp to move horizontally linearly to the sampling point coordinate, and then the second power device drives the clamp to slide down to a preset height to clamp the kimchi sample.

[0050] In this embodiment, the process of the jaws sliding down or rising up is as follows: Fig. 9 As shown, when the second power device drives the secondary telescopic arm to extend, the pulley will also slide accordingly. Since the two ends of the wire rope are fixed to the primary telescopic arm and the tertiary telescopic arm, that is, the length of the wire rope is fixed, and the primary telescopic arm is relatively fixed, therefore, when the secondary telescopic arm undergoes linear motion, the length of the wire rope on the primary telescopic arm side increases, while the length of the wire rope on the other side must decrease, thereby pulling the tertiary telescopic arm to move linearly. The extension or retraction of the telescopic arm can also refer to the above principle.

[0051] Exemplarily, for example, the point randomly generated by the fermentation control module is (O, P, Q), and the coordinates are based on the intersection of the rotation axis of the first connecting arm and the axis of the first connecting arm as the origin, wherein: ; Among them, l is the horizontal distance between the random coordinate point and the origin, in meters; L is the initial length of the first connecting arm, in meters.

[0052] The l is calculated as follows: ; The sliding height of the clamp is h, which is calculated as follows: ; Wherein, h is the sliding height in meters; Δ is the compensation height in meters; the compensation height is determined according to the initial length of the second connecting arm and the distance from the clamp to the end of the second connecting arm.

[0053] In this embodiment, the sauerkraut in the fermentation module is randomly sampled by the sampling module and sent to the target area for image acquisition, thereby improving the image recognition accuracy and avoiding interference from the fermentation liquid.

[0054] Embodiment 4: This embodiment is based on the fermentation system provided in Embodiments 1 and 2, and provides a control method for an intelligent fermentation system, the control method comprising: Perform progress calculation according to the second parameter to obtain a progress calculation result; Specifically, the progress calculation module in the control unit performs progress calculation according to the second parameter. In this embodiment, the second parameter is time, and the progress calculation method is: ; in, A For fermentation progress; t is the real-time fermentation time in hours; t 0 The preset fermentation time.

[0055] Obtaining a first parameter, performing progress verification on a progress calculation result according to the first parameter, and obtaining a progress verification result; Specifically, the first parameter includes parameters such as temperature, Ph value, biomass content, etc., and the data correction module performs correction calculation on the first parameter. Make progress update judgment according to the progress verification result and obtain the progress update judgment result; Obtain the progress calculation results and progress update judgment results, and update the progress according to the progress update judgment results; Update the progress according to the progress update judgment result, including: If the progress verification is passed, the progress calculation result is output to the first designated display window to cover the historical progress; If the progress verification fails, the progress calculation result will be output to the second designated display window.

[0056] Before the progress verification is performed on the first parameter, a correction calculation is performed on the first parameter to obtain a correction calculation result, and the correction calculation result is sent to the progress verification module, so that the progress verification module performs progress verification according to the correction calculation result.

[0057] The correction calculation of the first parameter comprises: A first correction calculation is performed on the first parameter uploaded by each sensor unit, and the first correction calculation method is as follows: ; in, B x First correction calculation result; ω x is the first weight; σ is the ReLU activation function; W x is the second weight; C x is the measured value of the sensor; D x is the offset; Said ω , W , D They are obtained by inputting a large amount of sensor data into the BP neural network for training, mapping and testing.

[0058] A second correction calculation is performed based on the same type of first parameter, and the second correction calculation method is as follows: ; in, E x is the result of the second correction calculation, ε x is the third weight; Said ε x It is determined by the importance of the location of the sensor.

[0059] Obtain a second correction calculation result by calculating in the above manner, obtain a first parameter verification table matching the progress calculation result according to the progress calculation result, perform a first matching between the second correction calculation result and the first parameter verification table to obtain a first matching result, perform a progress update judgment according to the first matching result, and obtain a progress update judgment result; Specifically, if the second correction calculation result matches the first parameter verification table, the progress verification is passed; if the second correction calculation result does not match the first parameter verification table, the progress verification is failed.

[0060] Sending the progress update judgment result to the remote monitoring unit, obtaining the progress calculation result and the progress update judgment result, and updating the progress according to the progress update judgment result; Specifically, updating the progress according to the progress update judgment result includes: if the progress verification passes, outputting the progress calculation result to the first designated display window to cover the historical progress; if the progress verification fails, outputting the progress calculation result to the second designated display window.

[0061] In this embodiment, the control method further includes: acquiring a target area image, identifying a target feature image in the target area image, extracting the target feature image, extracting a first feature based on the target feature image, performing feature area analysis according to the first feature, obtaining a feature area analysis result, and extracting a first feature area and a second feature area in the target feature image according to the feature area analysis result; Acquire the first feature area image and the second feature area image, analyze the third parameters of the first feature area image and the second feature area image, judge the target state according to the third parameter analysis result, and send the target state judgment result to the progress verification module, so that the progress verification module performs a secondary progress verification according to the target state judgment result.

[0062] Specifically, when the data correction module corrects the first parameter, the image processing module 410 obtains the target area image, identifies the target feature image in the target area image, extracts the target feature image, extracts the first feature based on the target feature image, performs feature area analysis according to the first feature, obtains the feature area analysis result, and extracts the first feature area and the second feature area in the target feature image according to the feature area analysis result; the state judgment module 430 obtains the first feature area image and the second feature area image, analyzes the third parameter of the first feature area image and the second feature area image, and judges the target state according to the third parameter analysis result; When the second correction result matches the first parameter verification table, the progress verification module obtains the target state judgment result and the progress-target state corresponding data table, matches the target state judgment result with the progress-target state corresponding data table, and obtains the target state matching result; If the target status matches the progress-target status corresponding data table, the progress verification passes; if the target status does not match the progress-target status corresponding data table, the progress verification fails.

[0063] In this embodiment, the first feature is texture, and the third parameter is color.

[0064] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent fermentation system, characterized in that: include: A sensing unit, for obtaining a first parameter through the sensing unit; A control unit, wherein the control unit performs a progress calculation according to the second parameter to obtain a progress calculation result, obtains the first parameter, performs a progress verification on the progress calculation result according to the first parameter to obtain a progress verification result, performs a progress update judgment according to the progress verification result to obtain a progress update judgment result; The remote monitoring unit obtains the progress calculation result and the progress update judgment result, and updates the progress according to the progress update judgment result; Update the progress according to the progress update judgment result, including: If the progress verification is passed, the progress calculation result is output to the first designated display window to cover the historical progress; If the progress verification fails, the progress calculation result will be output to the second designated display window.

2. The intelligent fermentation system according to claim 1, characterized in that: The control unit comprises: A progress calculation module performs progress calculation according to the second parameter to obtain a progress calculation result; A data acquisition module receives a first parameter uploaded by the sensor unit; The progress verification module verifies the progress calculation result according to the first parameter to obtain a progress verification result, and makes a progress update judgment according to the progress verification result to obtain a progress update judgment result.

3. An intelligent fermentation system according to claim 2, characterized in that: The control unit also includes a data correction module, which obtains a first parameter, performs correction calculation on the first parameter, obtains a correction calculation result, and sends the correction calculation result to a progress verification module, so that the progress verification module performs progress verification according to the correction calculation result.

4. The intelligent fermentation system according to claim 3, characterized in that: The fermentation system also includes an image acquisition unit, which acquires an image of the target area; The control unit also includes: An image processing module is provided to obtain a target area image, identify a target feature image in the target area image, extract the target feature image, extract a first feature based on the target feature image, perform feature area analysis based on the first feature, obtain a feature area analysis result, and extract a first feature area and a second feature area in the target feature image based on the feature area analysis result; The state judgment module obtains the first feature area image and the second feature area image, analyzes the third parameters of the first feature area image and the second feature area image, judges the target state according to the third parameter analysis result, and sends the target state judgment result to the progress verification module, so that the progress verification module performs a secondary progress verification according to the target state judgment result.

5. An intelligent fermentation system according to any one of claims 4, characterized in that: The control unit further includes a fermentation control module, which generates a control signal according to the correction calculation result or the progress verification result. The fermentation system further includes a fermentation unit, which performs an action corresponding to the control signal according to the control signal. The fermentation unit includes: A fermentation module, wherein a sensor unit and an image acquisition unit are provided in the fermentation module; A stirring module, wherein the stirring module is installed on the fermentation module; A temperature control module is arranged on the fermentation module.

6. The intelligent fermentation system according to claim 5, characterized in that: The fermentation unit further comprises a sampling module, through which a target sample in the fermentation module is collected to be sent to a target area; The sampling module comprises: The first power unit; A first connecting arm, one end of which is connected to a first power device, and the first power device drives the connecting arm to rotate horizontally around one end thereof; Second power unit; The clamping claw is connected to the first connecting arm and is driven to slide vertically by the second power device.

7. The intelligent fermentation system according to claim 6, characterized in that: The first connecting arm comprises: A first telescopic arm, one end of which is connected to the first power device; A third power device, the third power device is installed on the first telescopic arm; The second telescopic arm is sleeved on the outside of the first telescopic arm and is driven by a third power device to move horizontally and linearly.

8. An intelligent fermentation system according to claim 6 or 7, characterized in that: The sampling module further includes a second connecting arm, through which the clamp is connected to the first connecting arm, and the second connecting arm includes: A first-stage telescopic arm, one end of which is fixedly connected to an end of the first connecting arm away from the first power device, and the third power device is mounted on the first-stage telescopic arm; A secondary telescopic arm, wherein the secondary telescopic arm is wrapped in the primary telescopic arm and driven by a third power device to move linearly along the axis direction of the primary telescopic arm; A three-stage telescopic arm, wherein the three-stage telescopic arm is wrapped in the two-stage telescopic arm, and the three-stage telescopic arm is driven by a third power device to move linearly along the axis direction of the two-stage telescopic arm; The four-stage telescopic arm is wrapped in the three-stage telescopic arm, and the four-stage telescopic arm is driven by the third power device to move linearly along the axis direction of the three-stage telescopic arm.

9. A control method for an intelligent fermentation system, characterized in that: The control method is applied to an intelligent fermentation system, and the control method comprises: Perform progress calculation according to the second parameter to obtain a progress calculation result; Obtaining a first parameter, performing progress verification on a progress calculation result according to the first parameter to obtain a progress verification result, performing progress update judgment according to the progress verification result to obtain a progress update judgment result; Obtain the progress calculation results and progress update judgment results, and update the progress according to the progress update judgment results; Update the progress according to the progress update judgment result, including: If the progress verification is passed, the progress calculation result is output to the first designated display window to cover the historical progress; If the progress verification fails, the progress calculation result will be output to the second designated display window.

10. The control method of the intelligent fermentation system according to claim 9, characterized in that: The control method further includes performing correction calculation on the first parameter to obtain a correction calculation result, and sending the correction calculation result to the progress verification module so that the progress verification module performs progress verification according to the correction calculation result.

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