A method and system for detecting acidity of lactic acid powder

Abstract

The present application relates to a method and system for detecting the acidity of lactic acid powder, and to the technical field of lactic acid powder detection. The method comprises: controlling a mechanical arm to grab a lactic acid powder sample to be detected from a storage container and transfer it to a weighing device; after the weighing device calculates a preset weight of lactic acid powder, the mechanical arm transfers the weighed lactic acid powder sample to a dissolving device; controlling the dissolving operation to dissolve the lactic acid powder sample to form a uniform lactic acid solution sample; controlling a liquid transfer device to absorb a preset volume of lactic acid solution sample from the dissolving device and transfer it to a reaction container of a titration device; controlling a reagent adding device to add a titration reagent to a reagent storage bin of the titration device according to the titration reaction requirements; starting the titration device, and calculating the acidity value of the lactic acid powder according to the recorded weight of the lactic acid powder sample, the concentration of the titration reagent, and the volume of the titration reagent consumed at the titration end point, and displaying the acidity value result through a display terminal.

Description

Technical Field

[0001] The present application relates to the technical field of lactic acid powder acidity detection, and in particular to a lactic acid powder acidity detection method and system. Background Art

[0002] Lactic acid powder is widely used as an important raw material or additive in many fields such as food, medicine, and chemical industry. The acidity value of lactic acid powder is one of the key indicators to measure the quality and performance of lactic acid powder.

[0003] Traditional methods for testing the acidity of lactic acid powder rely on manual operation. With the continuous improvement of industrial automation, the existing manual testing methods can no longer meet the needs of large-scale production and high-precision testing, and an automated method for testing the acidity of lactic acid powder is urgently needed. Summary of the invention

[0004] In order to at least partially solve the above technical problems, the present application provides a method and system for detecting the acidity of lactic acid powder.

[0005] In a first aspect, the present application provides a method for detecting the acidity of lactic acid powder using the following technical solution.

[0006] A method for detecting the acidity of lactic acid powder, comprising: Control the robotic arm to grab the lactic acid powder sample to be tested from the storage container and transfer it to the weighing device; After the weighing device calculates the preset weight of the lactic acid powder, the robotic arm transfers the weighed lactic acid powder sample to the dissolution device; Controlling the dissolving device to dissolve the lactic acid powder sample according to preset temperature, stirring speed and dissolving time parameters to form a uniform lactic acid solution sample; Controlling the pipetting device to suck a preset volume of the lactic acid solution sample from the dissolving device and transfer it to the reaction container of the titration device; Controlling the reagent adding device to add the titration reagent to the reagent storage bin of the titration device according to the titration reaction requirements; The titration device is started, and the acidity value of the lactic acid powder is calculated according to the recorded lactic acid powder sample weight, the concentration of the titration reagent and the volume of the titration reagent consumed at the titration end point, and the acidity value result is displayed through the display terminal.

[0007] By adopting the above technical solution, the robotic arm can be used to accurately grab and transfer lactic acid powder samples, reducing the error and contamination risks caused by manual sampling; the dissolution device ensures that the lactic acid powder is fully and evenly dissolved under the control of preset temperature, stirring speed and dissolution time parameters; the acidity is calculated based on the recorded lactic acid powder sample weight, titration reagent concentration and titration endpoint consumption volume, and the display terminal is used to intuitively present the results, greatly improving the accuracy and efficiency of lactic acid powder acidity detection.

[0008] Optionally, controlling the dissolving device to dissolve at a preset temperature includes: Before starting the dissolving device, set the proportional coefficient, integral term and differential term according to the dissolving characteristics of lactic acid powder and equipment parameters; The temperature sensor in the dissolving device collects the temperature data of the solution in real time and transmits the temperature data to the control unit; The control unit calculates the deviation between the current temperature value and the preset dissolution temperature; Obtaining a temperature control amount based on the proportional coefficient, the integral term, the differential term and the deviation value; The control unit adjusts the heating power of the dissolving device based on the temperature control amount; when the temperature control amount increases, the heating power is increased; when the control amount decreases, the heating power is reduced; After each dissolution is completed, the proportional coefficient, integral term and differential term are adjusted according to the temperature data of this dissolution process; if the temperature overshoots during the dissolution process, the proportional coefficient is reduced or the integral term is increased; if the temperature rises too slowly, the proportional coefficient is increased or the integral term is reduced; if the temperature fluctuation amplitude during the dissolution process exceeds the preset fluctuation threshold, the fluctuation frequency is analyzed; if the fluctuation frequency is higher than the preset value, the proportional coefficient and the integral term are reduced at the same time and the differential term is increased.

[0009] Optionally, a micro photoelectric sensor is installed on the dripping part of the titration device; the light emitting and receiving ends of the micro photoelectric sensor are located in the droplet falling path; the method further comprises: Receiving the level signal sent by the micro photoelectric sensor; Based on the different magnitudes of the level signal, a first dripping point and a second dripping point adjacent to the first dripping point in the titration process are obtained; The current titration speed is calculated based on the time interval between the first dropping point and the second dropping point; The current titration speed is recorded as Vd1, and the magnitude relationship between the current titration speed Vd1 and the standard titration speed Vd2 is compared; the difference between the two is recorded as a first difference; if the first difference is greater than a preset difference, a first rate adjustment value matching the first difference is obtained based on the first difference; a titration rate adjustment instruction is generated based on the first rate adjustment value to adjust the titration speed.

[0010] Optionally, obtaining a first dripping point and a second dripping point adjacent to the first dripping point in the titration process by different magnitudes of the level signal includes: Real-time judgment of whether the intensity of the level signal is less than the reference value; when the intensity of one of the level signals is less than the reference value, it is used as the first drop point in the titration process; When the intensity of the level signal is less than the reference value for the next N times, it is regarded as the second drop point in the titration process; N is a natural number greater than zero; Record the moment when the first drop of liquid appears, which is recorded as the first moment t1; Record the moment when the second drop of liquid appears, which is recorded as the second moment t2; Based on the first time t1 and the second time t2, a time difference t between the two is obtained; The current titration speed is obtained based on the time difference t.

[0011] Optionally, the method for determining whether the titration endpoint has been reached includes: During the titration process, the potential difference between the indicator electrode and the reference electrode is measured in real time using a potentiometer; Based on the collected potential difference data and the corresponding titrant volume data, a titration curve is drawn with the titrant volume as the abscissa and the potential difference as the ordinate; The potential change rate is obtained by calculating the ratio of the change in potential difference between adjacent data points to the change in the corresponding titrant volume; When the potential change rate increases within the preset first time period and exceeds the preset jump threshold, the corresponding titrant volume at this time is recorded as the preliminary endpoint volume V1; Continue to control the titration device to drip the first volume V2 of the titrant, based on the collected potential difference data and update the titration curve; Determine whether the potential difference is within the potential jump range and tends to be stable; if so, determine the titrant volume corresponding to this point as the final titration endpoint volume V3; where V3=V2+V1.

[0012] Optionally, the method further includes: Before the robot arm performs the grasping operation, the visual recognition system is activated; The image of the lactic acid powder in the storage container is collected by a visual recognition system, and distribution images of the lactic acid powder are taken from multiple angles; Analyze the collected lactic acid powder distribution images to identify the accumulation area, accumulation height and whether there is agglomeration of lactic acid powder; Plan the grasping path of the robot arm based on the analysis results, and select the area where the lactic acid powder is evenly accumulated and free of lumps as the grasping position; Control the robotic arm to grab the lactic acid powder sample according to the planned grabbing path.

[0013] Optionally, before controlling the robotic arm to take out the lactic acid powder sample to be tested from the storage container, the method further includes: crushing the lactic acid powder by a screening and crushing device.

[0014] In a second aspect, the present application provides a lactic acid powder acidity detection system that adopts the following technical solution.

[0015] A lactic acid powder acidity detection system, comprising: The first processing module is used to: control the robotic arm to grab the lactic acid powder sample to be tested from the storage container and transfer it to the weighing device; The second processing module is used for: after the weighing device calculates the preset weight of the lactic acid powder, the mechanical arm transfers the weighed lactic acid powder sample to the dissolving device; The third processing module is used to: control the dissolving device to dissolve the lactic acid powder sample according to the preset temperature, stirring speed and dissolving time parameters to form a uniform lactic acid solution sample; The fourth processing module is used to: control the pipetting device to absorb and transfer a preset volume of the lactic acid solution sample from the dissolving device to the reaction container of the titration device; A fifth processing module is used to: control the reagent adding device to add the titration reagent to the reagent storage bin of the titration device according to the titration reaction requirements; The sixth processing module is used to: start the titration device, calculate the acidity value of the lactic acid powder according to the recorded lactic acid powder sample weight, the concentration of the titration reagent and the volume of the titration reagent consumed at the titration end point, and display the acidity value result through the display terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flow chart of a method for detecting the acidity of lactic acid powder according to an embodiment of the present application; Figure 2 This is a system block diagram of a lactic acid powder acidity detection system according to an embodiment of the present application; In the figure, 201 is a first processing module; 202 is a second processing module; 203 is a third processing module; 204 is a fourth processing module; 205 is a fifth processing module; and 206 is a sixth processing module. DETAILED DESCRIPTION

[0017] The following is combined with Figure 1-2 The present application is further described with specific embodiments: The present application embodiment discloses a method for detecting the acidity of lactic acid powder, comprising the following steps: Step 101: Control the robotic arm to grab the lactic acid powder sample to be tested from the storage container and transfer it to the weighing device.

[0018] Step 102: After the weighing device calculates the preset weight of the lactic acid powder, the robotic arm transfers the weighed lactic acid powder sample to the dissolution device.

[0019] Step 103: Control the dissolving device to dissolve the lactic acid powder sample according to preset temperature, stirring speed and dissolving time parameters to form a uniform lactic acid solution sample.

[0020] Step 104: Control the pipetting device to absorb a preset volume of the lactic acid solution sample from the dissolution device and transfer it to the reaction container of the titration device.

[0021] Step 105 , controlling the reagent adding device to add the titration reagent to the reagent storage bin of the titration device according to the titration reaction requirements.

[0022] Step 106, start the titration device, calculate the acidity value of the lactic acid powder according to the recorded lactic acid powder sample weight, the concentration of the titration reagent and the volume of the titration reagent consumed at the titration endpoint, and display the acidity value result on the display terminal.

[0023] Specifically, a robotic arm is used to accurately grasp and transfer lactic acid powder samples, reducing the error and contamination risks caused by manual sampling; the dissolution device ensures that the lactic acid powder is fully and evenly dissolved under the control of preset temperature, stirring speed and dissolution time parameters; the acidity is calculated based on the recorded lactic acid powder sample weight, titration reagent concentration and titration endpoint consumption volume, and the results are presented intuitively with the display terminal, which greatly improves the accuracy and efficiency of lactic acid powder acidity detection and can better meet the requirements for lactic acid powder acidity detection in industrial production.

[0024] As a specific implementation of a method for detecting the acidity of lactic acid powder, controlling the dissolving device to dissolve at a preset temperature includes: Before starting the dissolving device, set the proportional coefficient, integral term and differential term according to the dissolving characteristics of lactic acid powder and equipment parameters; The temperature sensor in the dissolving device collects the temperature data of the solution in real time and transmits the temperature data to the control unit; The control unit calculates the deviation between the current temperature value and the preset dissolution temperature; Obtaining a temperature control amount based on the proportional coefficient, the integral term, the differential term and the deviation value; The control unit adjusts the heating power of the dissolving device based on the temperature control amount; when the temperature control amount increases, the heating power is increased; when the control amount decreases, the heating power is reduced; After each dissolution is completed, the proportional coefficient, integral term and differential term are adjusted according to the temperature data of this dissolution process; if the temperature overshoots during the dissolution process, the proportional coefficient is reduced or the integral term is increased; if the temperature rises too slowly, the proportional coefficient is increased or the integral term is reduced; if the temperature fluctuation amplitude during the dissolution process exceeds the preset fluctuation threshold, the fluctuation frequency is analyzed; if the fluctuation frequency is higher than the preset value, the proportional coefficient and the integral term are reduced at the same time and the differential term is increased.

[0025] Specifically, in the dissolution device, the proportional coefficient, integral term and differential term are preset according to the dissolution characteristics of lactic acid powder and the equipment parameters, and the temperature sensor is used to collect data in real time and transmit it to the control unit to calculate the deviation value, thereby obtaining the temperature control amount to adjust the heating power; the dissolution temperature is maintained at a preset level to ensure that the lactic acid powder is dissolved in a suitable temperature environment, improve the stability and uniformity of the dissolution, and avoid the dissolution effect caused by too high or too low temperature. After each dissolution is completed, the correlation coefficient and term are dynamically adjusted according to the temperature data in the process. When the temperature overshoot occurs, the overshoot phenomenon can be effectively suppressed by reducing the proportional coefficient or increasing the integral term to prevent the lactic acid powder from deteriorating or the solution properties from changing due to too high temperature; when the temperature rises too slowly, increasing the proportional coefficient or reducing the integral term can speed up the heating speed and improve the detection efficiency; if the temperature fluctuation amplitude exceeds the threshold and the fluctuation frequency is high, adjusting the proportional coefficient, integral term and differential term at the same time can enhance the accuracy and stability of temperature control, reduce the interference of temperature fluctuation on the dissolution of lactic acid powder and subsequent detection, thereby providing stable dissolution for the acidity detection of lactic acid powder, and facilitating the control of the quality of lactic acid powder in large-scale industrial production.

[0026] As a specific implementation of a method for detecting the acidity of lactic acid powder, a micro photoelectric sensor is installed on the dripping part of the titration device; the light emitting and receiving ends of the micro photoelectric sensor are in the droplet falling path; the method further includes: Receiving the level signal sent by the micro photoelectric sensor; Based on the different magnitudes of the level signal, a first dripping point and a second dripping point adjacent to the first dripping point in the titration process are obtained; The current titration speed is calculated based on the time interval between the first dropping point and the second dropping point; The current titration speed is recorded as Vd1, and the magnitude relationship between the current titration speed Vd1 and the standard titration speed Vd2 is compared; the difference between the two is recorded as a first difference; if the first difference is greater than a preset difference, a first rate adjustment value matching the first difference is obtained based on the first difference; a titration rate adjustment instruction is generated based on the first rate adjustment value to adjust the titration speed.

[0027] Specifically, by installing a micro photoelectric sensor on the dripping part of the titration device, the light emitting and receiving ends are in the droplet falling path, and the first dripping point and the adjacent second dripping point in the titration process can be determined based on the received level signal and the change in signal size, and then the current titration speed can be calculated; the first dripping point and the second dripping point can be adjacent points, or dripping points separated by several points; the current titration speed is compared with the standard titration speed and the difference is analyzed. When the difference is greater than the preset difference, the corresponding rate adjustment value is matched and a titration rate adjustment instruction is generated to adjust the titration speed. The titration speed can be in a relatively stable state, reducing the error caused by the fluctuation of the titration speed, thereby ensuring the accuracy of the lactic acid powder acidity test results.

[0028] As a specific implementation of a method for detecting the acidity of lactic acid powder, the first dripping point and the second dripping point adjacent to the first dripping point in the titration process are obtained by different magnitudes of the level signal, including: Real-time judgment of whether the intensity of the level signal is less than the reference value; when the intensity of one of the level signals is less than the reference value, it is used as the first drop point in the titration process; When the intensity of the level signal is less than the reference value for the next N times, it is regarded as the second drop point in the titration process; N is a natural number greater than zero; Record the moment when the first drop of liquid appears, which is recorded as the first moment t1; Record the moment when the second drop of liquid appears, which is recorded as the second moment t2; Based on the first time t1 and the second time t2, a time difference t between the two is obtained; The current titration speed is obtained based on the time difference t.

[0029] Specifically, the first dripping point and the adjacent second dripping point in the titration process are determined by real-time judgment of the level signal strength and the reference value. The current titration speed is obtained by recording the time when the two dripping points appear and calculating the time difference, so as to adjust the titration rate in time.

[0030] As one embodiment of a method for detecting the acidity of lactic acid powder, a method for determining whether a titration endpoint has been reached includes: During the titration process, the potential difference between the indicator electrode and the reference electrode is measured in real time using a potentiometer; Based on the collected potential difference data and the corresponding titrant volume data, a titration curve is drawn with the titrant volume as the abscissa and the potential difference as the ordinate; The potential change rate is obtained by calculating the ratio of the change in potential difference between adjacent data points to the change in the corresponding titrant volume; When the potential change rate increases within the preset first time period and exceeds the preset jump threshold, the corresponding titrant volume at this time is recorded as the preliminary endpoint volume V1; Continue to control the titration device to drip the first volume V2 of the titrant, based on the collected potential difference data and update the titration curve; Determine whether the potential difference is within the potential jump range and tends to be stable; if so, determine the titrant volume corresponding to this point as the final titration endpoint volume V3; where V3=V2+V1.

[0031] Specifically, during the titration process, a potentiometer is used to measure the potential difference between the indicator electrode and the reference electrode in real time, and a titration curve is drawn in combination with the titrant volume data, and the titration progress is judged by calculating the rate of potential change. When the rate of potential change increases within a preset time and exceeds the jump threshold, the preliminary endpoint volume V1 is recorded, and then a certain volume V2 of titrant is continued to be added and the curve is updated to determine whether the potential difference is within the jump range and is stable to determine the final endpoint volume V3. Compared with the traditional method of judging the endpoint by relying on the color change of the indicator, the accuracy of the titration endpoint judgment is improved.

[0032] As one embodiment of a method for detecting the acidity of lactic acid powder, the method further comprises: Before the robot arm performs the grasping operation, the visual recognition system is activated; The image of the lactic acid powder in the storage container is collected by a visual recognition system, and distribution images of the lactic acid powder are taken from multiple angles; Analyze the collected lactic acid powder distribution images to identify the accumulation area, accumulation height and whether there is agglomeration of lactic acid powder; Plan the grasping path of the robot arm based on the analysis results, and select the area where the lactic acid powder is evenly accumulated and free of lumps as the grasping position; Control the robotic arm to grab the lactic acid powder sample according to the planned grabbing path.

[0033] Specifically, before the robot grabs the lactic acid powder sample, the visual recognition system is activated to collect the distribution image of the lactic acid powder from multiple angles and analyze its accumulation area, height and agglomeration. Based on this, the robot grabbing path is planned and the ideal grabbing position is selected. This improves the accuracy of the robot grabbing samples and avoids sample quantity deviation caused by blind grabbing or grabbing the agglomerated part that affects the dissolution and detection effect.

[0034] As one implementation of a method for detecting the acidity of lactic acid powder, before controlling the robotic arm to take out the lactic acid powder sample to be detected from a storage container, the method further includes: crushing the lactic acid powder by a screening and crushing device.

[0035] The present application also provides a lactic acid powder acidity detection system, comprising: The first processing module 201 is used to: control the robot arm to grab the lactic acid powder sample to be tested from the storage container and transfer it to the weighing device; The second processing module 202 is used for: after the weighing device calculates the preset weight of the lactic acid powder, the robotic arm transfers the weighed lactic acid powder sample to the dissolving device; The third processing module 203 is used to: control the dissolving device to dissolve the lactic acid powder sample according to the preset temperature, stirring speed and dissolving time parameters to form a uniform lactic acid solution sample; The fourth processing module 204 is used to: control the pipetting device to absorb and transfer a preset volume of the lactic acid solution sample from the dissolution device to the reaction container of the titration device; The fifth processing module 205 is used to: control the reagent adding device to add the titration reagent to the reagent storage bin of the titration device according to the titration reaction requirements; The sixth processing module 206 is used to start the titration device, calculate the acidity value of the lactic acid powder according to the recorded lactic acid powder sample weight, the concentration of the titration reagent and the volume of the titration reagent consumed at the titration endpoint, and display the acidity value result on the display terminal.

[0036] It should be noted that the above embodiments are only used to illustrate the present application and are not intended to limit the technical solutions described in the present application. Although the present application has been described in detail in this specification with reference to the above embodiments, a person of ordinary skill in the art should understand that a person of ordinary skill in the art can still modify or make equivalent substitutions to the present application, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for detecting the acidity of lactic acid powder, characterized in that: include: Control the robotic arm to grab the lactic acid powder sample to be tested from the storage container and transfer it to the weighing device; After the weighing device calculates the preset weight of the lactic acid powder, the robotic arm transfers the weighed lactic acid powder sample to the dissolution device; Controlling the dissolving device to dissolve the lactic acid powder sample according to preset temperature, stirring speed and dissolving time parameters to form a uniform lactic acid solution sample; Controlling the pipetting device to suck a preset volume of the lactic acid solution sample from the dissolving device and transfer it to the reaction container of the titration device; Controlling the reagent adding device to add the titration reagent to the reagent storage bin of the titration device according to the titration reaction requirements; The titration device is started, and the acidity value of the lactic acid powder is calculated according to the recorded lactic acid powder sample weight, the concentration of the titration reagent and the volume of the titration reagent consumed at the titration end point, and the acidity value result is displayed through the display terminal.

2. A method for detecting the acidity of lactic acid powder according to claim 1, characterized in that: Controlling the dissolving device to dissolve at a preset temperature comprises: Before starting the dissolving device, set the proportional coefficient, integral term and differential term according to the dissolving characteristics of lactic acid powder and equipment parameters; The temperature sensor in the dissolving device collects the temperature data of the solution in real time and transmits the temperature data to the control unit; The control unit calculates the deviation between the current temperature value and the preset dissolution temperature; Obtaining a temperature control amount based on the proportional coefficient, the integral term, the differential term and the deviation value; The control unit adjusts the heating power of the dissolving device based on the temperature control amount; when the temperature control amount increases, the heating power is increased; when the control amount decreases, the heating power is reduced; After each dissolution is completed, the proportional coefficient, integral term and differential term are adjusted according to the temperature data of this dissolution process; if the temperature overshoots during the dissolution process, the proportional coefficient is reduced or the integral term is increased; if the temperature rises too slowly, the proportional coefficient is increased or the integral term is reduced; if the temperature fluctuation amplitude during the dissolution process exceeds the preset fluctuation threshold, the fluctuation frequency is analyzed; if the fluctuation frequency is higher than the preset value, the proportional coefficient and the integral term are reduced at the same time and the differential term is increased.

3. A method for detecting the acidity of lactic acid powder according to claim 2, characterized in that: The dripping part of the titration device is equipped with a micro photoelectric sensor; the light emitting and receiving ends of the micro photoelectric sensor are located in the droplet falling path; the method further comprises: Receiving the level signal sent by the micro photoelectric sensor; Based on the different magnitudes of the level signal, a first dripping point and a second dripping point adjacent to the first dripping point in the titration process are obtained; The current titration speed is calculated based on the time interval between the first dropping point and the second dropping point; The current titration speed is recorded as Vd1, and the magnitude relationship between the current titration speed Vd1 and the standard titration speed Vd2 is compared; the difference between the two is recorded as a first difference; if the first difference is greater than a preset difference, a first rate adjustment value matching the first difference is obtained based on the first difference; a titration rate adjustment instruction is generated based on the first rate adjustment value to adjust the titration speed.

4. A method for detecting the acidity of lactic acid powder according to claim 3, characterized in that: The first dripping point and the second dripping point adjacent to the first dripping point in the titration process are obtained by different magnitudes of the level signal, including: Real-time judgment of whether the intensity of the level signal is less than the reference value; when the intensity of one of the level signals is less than the reference value, it is used as the first drop point in the titration process; When the intensity of the level signal is less than the reference value for the next N times, it is regarded as the second drop point in the titration process; N is a natural number greater than zero; Record the moment when the first drop of liquid appears, which is recorded as the first moment t1; Record the moment when the second drop of liquid appears, which is recorded as the second moment t2; Based on the first time t1 and the second time t2, a time difference t between the two is obtained; The current titration speed is obtained based on the time difference t.

5. A method for detecting the acidity of lactic acid powder according to claim 4, characterized in that: Methods for determining whether a titration endpoint has been reached include: During the titration process, the potential difference between the indicator electrode and the reference electrode is measured in real time using a potentiometer; Based on the collected potential difference data and the corresponding titrant volume data, a titration curve is drawn with the titrant volume as the abscissa and the potential difference as the ordinate; The potential change rate is obtained by calculating the ratio of the change in potential difference between adjacent data points to the change in the corresponding titrant volume; When the potential change rate increases within the preset first time period and exceeds the preset jump threshold, the corresponding titrant volume at this time is recorded as the preliminary endpoint volume V1; Continue to control the titration device to drip the first volume V2 of the titrant, based on the collected potential difference data and update the titration curve; Determine whether the potential difference is within the potential jump range and tends to be stable; if so, determine the titrant volume corresponding to this point as the final titration endpoint volume V3; where V3=V2+V1.

6. A method for detecting the acidity of lactic acid powder according to claim 5, characterized in that: The method further comprises: Before the robot arm performs the grasping operation, the visual recognition system is activated; The image of the lactic acid powder in the storage container is collected by a visual recognition system, and distribution images of the lactic acid powder are taken from multiple angles; Analyze the collected lactic acid powder distribution images to identify the accumulation area, accumulation height and whether there is agglomeration of lactic acid powder; Plan the grasping path of the robot arm based on the analysis results, and select the area where the lactic acid powder is evenly accumulated and free of lumps as the grasping position; Control the robotic arm to grab the lactic acid powder sample according to the planned grabbing path.

7. A method for detecting the acidity of lactic acid powder according to claim 6, characterized in that: Before controlling the mechanical arm to take out the lactic acid powder sample to be tested from the storage container, the method further includes: crushing the lactic acid powder by a screening and crushing device.

8. A lactic acid powder acidity detection system, characterized in that: include: The first processing module is used to: control the robotic arm to grab the lactic acid powder sample to be tested from the storage container and transfer it to the weighing device; The second processing module is used for: after the weighing device calculates the preset weight of the lactic acid powder, the mechanical arm transfers the weighed lactic acid powder sample to the dissolving device; The third processing module is used to: control the dissolving device to dissolve the lactic acid powder sample according to the preset temperature, stirring speed and dissolving time parameters to form a uniform lactic acid solution sample; The fourth processing module is used to: control the pipetting device to absorb and transfer a preset volume of the lactic acid solution sample from the dissolving device to the reaction container of the titration device; A fifth processing module is used to: control the reagent adding device to add the titration reagent to the reagent storage bin of the titration device according to the titration reaction requirements; The sixth processing module is used to: start the titration device, calculate the acidity value of the lactic acid powder according to the recorded lactic acid powder sample weight, the concentration of the titration reagent and the volume of the titration reagent consumed at the titration end point, and display the acidity value result through the display terminal.

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