Lactation adulteration detection method, device and system, computer equipment and storage medium

Abstract

The invention relates to the technical field of dairy product production inspection, and discloses a raw milk adulteration detection method, device and system, computer equipment and a storage medium, and the raw milk adulteration detection method comprises the following steps: controlling a mechanical arm to grab a container containing a to-be-detected sample, moving the container to a preset scanning position, and scanning the to-be-detected sample; scanning the identification information on the container by using scanning equipment; acquiring scanning information uploaded by the scanning equipment, and determining a detection item of the to-be-detected sample, a target test strip capable of detecting the item and a use method of the target test strip according to the scanning information; controlling the mechanical arm to clamp a target test strip at a preset test strip placing position, placing the target test strip into a to-be-detected sample, and detecting the to-be-detected sample by adopting a use method of the target test strip to obtain a detection result of milk adulteration. Therefore, automatic detection of raw milk adulteration by adopting a paper strip method can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of dairy production inspection, and particularly relates to a method, device, system, computer device and storage medium for detecting adulteration in raw milk. Background Art

[0002] In order to quickly detect adulteration in raw milk, the strip method is used to detect raw milk. At present, the operation process of the rapid detection strip is manually operated by personnel, and reaction timing is required during the process. The repeated operations and different reaction times for different items directly affect the detection efficiency. Summary of the Invention

[0003] In view of this, the present invention provides a method, device, system, computer device and storage medium for detecting adulteration in raw milk to realize the automation of detecting raw milk by using the strip method.

[0004] In the first aspect, an embodiment of the present invention provides a method for detecting adulteration in raw milk. The method includes the following steps: controlling a robotic arm to grab a container containing a sample to be tested, moving the container to a preset scanning position to scan identification information on the container by using a scanning device; obtaining the scanning information uploaded by the scanning device, and determining the test item of the sample to be tested, the target test strip capable of performing the test item, and the usage method of the target test strip according to the scanning information; controlling the robotic arm to clamp the target test strip at a preset test strip placement position, and placing the target paper strip into the sample to be tested, and detecting the sample to be tested by using the usage method of the target test strip to obtain a detection result of raw milk adulteration.

[0005] Thus, the automatic detection of raw milk adulteration by using the strip method can be realized.

[0006] In an optional embodiment, the robotic arm includes a main gripper and a sub-gripper. The main gripper is used to grab the container containing the sample to be tested, and the sub-gripper is used to clamp the target test strip. Controlling the robotic arm to grab the container containing the sample to be tested and moving the container to a preset scanning position includes: controlling the robotic arm to move to a preset sample placement area; controlling the main gripper to grab the container containing the sample to be tested in the sample placement area and move the container to a preset scanning position.

[0007] Since the volumes of the container containing the sample to be tested and the test strip are quite different, the robotic arm uses the main gripper to grab the container, which can improve the efficiency and success rate of the robotic arm in grabbing the container.

[0008] In an alternative embodiment, the robotic arm includes a main gripper and a sub-gripper. The main gripper is used to grasp the container holding the sample to be tested, and the sub-gripper is used to pick up the target test strip. Controlling the robotic arm to pick up the target test strip at the preset test strip placement position includes: obtaining the correspondence between the preset test strip type and the placement area; determining the type of the target test strip; determining the placement area of the target test strip in the test strip placement position according to the type of the target test strip and the correspondence between the test strip type and the placement area; and controlling the sub-gripper to grasp the test strip in the placement area.

[0009] Since the volumes of the container holding the sample to be tested and the test strip are quite different, the robotic arm uses the sub-gripper to pick up the test strip, which can improve the efficiency and success rate of the robotic arm in picking up the test strip.

[0010] In an alternative embodiment, the usage method of the target test strip includes the contact duration and reaction duration of the target test strip. Using the usage method of the target test strip to detect the sample to be tested and obtaining the detection result of raw milk adulteration includes: after placing the target test strip into the sample to be tested, obtaining the first actual duration of the target test strip in the sample to be tested; when the first actual duration reaches the contact duration, controlling the robotic arm to take out the target test strip from the sample to be tested, and obtaining the second actual duration of the target test strip after being taken out from the sample to be tested; when the second actual duration reaches the reaction duration, determining the detection result.

[0011] This can ensure the correctness of the detection result.

[0012] In an alternative embodiment, after using the usage method of the target test strip to detect the sample to be tested and obtaining the detection result of raw milk adulteration, it further includes: controlling the robotic arm to move the target test strip to the preset photographing position; controlling the preset visual detection device to take a photograph of the target test strip located at the photographing position; obtaining the captured image uploaded by the visual detection device; determining the type of the target test strip, and determining the standard color according to the type of the target test strip; and analyzing the experimental result according to the captured image and the standard color.

[0013] This can ensure the correctness of the analysis of the experimental result.

[0014] In an alternative embodiment, after analyzing the experimental result according to the captured image and the standard color, it further includes: controlling the robotic arm to move the target test strip to the preset waste area.

[0015] This can ensure that the test strip detection method can be carried out cyclically.

[0016] Second aspect, the embodiments of the present invention further provide a device for detecting adulteration in raw milk. The device includes a robotic arm control module, an acquisition module, and an inspection module. The robotic arm control module is configured to control the robotic arm to grab the container containing the sample to be detected and move the container to a preset scanning position to scan the identification information on the container by using a scanning device. The acquisition module is configured to acquire the scanning information uploaded by the scanning device. The scanning information processing module is configured to determine the detection items of the sample to be detected, the target test strip capable of performing the detection items, and the usage method of the target test strip according to the scanning information. The robotic arm control module is further configured to control the robotic arm to clamp the target test strip at a preset test strip placement position. The detection module is configured to place the target test strip into the sample to be detected and perform the detection on the sample to be detected by using the usage method of the target test strip to obtain the detection result of adulteration in raw milk.

[0017] Third aspect, the present invention provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the method for detecting adulteration in raw milk according to the first aspect or any corresponding embodiment thereof.

[0018] Fourth aspect, the embodiments of the present invention further provide a system for detecting adulteration in raw milk, including the computer device according to the third aspect, and a robotic arm and a vision detection device communicatively connected to the computer device.

[0019] Fifth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored. The computer instructions are used to cause a computer to execute the method for detecting adulteration in raw milk according to the first aspect or any corresponding embodiment thereof. Description of the Drawings

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 is a flowchart of the method for detecting adulteration in raw milk according to an embodiment of the present invention;

[0022] Figure 2 is a flowchart of another method for detecting adulteration in raw milk according to an embodiment of the present invention;

[0023] Figure 3 is a structural block diagram of the device for detecting adulteration in raw milk according to an embodiment of the present invention;

[0024] Figure 4 It is a schematic diagram of the hardware structure of the computer device according to an embodiment of the present invention;

[0025] Figure 5 It is the front view of the raw milk adulteration detection system according to an embodiment of the present invention;

[0026] Figure 6 It is the top view of the raw milk adulteration detection system according to an embodiment of the present invention;

[0027] Wherein, 1. robotic arm; 2. vision detection device; 3. raw milk bottle tray; 4. test strip placement position. Detailed implementation manners

[0028] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] According to an embodiment of the present invention, an embodiment of a raw milk adulteration detection method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0030] In this embodiment, a raw milk adulteration detection method is provided, which is applied to a computer device in a raw milk adulteration detection system, wherein the raw milk adulteration detection system includes a robotic arm, a barcode scanner, a vision system, etc. Figure 1 It is a flowchart of the raw milk adulteration detection method according to an embodiment of the present invention, as Figure 1 shown, and the process includes the following steps:

[0031] Step S101: Control the robotic arm to grab the container containing the sample to be detected, and move the container to a preset scanning position to scan the identification information on the container by using a scanning device.

[0032] Specifically, the identification information on the container may only include the detection items of the sample to be detected; or it may include the detection items of the sample to be detected and the target test strips capable of performing the detection items.

[0033] Among them, the detection items can be understood as the detection items that the sample to be detected needs to undergo. This is because, generally speaking, raw milk needs to undergo various detections, such as adulteration detection, impurity detection, density detection, and so on. However, the requirements for the sample to be detected are different for various detections. In order to make the detection results more accurate, it is necessary to attach identification information containing the detection items to the container for the sample to be detected. This is because various situations will be encountered during the detection of raw milk adulteration. A default test strip and the detection method of the default test strip can be preset in the computer device.

[0034] When the sample to be detected can be detected using the default test strip, the identification information on the container may only include the detection items of the sample to be detected. When the sample to be detected cannot be detected using the default test strip but needs to be detected using other test strips, the identification information on the container needs to include the detection items of the sample to be detected and the target test strip capable of performing the detection items.

[0035] Specifically, the identification information on the container can be scanned by a barcode scanner.

[0036] Step S102: Obtain the scan information uploaded by the scanning device.

[0037] Step S103: Determine the detection items of the sample to be detected, the target test strip capable of performing the detection items, and the usage method of the target test strip according to the scan information.

[0038] Specifically, when the identification information on the container only includes the detection items of the sample to be detected, obtain the default test strip and the detection method of the default test strip, use the default test strip as the target test strip capable of performing the detection items, and use the detection method of the default test strip as the usage method of the target test strip.

[0039] When the identification information on the container includes the detection items of the sample to be detected and the target test strip capable of performing the detection items, obtain the corresponding relationship between the preset test strips and the usage methods of the test strips; obtain the target test strip capable of performing the detection items according to the identification information, and obtain the usage method of the target test strip according to the corresponding relationship between the test strips and the usage methods of the test strips and the target test strip.

[0040] Step S104: Control the robotic arm to clamp the target test strip at the preset test strip placement position and place the target test strip into the sample to be detected.

[0041] Step S105: Detect the sample to be detected using the usage method of the target test strip to obtain the detection result of raw milk adulteration.

[0042] The raw milk adulteration detection method provided by the embodiment of the present invention controls a robotic arm to grab a container containing a sample to be detected, moves the container to a preset scanning position, and uses a scanning device to scan the identification information on the container; obtains the scanning information uploaded by the scanning device; the scanning information determines the detection items of the sample to be detected, the target test strip capable of performing the detection items, and the usage method of the target test strip; controls the robotic arm to clamp the target test strip at a preset test strip placement position and place the target paper strip into the sample to be detected; uses the usage method of the target test strip to detect the sample to be detected, and obtains the detection result of raw milk adulteration. Thus, the automatic detection of raw milk adulteration by the paper strip method can be realized.

[0043] In this embodiment, a raw milk adulteration detection method is provided, which is applied to a computer device in a raw milk adulteration detection system. The raw milk adulteration detection system includes a robotic arm, and the robotic arm includes a main gripper and a sub-gripper. The main gripper is used to grab a container containing a sample to be detected, and the sub-gripper is used to clamp a target test strip.

[0044] It should be noted that since the volumes of the container containing the sample to be detected and the test strip are quite different, by setting the main gripper and the sub-gripper, the efficiency and success rate of the robotic arm in grabbing the test strip and the efficiency and success rate of the robotic arm in clamping the test strip can be improved.

[0045] Figure 2 is a flowchart of another raw milk adulteration detection method according to an embodiment of the present invention, as Figure 2 shown, and this process includes the following steps:

[0046] Step S201: Control the robotic arm to move to a preset sample placement area.

[0047] Step S202: Control the main gripper to grab the container containing the sample to be detected in the sample placement area and move the container to a preset scanning position.

[0048] Step S203: Obtain the scanning information uploaded by the scanning device.

[0049] Step S204: Determine the detection items of the sample to be detected, the target test strip capable of performing the detection items, and the usage method of the target test strip according to the scanning information.

[0050] Step S205: Obtain the corresponding relationship between the preset test strip type and the placement area.

[0051] Step S206: Determine the type of the target test strip.

[0052] Step S207: Determine the placement area of the target test strip in the test strip placement position according to the type of the target test strip and the correspondence between the test strip type and the placement area.

[0053] Specifically, the test strip placement position is set according to different test strip specifications, with a dedicated grid embedded to ensure that the test strip can be just fixed in the grid without tipping over, and it is convenient for the robotic arm to pick up. At the same time, a lid is added to the test strip placement position to prevent the test strip from being affected by the environment such as light.

[0054] Step S208: Control the main gripper to open the lid of the target test strip placement area, and control the sub-gripper to grab the test strip in the placement area.

[0055] It should be noted that when the target test strip in the placement area is offset in position or when the target test strip is used up, a prompt message can be sent for alarm.

[0056] Step S209: Place the target paper strip into the sample to be tested, and use the usage method of the target test strip to test the sample to be tested to obtain the detection result of raw milk adulteration.

[0057] Specifically, the usage method of the target test strip includes the contact duration and reaction duration of the target test strip.

[0058] In an optional implementation manner, using the usage method of the target test strip to test the sample to be tested to obtain the detection result of raw milk adulteration includes: after placing the target test strip into the sample to be tested, obtaining the first actual duration of the target test strip in the sample to be tested; when the first actual duration reaches the contact duration, controlling the robotic arm to take out the target test strip from the sample to be tested, and obtaining the second actual duration after the target test strip is taken out from the sample to be tested; when the second actual duration reaches the reaction duration, determining the detection result.

[0059] Step S210: Control the robotic arm to move the target test strip to the preset photographing position, and control the main gripper to open the lid of the target test strip placement area.

[0060] Step S211: Control the preset visual detection device to take a photo of the target test strip located at the photographing position.

[0061] Specifically, the visual detection device can use a high-resolution camera so that the captured image can clearly show the color of the test strip.

[0062] Step S212: Obtain the captured image uploaded by the visual detection device.

[0063] Step S213: Determine the type of the target test strip, and determine the standard color according to the type of the target test strip.

[0064] This is because the standard colors corresponding to different test strips are different, so it is necessary to determine the standard color according to the type of the target test strip.

[0065] Step S214: Analyze the experimental results based on the captured image and the standard color.

[0066] Step S215: Control the robotic arm to move the target test strip to a preset waste area.

[0067] Exemplarily, the raw milk adulteration detection method of this embodiment includes the following steps:

[0068] (1) In the previous process section, the sample bottle to be tested (250 mL) is placed on the tray. After the raw milk adulteration detection system receives the task, it starts to work. First, the robotic arm adjusts the opening and closing size of the gripper, grabs the sample from the tray to the detection area, activates the sample recognition function of the barcode scanner, rotates the robotic arm, and aligns the side with the unique identification information in the sample bottle to be tested with the barcode scanner for sample recognition. When the sample to be tested in the sample bottle to be tested needs to be subjected to adulteration detection, the sample bottle to be tested is placed at the detection position;

[0069] (2) The raw milk adulteration detection system determines the target test strip and the usage method of the target test strip according to the identification information. Subsequently, the robotic arm goes to the test strip placement position, adjusts the opening and closing size of the gripper, opens the storage lid of the target test strip, uses the test strip gripper to take out a target test strip, and closes the test strip storage lid; the robotic arm transfers the target test strip to the detection position and completes the detection according to the determined usage method of the target test strip. For example, the target test strip is inserted into the sample to be tested for 1 second, taken out and gently tapped to knock off the excess milk, and the detection is completed after timing for 1 minute.

[0070] (3) After the detection is completed, the robotic arm transfers the test strip to the visual detection area for photographing and saving. Finally, all items are returned to their original positions. The used test strip is placed in the waste area, the sample bottle is sent back to the tray, and the robotic arm returns to the starting position.

[0071] The raw milk adulteration detection method provided by the embodiment of the present invention realizes functions such as automatic barcode scanning, sampling, timing, photographing, and recycling, and also has functions of automatically saving and uploading detection data, which can reduce the workload of personnel and improve work efficiency; the raw milk adulteration detection method can be continuously carried out without interruption, and the whole detection process is traceable.

[0072] In this embodiment, a raw milk adulteration detection device is also provided. This device is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the device described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0073] This embodiment provides a raw milk adulteration detection device, as Figure 3 shown, including:

[0074] A robotic arm control module 301, configured to control the robotic arm to grab a container containing a sample to be tested, move the container to a preset scanning position, so as to scan the identification information on the container by using a scanning device;

[0075] An acquisition module 302, configured to acquire the scanning information uploaded by the scanning device;

[0076] A scanning information processing module 303, configured to determine the test items of the sample to be tested, the target test strip capable of performing the test items, and the usage method of the target test strip according to the scanning information;

[0077] The robotic arm control module 301 is further configured to control the robotic arm to clamp the target test strip at a preset test strip placement position and place the target paper strip into the sample to be tested;

[0078] A detection module 304, configured to test the sample to be tested by using the usage method of the target test strip to obtain a detection result of raw milk adulteration.

[0079] In some alternative embodiments, the robotic arm includes a main gripper and a sub-gripper, where the main gripper is used to grab a container containing a sample to be tested, and the sub-gripper is used to clamp the target test strip. The robotic arm control module 301 is specifically configured to: control the robotic arm to move to a preset sample placement area; control the main gripper to grab the container containing the sample to be tested in the sample placement area and move the container to a preset scanning position.

[0080] In some alternative embodiments, the robotic arm includes a main gripper and a sub-gripper, where the main gripper is used to grab a container containing a sample to be tested, and the sub-gripper is used to clamp the target test strip. The robotic arm control module 301 includes an acquisition unit, a clamping preprocessing unit, and a robotic arm control unit. The acquisition unit is configured to acquire the correspondence between the preset test strip type and the placement area; the clamping preprocessing unit is configured to determine the type of the target test strip; according to the type of the target test strip and the correspondence between the test strip type and the placement area, determine the placement area of the target test strip in the test strip placement position; control the sub-gripper to grab the test strip in the placement area; the robotic arm control unit is configured to control the sub-gripper to grab the test strip in the placement area.

[0081] In some alternative embodiments, the method of using the target test strip includes the contact duration and reaction duration of the target test strip. The detection module 304 is specifically configured to: after placing the target test strip into the sample to be tested, obtain the first actual duration of the target test strip in the sample to be tested; when the first actual duration reaches the contact duration, control the robotic arm to take out the target test strip from the sample to be tested, and obtain the second actual duration of the target test strip after being taken out from the sample to be tested; when the second actual duration reaches the reaction duration, determine the test result.

[0082] In some alternative embodiments, the raw milk adulteration detection device further includes a test result analysis module. The test result analysis module is configured to control the robotic arm to move the target test strip to a preset photographing position; control a preset visual detection device to photograph the target test strip located at the photographing position; obtain the captured image uploaded by the visual detection device; determine the type of the target test strip, and determine the standard color according to the type of the target test strip; analyze the experimental result based on the captured image and the standard color.

[0083] In an alternative embodiment, after analyzing the experimental result based on the captured image and the standard color, the robotic arm control module 301 is further configured to control the robotic arm to move the target test strip to a preset waste area. In an alternative embodiment, before placing the target test strip into the sample to be tested, the robotic arm control module 301 is further configured to control the robotic arm to move the target test strip to a preset detection position.

[0084] The raw milk adulteration detection device in this embodiment is presented in the form of functional units. Here, the unit refers to an ASIC circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0085] The further function descriptions of the above-mentioned modules and units are the same as those in the corresponding embodiments above, and will not be repeated here.

[0086] The embodiment of the present invention further provides a computer device having the above-mentioned Figure 3 shown raw milk adulteration detection device.

[0087] Furthermore, the embodiment of the present invention further provides a raw milk adulteration detection system, including the above-mentioned computer device, and a robotic arm 1 and a visual detection device 2 that are communicatively connected to the computer device. As Figure 5 and Figure 6As shown in the figure, the raw milk adulteration detection system includes: (1) Robot arm 1: used to move or operate each component within the system, and to effectively connect each component; (2) Experiment table: used to install and position the instruments and equipment for the experiment; (3) Robot base: used to install and position the robot arm 1; (4) Test strip storage module: used to position and fix different test strips. (5) Raw milk bottle tray 3: used to position and fix the raw milk sample bottles. (6) Vision detection device 2: used to identify the test strips and take photos for preservation.

[0088] Please refer to Figure 4 , Figure 4 is a schematic structural diagram of a computer device provided by an alternative embodiment of the present invention. As Figure 4 shown, the computer device includes: one or more processors 10, a memory 20, and an interface for connecting each component, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system). Figure 4 In

[0089] Figure, one processor 10 is taken as an example.

[0090] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above-mentioned hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device can be a complex programmable logic device, a field programmable gate array, a general array logic, or any combination thereof.

[0091] The memory 20 may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function. The data storage area may store data created according to the use of the computer device in the display of a kind of mini-program landing page, etc. In addition, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely disposed relative to the processor 10, and these remote memories may be connected to the computer device through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0092] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, a hard disk, or a solid-state drive; the memory 20 may further include a combination of the above types of memory.

[0093] The computer device further includes an input device 30 and an output device 30. The processor 10, the memory 20, the input device 30, and the output device 20 may be connected through a bus or other means. Figure 4 Taking connection through a bus as an example.

[0094] The input device 30 may receive input digital or character information and generate key signal inputs related to the user settings and function controls of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 30 may include a display device, an auxiliary lighting device (e.g., an LED), and a haptic feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes, but is not limited to, a liquid crystal display, a light-emitting diode, a display, and a plasma display. In some alternative embodiments, the display device may be a touch screen.

[0095] Embodiments of the present invention also provide a computer-readable storage medium. The method according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0096] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for detecting adulteration in raw milk, characterized in that, the method comprises: controlling a robotic arm to grasp a container containing a sample to be detected, and moving the container to a preset scanning position to scan identification information on the container by using a scanning device; acquiring the scanning information uploaded by the scanning device; the scanning information determines the detection items of the sample to be detected, the target test strip capable of performing the detection items, and the usage method of the target test strip; controlling the robotic arm to clamp the target test strip at a preset test strip placement position, and placing the target paper strip into the sample to be detected; detecting the sample to be detected by using the usage method of the target test strip to obtain a detection result of adulteration in raw milk.

2. The method according to claim 1, characterized in that, the robotic arm comprises a main gripper and a sub-gripper, wherein the main gripper is used to grasp the container containing the sample to be detected, and the sub-gripper is used to clamp the target test strip. The controlling the robotic arm to grasp the container containing the sample to be detected and moving the container to a preset scanning position comprises: controlling the robotic arm to move to a preset sample placement area; controlling the main gripper to grasp the container containing the sample to be detected in the sample placement area, and moving the container to a preset scanning position.

3. The method according to claim 1, characterized in that, the robotic arm comprises a main gripper and a sub-gripper, wherein the main gripper is used to grasp the container containing the sample to be detected, and the sub-gripper is used to clamp the target test strip. The controlling the robotic arm to clamp the target test strip at a preset test strip placement position comprises: acquiring the corresponding relationship between the preset test strip type and the placement area; determining the type of the target test strip; determining the placement area of the target test strip in the test strip placement position according to the type of the target test strip and the corresponding relationship between the test strip type and the placement area; controlling the sub-gripper to grasp the test strip in the placement area.

4. The method according to claim 1, characterized in that, the usage method of the target test strip comprises the contact duration and the reaction duration of the target test strip. The detecting the sample to be detected by using the usage method of the target test strip to obtain a detection result of adulteration in raw milk comprises: after placing the target test strip into the sample to be detected, acquiring the first actual duration of the target test strip in the sample to be detected; when the first actual duration reaches the contact duration, controlling the robotic arm to take out the target test strip from the sample to be detected, and acquiring the second actual duration of the target test strip after being taken out from the sample to be detected; when the second actual duration reaches the reaction duration, determining the detection result.

5. The method according to claim 4, characterized in that, after detecting the sample to be detected by using the usage method of the target test strip to obtain a detection result of adulteration in raw milk, it further comprises: controlling the robotic arm to move the target test strip to a preset photographing position; Control a preset visual detection device to take a picture of a target test strip located at the photographing position; Obtain the captured image uploaded by the visual detection device; Determine the type of the target test strip, and determine the standard color according to the type of the target test strip; Analyze the experimental result according to the captured image and the standard color.

6. The method according to claim 5, wherein, after analyzing the experimental result according to the captured image and the standard color, further comprising: Control the robotic arm to move the target test strip to a preset waste area.

7. A device for a raw milk adulteration detection method, wherein, the device comprises: A robotic arm control module, configured to control a robotic arm to grab a container containing a sample to be detected, and move the container to a preset scanning position to scan identification information on the container by using a scanning device; An obtaining module, configured to obtain the scanning information uploaded by the scanning device; A scanning information processing module, configured to determine a detection item of the sample to be detected, a target test strip capable of performing the detection item, and a usage method of the target test strip according to the scanning information; The robotic arm control module is further configured to control the robotic arm to clamp the target test strip at a preset test strip placement position; A detection module, configured to place the target paper strip into the sample to be detected, and perform detection on the sample to be detected by using the usage method of the target test strip to obtain a detection result of raw milk adulteration.

8. A computer device, wherein, comprising: A memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the raw milk adulteration detection method according to any one of claims 1 to 6.

9. A raw milk adulteration detection system, wherein, comprising the computer device according to claim 8, and a robotic arm and a visual detection device communicatively connected to the computer device.

10. A computer-readable storage medium, wherein, computer instructions are stored on the computer-readable storage medium, and the computer instructions are used to cause a computer to execute the raw milk adulteration detection method according to any one of claims 1 to 6.

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