Lactogenesis detection system, method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of dairy product production, in particular to a raw milk detection system, method and device, computer equipment and a storage medium, and the raw milk detection method comprises the following steps: when a raw milk detection instruction is received, controlling a mechanical arm to pour a to-be-detected sample with a preset weight into a heating container; a mechanical arm is controlled to move the heating container to a heating device, and the heating device is controlled to heat the heating container; controlling the mechanical arm to detect the temperature of the to-be-detected sample to obtain a first current temperature of the to-be-detected sample; and when the first current temperature of the to-be-detected sample reaches a preset first threshold value, controlling the mechanical arm to move the heating container to a preset smell detection position, and generating a first prompt message that the to-be-detected sample needs to be subjected to smell detection. Therefore, manual operation is not needed in the heating process, and the problem that people are scalded when sensory detection is carried out on the raw milk can be solved.

Description

Technical Field

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

[0002] In the process of dairy product production, it is necessary to conduct sensory detection on raw milk. Currently, the sensory detection of raw milk is all manual detection, which poses a risk of scalding to personnel. Summary of the Invention

[0003] In view of this, the present invention provides a raw milk detection system, method, device, computer device and storage medium to solve the problem of the risk of scalding to personnel during the sensory detection of raw milk.

[0004] In a first aspect, an embodiment of the present invention provides a raw milk detection method, which includes the following steps: when a raw milk detection instruction is received, control the robotic arm to pour a preset weight of the sample to be detected into a heating container; control the robotic arm to move the heating container onto a heating device and control the heating device to heat the heating container; control the robotic arm to detect the temperature of the sample to be detected to obtain the first current temperature of the sample to be detected; when the first current temperature of the sample to be detected reaches a preset first threshold, control the robotic arm to move the heating container to a preset odor detection position and generate a first prompt message indicating that the sample to be detected needs to be subjected to odor detection.

[0005] In the raw milk detection method provided by the embodiment of the present invention, when a raw milk detection instruction is received, the robotic arm is used to pour the sample to be detected into the heating container and place the heating container on the heating device for heating. When the first current temperature of the sample to be detected reaches the preset first threshold, control the robotic arm to move the heating container to the preset odor detection position. The first threshold can be the temperature when the sample to be detected reaches boiling; in the embodiment of the present invention, the heating process does not require manual operation, thereby solving the problem of the risk of scalding to personnel during the sensory detection of raw milk.

[0006] In an optional embodiment, the raw milk detection method further includes the following steps: after receiving the odor detection result of the sample to be detected, control the robotic arm to move the heating container to a preset cooling position; control the robotic arm to detect the temperature of the sample to be detected to obtain the second current temperature of the sample to be detected; when the second current temperature of the sample to be detected reaches a preset second threshold, control the robotic arm to move the heating container to a preset taste detection position and generate a second prompt message indicating that the sample to be detected needs to be subjected to taste detection.

[0007] Thus, not only can the odor of raw milk be detected, but also the taste of raw milk can be detected.

[0008] In an alternative embodiment, controlling the robotic arm to perform temperature detection on the sample to be tested to obtain the first current temperature of the sample to be tested includes: controlling the robotic arm to move up and down around the sample to be tested to perform temperature detection on the sample to be tested and obtain the first current temperature of the sample to be tested; determining whether the first current temperature reaches a preset third threshold; when the first current temperature does not reach the third threshold, returning to the step of controlling the robotic arm to move up and down around the sample to be tested to perform temperature detection on the sample to be tested and obtain the first current temperature of the sample to be tested; when the first current temperature reaches the third threshold, controlling the robotic arm to stay above the sample to be tested to perform temperature detection on the sample to be tested and obtain the first current temperature of the sample to be tested.

[0009] That is to say, when the first current temperature of the sample to be tested does not reach the third threshold, controlling the robotic arm to move up and down around the sample to be tested to perform temperature detection on the sample to be tested, which can be applicable to the scenario of simultaneously performing temperature detection on multiple samples to be tested; when the first current temperature of the sample to be tested is greater than or equal to the third threshold, controlling the robotic arm to stay above the sample to be tested to perform temperature detection on the sample to be tested and obtain the first current temperature of the sample to be tested, so as to timely determine whether the sample to be tested is boiling and prevent the sample to be tested from boiling over. Exemplarily, the third threshold can be 80 - 85 °C.

[0010] In an alternative embodiment, controlling the robotic arm to pour a sample to be tested with a preset weight into a heating container includes: controlling the robotic arm to place the heating container on a weighing device; controlling the robotic arm to move the raw milk bottle above the heating container and be in an inclined state to pour the sample to be tested in the raw milk bottle into the heating container; obtaining the weight information detected by the weighing device; determining the pouring amount of the standby sample according to the weight information, and when the pouring amount reaches the preset weight, controlling the robotic arm to change the raw milk bottle from the inclined state to a non-inclined state to stop pouring the sample to be tested in the raw milk bottle into the heating container.

[0011] Thus, the robotic arm can be used to automatically pour the sample to be tested into the heating container.

[0012] In an alternative embodiment, before controlling the robotic arm to place the heating container on the weighing device, it further includes: controlling the robotic arm to move the raw milk bottle to a preset scanning position; controlling the scanner to perform scanning and obtaining the scanning information uploaded by the scanner; determining the actual identification information of the raw milk bottle according to the scanning information; obtaining the theoretical identification information of the raw milk bottle; when the actual identification information is the same as the theoretical identification information, performing the step of controlling the robotic arm to place the heating container on the weighing device; when the actual identification information is different from the theoretical identification information, generating a third prompt message of an error in the sample to be tested.

[0013] This is because the theoretical identification information of the sample to be tested is distributed to the computer device by the upper-level system (such as the sub-sampling station); the raw milk bottle containing the sample to be tested is transported by the mobile robot to the preset position for raw milk detection. By comparing the actual identification information with the theoretical identification information, it is possible to ensure the consistency between the sample to be tested that needs to be subjected to raw milk detection and the sample to be tested that is actually subjected to raw milk detection.

[0014] In an alternative embodiment, after controlling the robotic arm to place the heating container on the weighing device, it further includes: incrementing the number of heated containers by 1 to obtain the number of heated containers; when the number of heated containers reaches the fourth threshold, generating a fourth prompt message indicating insufficient heating containers; when the number of heated containers reaches the preset fifth threshold, clearing the number of heated containers.

[0015] This is because, in the actual process of raw milk detection, it is found that multiple samples to be tested can be detected for raw milk simultaneously. By processing the number of heated containers in the embodiments of the present invention, it is possible to ensure the cyclic detection of multiple samples to be tested for raw milk.

[0016] In a second aspect, an embodiment of the present invention further provides a raw milk detection device, which includes a pretreatment module, a heating module, a temperature detection module, and an odor detection module; the pretreatment module is configured to control the robotic arm to pour a preset weight of the sample to be tested into the heating container when receiving a raw milk detection instruction; the heating module is configured to control the robotic arm to move the heating container to the heating device and control the heating device to heat the heating container; the temperature detection module is configured to control the robotic arm to detect the temperature of the sample to be tested to obtain the first current temperature of the sample to be tested; the odor detection module is configured to control the robotic arm to move the heating container to a preset odor detection position and generate a first prompt message indicating that the sample to be tested needs to be subjected to odor detection when the first current temperature of the sample to be tested reaches a preset first threshold.

[0017] In a third aspect, the present invention provides a computer device, which includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the raw milk detection method according to the first aspect or any corresponding embodiment thereof.

[0018] In a fourth aspect, an embodiment of the present invention further provides a raw milk detection system, which includes a robotic arm, a barcode scanner, a heating device, a weighing device, and the computer device according to the third aspect. The robotic arm, the barcode scanner, the heating device, and the weighing device are all communicatively connected to the computer device.

[0019] Fifth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the raw milk detection method according to the first aspect or any corresponding embodiment thereof as described above. BRIEF 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 drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

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

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

[0023] Figure 3 is a flowchart of yet another raw milk detection method according to an embodiment of the present invention;

[0024] Figure 4 is a structural block diagram of the raw milk detection device according to an embodiment of the present invention;

[0025] Figure 5 is a schematic hardware structure diagram of the computer device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0027] According to an embodiment of the present invention, an embodiment of a raw milk detection method is provided. It should be noted that the steps shown in the flowchart of the 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.

[0028] In this embodiment, a raw milk detection method is provided, which can be used in a computer device in a raw milk detection system. The raw milk detection system includes a robotic arm, a robotic arm base, an electronic balance, a raw milk bottle tray, a conical flask tray, a lid placement position, a tasting rack, a conical flask cooling tank, a hot plate, and a barcode scanner. The robotic arm can replace manual labor for sampling, boiling, cooling, and temperature measurement.

[0029] Specifically, the robotic arm is used to grasp or clamp items; the robotic arm base is used to fix the robotic arm; the electronic balance is used for weighing; the raw milk bottle tray is used to store raw milk bottles; the conical flask tray is used to store conical flasks; the lid placement position is used to store the lids of raw milk bottles; the tasting rack is used to store the samples to be tested after boiling; the conical flask cooling tank is used for cooling the samples to be tested after boiling; the hot plate is used to heat the samples to be tested; the barcode scanner is used to scan the identification information on the raw milk bottle, such as a QR code.

[0030] Figure 1 is a flowchart of the raw milk detection method according to an embodiment of the present invention, as Figure 1 shown, and the process includes the following steps:

[0031] Step S101: When a raw milk detection instruction is received, control the robotic arm to pour a preset weight of the sample to be tested into a heating container.

[0032] In an embodiment of the present invention, the computer device controls the robotic arm by sending a control instruction to the robotic arm. When the communication connection between the computer device and the robotic arm cannot be established normally, the computer device will generate an alarm message.

[0033] Specifically, an alarm message will be displayed on the central control large screen of the computer device and voice broadcast will be performed.

[0034] If the robotic arm touches other positions during movement, the indicator light on the robotic arm will show red, and the computer device will display an alarm message: Robot collision anomaly.

[0035] Exemplarily, the sample to be tested is placed in a raw milk bottle. When a raw milk detection instruction is received, control the robotic arm to pour a preset weight of the sample to be tested into a conical flask.

[0036] Step S102: Control the robotic arm to move the heating container to the heating device and control the heating device to heat the heating container.

[0037] Exemplarily, the heating device can be a hot plate.

[0038] It should be noted that the heating device will only heat after the heating container is placed on the heating device, and the heating device is turned off at other times. This can not only save electricity but also prevent personnel from being scalded due to the heating device being too hot.

[0039] Step S103: Control the robotic arm to perform temperature detection on the sample to be inspected, and obtain the first current temperature of the sample to be inspected.

[0040] Specifically, the first threshold value can be the temperature when the sample to be inspected reaches boiling.

[0041] Step S104: When the first current temperature of the sample to be inspected reaches a preset first threshold value, control the robotic arm to move the heating container to a preset odor detection position, and generate a first prompt message indicating that the sample to be inspected needs to be subjected to odor detection.

[0042] After generating the first prompt message indicating that the sample to be inspected needs to be subjected to odor detection, personnel can go to the odor detection position to perform odor detection on the sample to be inspected.

[0043] Specifically, the first prompt message will be displayed on the central control large screen of the computer device and a voice broadcast will be made.

[0044] For the raw milk detection method provided in the embodiment of the present invention, when a raw milk detection instruction is received, the robotic arm is used to pour the sample to be inspected into a heating container, and the heating container is placed on a heating device for heating. When the first current temperature of the sample to be inspected reaches a preset first threshold value, control the robotic arm to move the heating container to a preset odor detection position. The first threshold value can be the temperature when the sample to be inspected reaches boiling. In the embodiment of the present invention, the heating process does not require manual operation, thereby solving the problem of the risk of scalding personnel during the sensory detection of raw milk.

[0045] In this embodiment, a raw milk detection method is provided, which can be used in a computer device. Figure 2 It is a flowchart of another raw milk detection method according to an embodiment of the present invention. As Figure 2 shown, the process includes the following steps:

[0046] Step S201: When a raw milk detection instruction is received, control the robotic arm to pour a preset weight of the sample to be inspected into a heating container.

[0047] In an alternative embodiment, when a raw milk detection instruction is received, controlling the robotic arm to pour a preset weight of the sample to be inspected into a heating container includes the following steps:

[0048] Step S2011: When a raw milk detection instruction is received, control the robotic arm to place the heating container on a weighing device.

[0049] Exemplarily, the weighing device can be an electronic balance.

[0050] Step S2012: Control the robotic arm to move the raw milk bottle above the heating container and in an inclined state, so as to pour the sample to be inspected in the raw milk bottle into the heating container.

[0051] Step S2013: Obtain the weight information detected by the weighing device.

[0052] Step S2014: Determine the pouring amount of the standby sample according to the weight information. When the pouring amount reaches the preset weight, control the robotic arm to change the raw milk bottle from the inclined state to the non-inclined state to stop pouring the sample to be tested in the raw milk bottle into the heating container.

[0053] Step S202: Control the robotic arm to move the heating container to the heating device and control the heating device to heat the heating container.

[0054] Step S203: Control the robotic arm to detect the temperature of the sample to be tested to obtain the first current temperature of the sample to be tested.

[0055] In an alternative embodiment, controlling the robotic arm to detect the temperature of the sample to be tested to obtain the first current temperature of the sample to be tested includes the following steps:

[0056] Step S2031: Control the robotic arm to move up and down around the sample to be tested to detect the temperature of the sample to be tested to obtain the first current temperature of the sample to be tested.

[0057] Step S2032: Determine whether the first current temperature reaches a preset third threshold.

[0058] Exemplarily, the third threshold may be 80-85 °C.

[0059] Step S2033: When the first current temperature does not reach the third threshold, return to Step S2031;

[0060] Step S2034: When the first current temperature reaches the third threshold, control the robotic arm to stay above the sample to be tested to detect the temperature of the sample to be tested to obtain the first current temperature of the sample to be tested.

[0061] Step S204: When the first current temperature of the sample to be tested reaches a preset first threshold, control the robotic arm to move the heating container to a preset odor detection position and generate a first prompt message indicating that the sample to be tested needs to be subjected to odor detection.

[0062] That is to say, when the first current temperature of the sample to be detected does not reach the third threshold, the robotic arm is controlled to move up and down around the sample to be detected for temperature detection of the sample to be detected. Since the temperature at each position during the movement of the robotic arm is different and the robotic arm can dissipate heat during the movement, moving the robotic arm up and down around the sample to be detected can prevent the heating device from overheating and melting the robotic arm. When the first current temperature of the sample to be detected is greater than or equal to the third threshold, the robotic arm is controlled to stay above the sample to be detected for temperature detection of the sample to be detected, and the first current temperature of the sample to be detected is obtained, so that it can be timely determined whether the first current temperature reaches the third threshold and prevent the sample to be detected from boiling over. It should be noted that although the robotic arm stays above the sample to be detected for temperature detection when the first current temperature is greater than or equal to the third threshold, the time to reach the boiling state is short at this time, and even if the robotic arm stays in one place, it will not melt the robotic arm.

[0063] Meanwhile, the embodiments of the present invention can be applied to temperature detection of multiple samples to be detected simultaneously. During the process of the robotic arm moving from temperature detection of one sample to be detected to temperature detection of another sample to be detected, the robotic arm can dissipate heat. For example, after the robotic arm moves up and down and then down and up around sample A for temperature detection, it moves to the position of sample B and moves up and down and then down and up around sample B for temperature detection.

[0064] Step S205: After receiving the odor detection result of the sample to be detected, control the robotic arm to move the heating container to a preset cooling position.

[0065] Step S206: Control the robotic arm to perform temperature detection on the sample to be detected to obtain the second current temperature of the sample to be detected.

[0066] Step S207: When the second current temperature of the sample to be detected reaches a preset second threshold, control the robotic arm to move the heating container to a preset taste detection position and generate a second prompt message indicating that the sample to be detected needs to be subjected to taste detection.

[0067] Specifically, the second threshold can be determined according to the requirements of the taste detection method.

[0068] When the second current temperature of the sample to be detected has not reached the second threshold and is grabbed by the robotic arm, the computer device will display an alarm message: abnormal sample temperature measurement. Specifically, the second prompt message will be displayed on the central control large screen of the computer device and a voice broadcast will be made.

[0069] The raw milk detection method provided by the embodiments of the present invention can not only solve the problem of the risk of scalding personnel during the sensory detection of raw milk, but also be applicable to the scenario of simultaneously performing temperature detection on multiple samples to be detected, and can timely determine whether the sample to be detected is boiling and prevent the sample to be detected from boiling over.

[0070] In this embodiment, a raw milk detection method is provided, which can be used in a computer device. Figure 3 It is a flowchart of another raw milk detection method according to an embodiment of the present invention, as Figure 3 shown. The process includes the following steps:

[0071] Step S301: When a raw milk detection instruction is received, control the robotic arm to move the raw milk bottle to a preset scanning position.

[0072] Step S302: Control the scanner to perform a scan and obtain the scan information uploaded by the scanner.

[0073] In an embodiment of the present invention, the computer device controls the scanner by sending a control instruction to the scanner. When the communication connection between the computer device and the scanner cannot be established normally, the computer device will generate an alarm message to remind the personnel to handle and restore.

[0074] Specifically, a two-dimensional code can be set on the raw milk bottle. When the scanner cannot scan the two-dimensional code, a sixth prompt message for adjusting the sample bottle or the scanner is generated.

[0075] Specifically, the alarm message and / or the prompt message will be displayed on the central control large screen of the computer device and a voice broadcast will be made.

[0076] Step S303: Determine the actual identification information of the raw milk bottle according to the scan information.

[0077] Step S304: Obtain the theoretical identification information of the raw milk bottle.

[0078] Step S305: Determine whether the actual identification information is the same as the theoretical identification information. When they are the same, go to step S306; when they are different, a fifth prompt message that the sample to be tested for raw milk detection required and the sample to be tested for actual raw milk detection are inconsistent is generated.

[0079] This is because the theoretical identification information of the sample to be tested is distributed to the computer device by the upper-level system (such as the sub-sampling station); the raw milk bottle containing the sample to be tested is transported to the preset position by the mobile robot for raw milk detection. By comparing the actual identification information with the theoretical identification information, the consistency between the sample to be tested for raw milk detection required and the sample to be tested for actual raw milk detection can be ensured. Step S306: Control the robotic arm to place the heating container on the weighing device.

[0080] In an alternative embodiment, after controlling the robotic arm to place the heating container on the weighing device, it further includes: incrementing the number of heated containers by 1 to obtain the number of heated containers; when the number of heated containers reaches the fourth threshold, generating a fourth prompt message indicating insufficient heating containers; when the number of heated containers reaches a preset fifth threshold, resetting the number of heated containers to zero. Here, the fourth threshold is less than the fifth threshold, and the fifth threshold is determined according to the maximum number of heating containers that can be stored in the Erlenmeyer flask tray (the storage location of the heating container).

[0081] This is because, during the actual raw milk detection process, it is found that multiple samples to be detected can be simultaneously subjected to raw milk detection. By processing the number of heated containers in the embodiments of the present invention, the cycle of raw milk detection for multiple samples to be detected can be ensured.

[0082] For example, when there are 4 Erlenmeyer flask placement positions in the Erlenmeyer flask tray and at most 4 samples to be detected can be simultaneously subjected to raw milk detection, after the robotic arm places the third Erlenmeyer flask (heating container) on the electronic balance, the number of heated containers is 3; at this time, a fourth prompt message indicating insufficient heating containers is generated; when the number of heated containers reaches 4, the number of heated containers is reset to zero.

[0083] It should be noted that if the number of heated containers does not reach the fifth threshold, but the robotic arm cannot grasp the heating container, it may be that the Erlenmeyer flask has been taken away by someone or placed in the wrong position. At this time, the computer device will display an alarm message: abnormal empty grasping by the robot.

[0084] Step S307: Control the robotic arm to move the raw milk bottle above the heating container and be in an inclined state to pour the sample to be detected in the raw milk bottle into the heating container.

[0085] Step S308: Obtain the weight information detected by the weighing device.

[0086] Step S309: Determine the pouring amount of the standby sample according to the weight information. When the pouring amount reaches the preset weight, control the robotic arm to change the raw milk bottle from the inclined state to a non-inclined state to stop pouring the sample to be detected in the raw milk bottle into the heating container.

[0087] Step S310: Control the robotic arm to move the heating container to the heating device and control the heating device to heat the heating container.

[0088] Step S311: Control the robotic arm to move up and down around the sample to be detected to detect the temperature of the sample to be detected and obtain the first current temperature of the sample to be detected.

[0089] Step S312: Determine whether the first current temperature reaches a preset third threshold. When the first current temperature does not reach the third threshold, return to step S311; otherwise, proceed to step S313.

[0090] Step S313: Control the robotic arm to stay above the sample to be inspected to perform temperature detection on the sample to be inspected, and obtain the first current temperature of the sample to be inspected.

[0091] Step S314: Determine whether the first current temperature reaches a preset first threshold. When the first current temperature does not reach the first threshold, return to step S313; otherwise, proceed to step S315.

[0092] Step S315: Control the robotic arm to move the heating container to a preset odor detection position, and generate a first prompt message indicating that the sample to be inspected needs to undergo odor detection.

[0093] Step S316: After receiving the odor detection result of the sample to be inspected, control the robotic arm to move the heating container to a preset cooling position.

[0094] Step S317: Control the robotic arm to perform temperature detection on the sample to be inspected, and obtain the second current temperature of the sample to be inspected.

[0095] Step S318: When the second current temperature of the sample to be inspected reaches a preset second threshold, control the robotic arm to move the heating container to a preset taste detection position, and generate a second prompt message indicating that the sample to be inspected needs to undergo taste detection.

[0096] In an embodiment of the present invention, specifically, prompt messages (including the first to sixth prompt messages) and / or alarm messages will be displayed on the central control large screen of the computer device, and voice announcements will be made; the alarm messages can be divided into multiple levels according to the degree of urgency.

[0097] The raw milk detection method provided in the embodiments of the present invention can not only solve the problem of the risk of scalding personnel during the sensory detection of raw milk; but also is applicable to the scenario of simultaneously performing temperature detection on multiple samples to be inspected, and can promptly determine whether the sample to be inspected boils, preventing the sample to be inspected from boiling over.

[0098] To illustrate the raw milk detection method in the embodiments of the present invention in more detail, a specific example is given, and the example includes the following steps:

[0099] (1) After manually scanning the code on the sample splitting system at the sample splitting station, place the sample at the corresponding position of the sample splitting station, and then click the corresponding position in the sample splitting station system to trigger the detection task. The sample splitting station transmits the detection task and the corresponding sample position information to the mobile robot. After receiving the detection task and the sample position information, the mobile robot automatically goes to the specified position, picks up the sample with the gripper, and places the sample on the corresponding sample container tray in the mobile robot. The sample splitting station determines the sample transfer route based on its position and the raw milk detection station. The mobile robot transports the sample to the raw milk bottle tray of the raw milk detection station according to the sample transfer route.

[0100] (2) After the mobile robot arrives at the raw milk detection station, it first sends a request message to the computer device of the raw milk detection station asking whether it can place the sample on the raw milk bottle tray. The computer device of the raw milk detection station will issue an order to the mobile robot according to the current task status. When the mobile robot is allowed to place the sample on the raw milk bottle tray, the mobile robot will place the sample on the raw milk bottle tray according to the predetermined position of the sample splitting station. After the mobile robot places the sample, it will tell the computer device that the sample has been placed. At this time, the computer device generates a raw milk detection instruction.

[0101] (3) After the computer device generates the raw milk detection instruction, the robotic arm grabs the sample for code scanning to determine whether the sample to be tested for raw milk detection is consistent with the actual sample to be tested for raw milk detection. If so, the sample is poured into a triangular flask. At this time, the electronic balance starts to weigh. When it reaches the specified weight, the electronic balance tells the software that the sample has been poured.

[0102] (4) The computer device receives the signal returned by the electronic balance and controls the robotic arm to grab the triangular flask and place it on the hot plate for automatic heating.

[0103] (5) When the first current temperature of the sample to be tested does not reach the third threshold, control the robotic arm to move up and down around the sample to be tested to detect the temperature of the sample to be tested, so that it can be applied to the scenario of simultaneously detecting the temperature of multiple samples to be tested; when the first current temperature of the sample to be tested is greater than or equal to the third threshold, control the robotic arm to stay above the sample to be tested to detect the temperature of the sample to be tested. When the first current temperature of the sample to be tested reaches the first threshold, it is considered that the sample to be tested has boiled. The robotic arm removes the triangular flask within the specified time and places it on the tasting rack, and at the same time, the reminder device emits a beeping sound to remind the tester to smell its odor.

[0104] (6) After the tester smells its odor and enters the test result, the robotic arm grabs the triangular flask to the triangular flask cooling tank. During the cooling process, the thermometer under the robotic arm measures the temperature. After the temperature cools to the specified temperature, the robotic arm places the sample on the tasting rack, and the computer device gives a signal, and the reminder device emits a beeping sound again to remind the tester to conduct a taste evaluation.

[0105] (7) The tester enters the taste test result. Among them, the computer device records the raw milk test result according to the work number of the tester.

[0106] The historical test results can be queried on the historical test result query page in the computer device, realizing the traceability of the raw milk test results.

[0107] In this embodiment, a raw milk 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 hereinafter, the term "module" can be a combination of software and / or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0108] This embodiment provides a raw milk detection device, as Figure 4 shown, including:

[0109] A pretreatment module 401, configured to control the robotic arm to pour a preset weight of the sample to be tested into the heating container when receiving a raw milk detection instruction;

[0110] A heating module 402, configured to control the robotic arm to move the heating container to the heating device and control the heating device to heat the heating container;

[0111] A temperature detection module 403, configured to control the robotic arm to perform temperature detection on the sample to be tested to obtain the first current temperature of the sample to be tested;

[0112] An odor detection module 404, configured to control the robotic arm to move the heating container to a preset odor detection position and generate a first prompt message indicating that the sample to be tested needs to be subjected to odor detection when the first current temperature of the sample to be tested reaches a preset first threshold.

[0113] In an alternative embodiment, the temperature detection module 403 is specifically configured to: control the robotic arm to move up and down around the sample to be tested to perform temperature detection on the sample to be tested to obtain the first current temperature of the sample to be tested; determine whether the first current temperature reaches a preset third threshold; when the first current temperature does not reach the third threshold, return to the step of controlling the robotic arm to move up and down around the sample to be tested to perform temperature detection on the sample to be tested to obtain the first current temperature of the sample to be tested; when the first current temperature reaches the third threshold, control the robotic arm to stay above the sample to be tested to perform temperature detection on the sample to be tested to obtain the first current temperature of the sample to be tested.

[0114] In an alternative embodiment, the raw milk detection device further includes a cooling module and a taste detection module. The cooling module is configured to control the robotic arm to move the heating container to a preset cooling position after receiving the odor detection result of the sample to be tested; the temperature detection module 403 is further configured to control the robotic arm to perform temperature detection on the sample to be tested to obtain the second current temperature of the sample to be tested; the taste detection module is configured to control the robotic arm to move the heating container to a preset taste detection position and generate a second prompt message indicating that the sample to be tested needs to be subjected to taste detection when the second current temperature of the sample to be tested reaches a preset second threshold.

[0115] In an alternative embodiment, the pretreatment module 401 is specifically configured to: control the robotic arm to place the heating container on the weighing device; control the robotic arm to move the raw milk bottle above the heating container and in an inclined state so as to pour the sample to be tested in the raw milk bottle into the heating container; obtain the weight information detected by the weighing device; determine the pouring amount of the standby sample according to the weight information, and when the pouring amount reaches a preset weight, control the robotic arm to change the raw milk bottle from the inclined state to a non-inclined state so as to stop pouring the sample to be tested in the raw milk bottle into the heating container.

[0116] In an alternative embodiment, the raw milk detection device further includes a sample detection module. Before controlling the robotic arm to place the heating container on the weighing device, the sample detection module is configured to: control the robotic arm to move the raw milk bottle to a preset scanning position; control the scanner to perform scanning and obtain the scanning information uploaded by the scanner; determine the actual identification information of the raw milk bottle according to the scanning information; obtain the theoretical identification information of the raw milk bottle; when the actual identification information and the theoretical identification information are the same, execute the step of controlling the robotic arm to place the heating container on the weighing device; when the actual identification information and the theoretical identification information are different, generate a third prompt message indicating an error in the sample to be tested.

[0117] In an alternative embodiment, the raw milk detection device further includes a heating container increment module. After controlling the robotic arm to place the heating container on the weighing device, the heating container increment module is configured to increment the number of heating containers by 1 to obtain the number of heated containers; when the number of heated containers reaches a fourth threshold, generate a fourth prompt message indicating a shortage of heating containers; when the number of heated containers reaches a preset fifth threshold, clear the number of heated containers.

[0118] The raw milk 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.

[0119] The further function descriptions of the above-mentioned various modules and units are the same as those in the corresponding above-mentioned embodiments, and will not be elaborated here.

[0120] An embodiment of the present invention further provides a computer device having the above-mentioned Figure 4 raw milk detection device shown.

[0121] Furthermore, an embodiment of the present invention further provides a raw milk detection system, including a robotic arm, a barcode scanner, a heating device, a weighing device, and the above-mentioned computer device. The robotic arm, the barcode scanner, the heating device, and the weighing device are all communicatively connected to the computer device.

[0122] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of a computer device provided by an alternative embodiment of the present invention. As Figure 5 shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, 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 needed, 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 (such as an array of servers, a set of blade servers, or a multi-processor system). Figure 5 In

[0123] FIG., a single processor 10 is taken as an example.

[0124] The processor 10 may be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device may be a complex programmable logic device, a field programmable gate array, a general array logic, or any combination thereof.

[0125] The memory 20 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of a computer device presented by 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 provided with respect to the processor 10, and these remote memories can 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.

[0126] 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.

[0127] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 may be connected through a bus or other means. Figure 5 Taking connection through a bus as an example.

[0128] The input device 30 can receive input digital or character information and generate key signal inputs related to the user settings and function control 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 40 may include a display device, an auxiliary lighting device (such as an LED), and a haptic feedback device (such as 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.

[0129] 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 in such software processes 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 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.

[0130] 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 raw milk detection method, characterized in that, The method includes: When a raw milk detection instruction is received, controlling the robotic arm to pour a to-be-detected sample of a preset weight into a heating container; Controlling the robotic arm to move the heating container onto a heating device, and controlling the heating device to heat the heating container; Controlling the robotic arm to perform temperature detection on the to-be-detected sample to obtain a first current temperature of the to-be-detected sample; When the first current temperature of the to-be-detected sample reaches a preset first threshold, controlling the robotic arm to move the heating container to a preset odor detection position and generating a first prompt message indicating that the to-be-detected sample needs to be subjected to odor detection.

2. The method according to claim 1, wherein It further includes: After receiving the odor detection result of the to-be-detected sample, controlling the robotic arm to move the heating container to a preset cooling position; Controlling the robotic arm to perform temperature detection on the to-be-detected sample to obtain a second current temperature of the to-be-detected sample; When the second current temperature of the to-be-detected sample reaches a preset second threshold, controlling the robotic arm to move the heating container to a preset taste detection position and generating a second prompt message indicating that the to-be-detected sample needs to be subjected to taste detection.

3. The method according to claim 1 or 2, characterized in that, The controlling the robotic arm to perform temperature detection on the to-be-detected sample to obtain a first current temperature of the to-be-detected sample includes: Controlling the robotic arm to move up and down around the to-be-detected sample to perform temperature detection on the to-be-detected sample to obtain a first current temperature of the to-be-detected sample; Judging whether the first current temperature reaches a preset third threshold; When the first current temperature does not reach the third threshold, returning to the step of controlling the robotic arm to move up and down around the to-be-detected sample to perform temperature detection on the to-be-detected sample to obtain a first current temperature of the to-be-detected sample; When the first current temperature reaches the third threshold, controlling the robotic arm to stay above the to-be-detected sample to perform temperature detection on the to-be-detected sample to obtain a first current temperature of the to-be-detected sample.

4. The method according to claim 1, characterized in that The controlling the robotic arm to pour a to-be-detected sample of a preset weight into the heating container includes: Controlling the robotic arm to place the heating container on a weighing device; Controlling the robotic arm to move the raw milk bottle above the heating container and in an inclined state to pour the to-be-detected sample in the raw milk bottle into the heating container; Obtaining weight information detected by the weighing device; Determining the pouring amount of the standby sample according to the weight information, and when the pouring amount reaches the preset weight, controlling the robotic arm to change the raw milk bottle from the inclined state to a non-inclined state to stop pouring the to-be-detected sample in the raw milk bottle into the heating container.

5. The method according to claim 4, wherein Before controlling the robotic arm to place the heating container on a weighing device, it further includes: Controlling the robotic arm to move the raw milk bottle to a preset scanning position; Controlling a scanner to perform scanning and obtaining scanning information uploaded by the scanner; Determining actual identification information of the raw milk bottle according to the scanning information; Obtaining theoretical identification information of the raw milk bottle; When the actual identification information is the same as the theoretical identification information, perform the step of controlling the robotic arm to place the heating container on the weighing device; When the actual identification information is different from the theoretical identification information, generate a third prompt message for the error of the sample to be inspected.

6. The method according to claim 4, wherein After controlling the robotic arm to place the heating container on the weighing device, it further includes: Increment the quantity of the heating containers by 1 to obtain the quantity of heated containers; When the quantity of the heated containers reaches the fourth threshold, generate a fourth prompt message for insufficient heating containers; When the quantity of the heated containers reaches a preset fifth threshold, reset the quantity of the heated containers to zero.

7. A raw milk detection device, characterized in that, The device includes: A preprocessing module, configured to control the robotic arm to pour a sample to be inspected with a preset weight into the heating container when receiving a raw milk detection instruction; A heating module, configured to control the robotic arm to move the heating container to the heating device and control the heating device to heat the heating container; A temperature detection module, configured to control the robotic arm to perform temperature detection on the sample to be inspected to obtain a first current temperature of the sample to be inspected; An odor detection module, configured to control the robotic arm to move the heating container to a preset odor detection position and generate a first prompt message indicating that the sample to be inspected needs to be subjected to odor detection when the first current temperature of the sample to be inspected reaches a preset first threshold.

8. A computer device, characterized in that, It includes: 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 detection method according to any one of claims 1 to 6.

9. A raw milk detection system, characterized in that, It includes a robotic arm, a barcode scanner, a heating device, a weighing device, and the computer device according to claim 8. The robotic arm, the barcode scanner, the heating device, and the weighing device are all communicatively connected to the computer device.

10. A computer-readable storage medium, characterized in that, 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 detection method according to any one of claims 1 to 6.

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