Retort feeding device and retort feeding distribution method

Abstract

The invention discloses a retort feeding material distribution method, which is used for controlling a retort feeding device to carry out material retort feeding work on a retort barrel, and comprises the following steps: S1, a material distribution preparation stage, S2, a bottom layer material distribution stage, S3, a steam detection material distribution stage and S4, a top sealing material distribution stage, and material retort feeding is completed through the steps. The problems that traditional manual labor intensity is large, an existing retort feeding robot executive component is high in precision requirement and large in cost investment, and adaptability transformation difficulty of a manual brewing workshop is large are solved.

Description

Technical Field

[0001] The invention relates to a steamer upper device and a steamer upper material distribution method, belonging to the technical field of winemaking equipment. Background Art

[0002] The steaming process is one of the important steps in the brewing of Maotai-flavor liquor. Its main purpose is to carry out solid-state distillation of the moistened grain and mash.

[0003] The traditional steam detection and steaming process relies entirely on visual observation and manual experience judgment. There is no unified standard and it is greatly affected by subjective factors and the environment. It requires standing up and bending over for a long time to do repetitive labor, which puts a heavy burden on the body and is not conducive to large-scale production.

[0004] The steaming robot needs to accurately simulate the traditional manual steaming process requirements of "light, loose, uniform, thin, scattered and accurate", and at the same time realize the intelligent operation of "steam detection and steaming". However, the existing steaming robots are mainly aimed at automated production lines. They have problems such as large space occupation, high construction cost, and high precision requirements for actuators, making them difficult to adapt to applications covering manual brewing workshops. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a steamer loading device and a steamer loading method. The steamer loading device and the steamer loading method solve the problems of high labor intensity of traditional manual labor, high precision requirements of existing steamer loading robot actuators, high cost investment, and difficulty in adaptive transformation of manual brewing workshops.

[0006] The present invention is achieved through the following technical solutions.

[0007] The present invention provides a method for distributing materials to a retort, which is used to control a retort distributing device to distribute materials to a retort barrel, and comprises the following steps:

[0008] S1. Prepare the fabric:

[0009] S11: Calculate the installation and positioning coordinates of the upper retort device by roughly manually measuring the center radius and relative distance of the target retort barrel, combined with the upper and lower limits of the arm span of the upper retort device, to ensure that the robotic arm covers the operating range of all retort barrels;

[0010] S12: Collect the geometric data of the target retort barrel through laser scanning and pulse signals, calculate its radius, center and height, and convert them into a spatial coordinate system with the rotation point of the robotic arm as the origin;

[0011] S13: Calculate the collision zone range based on the outer dimensions of the end of the spreading arm and the radius of the target retort drum, and set the safe movement threshold of the spreading arm;

[0012] S2. Bottom fabric:

[0013] S21: Laying an initial material layer on the bottom of the retort according to a preset trajectory until the height reaches the material laying cut-off height threshold H1;

[0014] S22: Collect images inside the retort, detect and mark steam points whose temperatures exceed the steam point temperature threshold f1, and estimate the subsequent steam point development trend;

[0015] S23: Divide the edge area and the steam exploration area according to the distribution of steam points, and use a fixed route to lay materials in the edge area;

[0016] S3, steam detection cloth:

[0017] S31: Identify and mark steam points, merge them into core steam points based on temperature and distance between adjacent steam points, and sort them by temperature priority;

[0018] S32: Divide the steam points whose adjacent distance is less than or equal to the upper distance threshold into steam point areas, and prioritize them based on area, average temperature, and centroid distance;

[0019] S33: planning the material distribution path according to the priority of the steam point area;

[0020] S4, top fabric:

[0021] S41: Divide the finished area and the feeding area by laser scanning. If the area of ​​the feeding area exceeds the area S0 of the spreading area, it is divided into multiple sub-areas along the centroid;

[0022] S42: Plan the final material distribution path based on the area of ​​the feeding area, the distance between the centroids and the distance from the spreading hopper.

[0023] In step S12, the geometric parameters of the retort are calculated by emitting a laser beam into the retort and receiving the reflected signal, combining the start and end time difference t of the pulse signal and the laser beam scanning linear velocity V. The formula is:

[0024] D=V·t

[0025] Wherein, D is the center offset distance of the target retort opening plane.

[0026] In step S13, the calculation formula of the inner radius R5 of the collision zone edge is:

[0027]

[0028] Among them, R3 is the initial measurement radius of the target retort, L3 and L4 are the horizontal length and vertical width of the end of the spreading arm, respectively.

[0029] In step S23, the edge area is divided according to the following criteria: steam point temperature ≥ temperature threshold f1, and is located within the range of collision area radius R5 ≤ precise radius R of target retort < initial measurement radius R3 of target retort.

[0030] In step S31, the priority sorting rule of the core steam points is:

[0031] The combined core steam point with high temperature is greater than the single core steam point with high temperature. The combined core steam point with low temperature is greater than the single core steam point with low temperature.

[0032] In the step S32, the division of the steam point area must meet the following requirements:

[0033] ① The distance between adjacent steam points is ≤ the upper threshold value d2;

[0034] ②The area of ​​the steaming point area S1 is less than the area of ​​the spreading area S0;

[0035] Priority sorting is based on area weight ω S , average temperature weight ω ST And the centroid distance weight is calculated comprehensively.

[0036] In the step S41, the feeding area is divided by detecting the material height difference ΔH by laser scanning. If the area of ​​the initial feeding area is greater than the area of ​​the spreading area S0, it is divided into multiple sub-areas along the centroid, and the area of ​​each sub-area is less than or equal to the area of ​​the spreading area S0.

[0037] In the path planning of steps S33 and S42, the spreading arm pivot point O3 is taken as the origin, and areas with high priority and short distance are preferentially selected for spreading.

[0038] A steamer loading device includes an execution system, a control system, and a sensing system; the execution system includes a support arm connected to a slewing arm, and the control system is installed on the slewing arm; the slewing arm is connected to a pitching seat, a fixed conveyor belt is provided on the pitching seat, and a telescopic conveyor belt is provided on one side of the pitching seat; a slewing feed arm is provided at one end of the telescopic conveyor belt, and the sensing system is provided at the end of the slewing feed arm;

[0039] The sensing system includes a laser rangefinder and an infrared imager, which are used to collect geometric data, temperature and images of the retort;

[0040] The control system includes an operation screen, a host computer and a slave computer. The host computer processes the perception data and plans the path, the slave computer controls and executes the system actions, and the operation screen is used for human-computer interaction and status monitoring.

[0041] The beneficial effects of the present invention are: low cost, through the positioning method of dividing the steam point area, the precision requirements of various executive components such as the robotic arm are greatly reduced, and the overall manufacturing and maintenance costs of the equipment are reduced; strong compatibility, can adapt to various types of steamer barrels in the workshop, and can adaptively identify and adjust the upper steamer area; high adaptability, the installation and positioning preparation of the device can be completed by manual measurement and autonomous identification of the device, and is suitable for various types of manual brewing workshops such as traditional low-rise factories; the installation position can be determined based on the relative position of the target steamer barrel, effectively solving the problems of high intensity of traditional manual labor, high precision requirements of existing upper steamer robot executive components, high cost investment, and difficulty in adaptive transformation of manual brewing workshops. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a flow chart of the present invention;

[0043] Figure 2 It is a schematic diagram of determining the installation position of the upper steamer device of the present invention (double steamer);

[0044] Figure 3 is a schematic diagram of determining the initial position of the robotic arm according to the present invention;

[0045] Figure 4 It is a schematic diagram of the present invention dividing the collision zone;

[0046] Figure 5 It is a schematic diagram of dividing the edge area of ​​the present invention;

[0047] Figure 6 It is a schematic diagram of steam point identification of the present invention;

[0048] Figure 7 It is a schematic diagram of dividing the steam point area of ​​the present invention;

[0049] Figure 8 It is a schematic diagram of the steam detection and material distribution planning route of the present invention;

[0050] Figure 9 Schematic diagram of determining the installation position of the upper steamer device according to the present invention (single steamer);

[0051] Figure 10 This is a flow chart of the present invention applied in an automated brewing workshop;

[0052] Figure 11 It is a structural schematic diagram of the present invention;

[0053] In the figure: 1-execution system, 2-control system, 3-sensing system, 101-support arm, 102-rotating arm, 103-fixed conveyor belt, 104-telescopic conveyor belt, 105-rotating feed arm, 106-pitching seat. DETAILED DESCRIPTION

[0054] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the description.

[0055] Example 1

[0056] A highly adaptable steamer feeding method is used to control a steamer feeding device to feed materials into a steamer barrel, comprising the following steps:

[0057] S1 fabric preparation stage:

[0058] S11: Determine the installation location of the upper retort device. Manually measure the center radius and relative distance of the target retort barrels. Using the upper and lower limits of the retort device's mechanical arm as constraints, calculate the installation positioning coordinates of the upper retort device to determine the range where the mechanical arm can cover all retort barrels.

[0059] S12: Determine the initial position of the robotic arm. Collect pulse signals from the retort drum, accurately calculate the center radius and height of the target retort drum, and convert them into coordinate information with the retort device rotation point as the origin of the spatial coordinate system. This is defined as the spatial coordinate of the rotation origin of the robotic arm's material dispensing port.

[0060] S13: Divide the collision zone. According to the rotation point and the outer dimensions of the spreading arm of the upper retort equipment, the collision range with the retort barrel is calculated and divided into collision zones. The movement range of the rotation center of the spreading arm is set based on the collision zone.

[0061] S2 bottom fabric stage:

[0062] S21: Initial material laying: Lay the material to a predetermined height on the bottom of the steamer barrel according to the initially set trajectory.

[0063] S22: Image acquisition: Capture images of the target retort, detect and mark steam points in the images, and predict the development trend of each steam point.

[0064] S23: Divide the edge area. According to the distribution of steam points, the area on the side wall of the retort where steam is densely emitted is divided and set as the edge area. The edge area is laid according to a fixed route, and the interior of the edge area is the steam detection area.

[0065] S3 steam detection and material distribution stage:

[0066] S31: steam point identification: collect the image inside the target steam retort, detect and mark the steam points in the image, and calculate the priority of each steam point.

[0067] S32: Divide the steam point areas. Based on the steam point distribution, adjacent steam points are divided into steam point areas using a corresponding judgment method, and the priorities of the steam point areas are calculated.

[0068] S33: Route planning. Plan the material distribution route according to the priority of the steaming area and carry out the steaming material distribution.

[0069] S4 capping and fabrication stage:

[0070] S41: Divide the area. Collect the pulse signal inside the retort, divide the interior of the retort into a finishing area and a feeding area, and calculate the priority of each feeding area.

[0071] S42: Route planning. According to the priority of the feeding area, the material distribution route is planned and the material is placed in the steamer.

[0072] Specifically, the criteria for dividing each stage are:

[0073] The spatial coordinate system is established with the rotation point O of the above steamer device as the origin, and the data coordinate points such as the precise radius R, center O1 / O2 and height H of the target steamer barrel are obtained, which means that the S1 preparation distribution stage is completed; when the overall distribution height reaches the cut-off height H1 of the bottom distribution stage, the S2 bottom distribution stage is completed; when the local point distribution height reaches the cut-off height H2 of the steam detection distribution stage, the S3 steam detection distribution stage is completed; when the overall distribution height reaches the cut-off height H2 of the steam detection distribution stage, the S4 capping distribution stage is completed; each height value follows the rule of 0

[0074] Specifically, step S12 uses the turning point O3 of the spreading arm as the coordinate origin, rotates inside the retort barrel to emit a laser beam perpendicular to the target retort barrel, and calculates the pulse signal generated when it is blocked by the barrel wall and the point cloud data of the bottom / top edge of the retort barrel. Then, combined with the relative relationship with the turning point O of the upper retort device, the spatial coordinate point data such as the precise radius R, center O1 / O2 and height H of the target retort barrel are obtained.

[0075] Specifically, the S13 step takes the turning point O3 of the paving arm as the origin, and combines the external dimensions L3 / L4 of the end of the paving arm and the radius R3 of the target retort barrel to calculate the radius R4 of the paving turning space, obtains the radius R5 of the area where the paving arm and the target retort barrel are prone to collision, and sets a motion range threshold for the rotation range of the paving arm to prevent collision.

[0076] Specifically, in step S23, the criterion for dividing the edge area and the steam detection area is as follows: based on the problem that steam is easily generated in the contact area between the edge of the steam drum in the upper steamer and the material, which interferes with the steam detection and distribution, the steam point temperature threshold f1, the lower distance threshold d1, and the upper distance threshold d2 are set, and the edge area exceeding the set threshold is divided into the edge area, and a fixed planned route is used for distribution to avoid the generation of too many steam points affecting the subsequent path planning and efficiency of steam detection and distribution.

[0077] Furthermore, the inner part of the edge area is divided into a steam detection area, and the steam points exceeding the steam point temperature threshold f1 and the distance upper threshold d1 are marked, and the subsequent steam point occurrence area is predicted to perform path planning and budgeting.

[0078] ​Specifically, the steam point marking and priority sorting criteria in step S31 are: when the temperature of a certain point in the steamer is higher than the set steam point temperature threshold f1, it is marked as a steam point, the steam point temperature is used as the first weight for priority sorting, and it is marked as a core steam point according to the percentage of steam point quantity.

[0079] Furthermore, the S31 step also includes steam point merging, with the steam point distance as the second priority weight. When the distance between two steam points is less than the set distance threshold d1, they are calibrated as a single core steam point. The overall steam point priority ranking is: merged core steam point with higher temperature > single core steam point with higher temperature > merged core steam point with lower temperature > single core steam point with lower temperature.

[0080] Specifically, the steam point area division and priority sorting criteria in step S32 are: taking the core steam point as the initial point, when the distance between other surrounding steam points and the core steam point is lower than the upper distance threshold d2, and the steam point area S1 formed by the centroid of each outermost steam point is smaller than the area of ​​the spreading area S0, it is divided into a steam point area; the steam point area S1 is the first weight, the average temperature of the steam point area is the second weight, and the straight-line distance between the centroid of the steam point area and the turning point of the paving hopper is the third weight. The weight calculation is performed comprehensively to prioritize each steam point area.

[0081] Specifically, step S41 uses the rotating point O3 of the spreading arm as the coordinate origin, rotates and emits a laser beam perpendicular to the target retort in the retort, calculates the material height distance of each point in the target retort through the signal reflected by the material, sets the material distribution height difference ΔH, divides the retort surface into a completion area and an initial feeding area, and divides it into one feeding area with the requirement that the area S2 of the distribution area formed by the line connecting the height points along the outermost edge of the initial feeding area is smaller than the area S0 of the spreading area; if the area of ​​a single initial distribution area is larger than the area of ​​the spreading area, it is divided into multiple feeding areas along its centroid until its area is smaller than the area S0 of the spreading area;

[0082] Specifically, step S42 uses the area S2 of the distribution area as the first weight, the distance between the centers of mass of the distribution areas as the second weight, and the straight-line distance between the center of mass of the distribution area and the turning point of the paving hopper as the third weight. The weights are calculated comprehensively to prioritize the distribution areas.

[0083] Specifically, the route planning criteria in steps S33 and S42 are to use the current paving arm turning point O3 as the origin, the priority of each steam point area / closing area as the first weight, and the distance between the center of mass of each steam point area / closing area and O3 as the second weight for path planning.

[0084] Based on a steaming device, it includes an execution system 1, a control system 2 and a sensing system 3; wherein the execution system 1 is composed of a support arm 101, a slewing arm 102, a fixed conveyor belt, a telescopic conveyor belt, a slewing feeding arm 105 and a pitching seat. The support arm 101 is fixed to the ground, providing an installation platform for the actuator and is the base of the actuator; the slewing arm 102 is screwed to the support arm 101 through a slewing bearing, and is driven by a servo motor + RV reducer to achieve the overall rotation of the execution system 1; the pitching seat 106 is hinged to the slewing arm 102 and is driven by an electric push rod to achieve the overall pitching of the execution system 1; the fixed conveyor belt 103 is a chain plate transmission method, fixedly connected to the pitching seat 106, and a feed port is set on the top to achieve the entry and transmission of materials; the telescopic conveyor belt 104 is a chain The plate-type transmission method is connected to the pitch seat 106 through a slide rail slider, and is driven by a stepper motor + gear rack to realize the linear extension and retraction of the execution system 1; the rotary feed arm 105 is screwed to the telescopic transmission belt 104 through a slewing bearing, and is driven by a stepper motor gear + slewing bearing to realize the rotation of the rotary feed arm along its own axis, ensuring that the discharge end of the paving hopper can rotate to cover the material in all directions in the retort. Each execution motor is equipped with an encoder for collecting position information. Through the coordinated movement of each component, the material can be accurately spread at each point in the space inside the retort. The perception system 3 is mainly composed of a laser scanning module integrated with multiple groups of laser rangefinders and an image acquisition module integrated with infrared imagers. It is arranged at the end of the rotary feed arm 105. There are two groups of laser rangefinders, which can emit laser beams in the directions of X1 and X2 respectively and feedback the position distance. The infrared imager can monitor the temperature inside the steamer and perform image processing to identify the target point of the upper steamer; the control system 2 is mainly composed of an operating screen, upper computer software and lower computer hardware. The upper computer will collect and process the direction and angle of movement of the execution system 1 and the temperature, distance, image and other information of the perception system 3, complete path planning and image recognition, and transmit the upper steamer target point information to the lower computer to control the action of each execution motor, and display the relevant data and equipment status information on the operating screen. The user operates and monitors the equipment through the operating screen.

[0085] Example 2

[0086] Multi-steamer application in a hand-made brewing workshop (taking a double steamer as an example)

[0087] The overall process steps are as follows Figure 1 shown.

[0088] S11: Manually measure the rough center positions O1 and O2, radius R3, and the relative distance L1 of the center of the target retort in the workshop, and calculate the value range of L2. The calculation formula is:

[0089]

[0090] Where: R1—minimum arm span radius of the robotic arm (minimum distance between O and O3);

[0091] R2—maximum arm span radius (maximum distance between O and O3);

[0092] O—Rotation origin of the robotic arm;

[0093] O3—the origin of rotation of the paving arm;

[0094] Take the L2 value on the vertical line of L1 to obtain the installation positioning coordinates of the upper steamer device, that is, the origin coordinates O of the robot arm, such as Figure 2 As shown, it can be ensured that the selected installation position robot arm can cover the range where all the steamer barrels are located on the basis of manual measurement errors.

[0095] S12: Manually measure the rough height H of the retort, combine it with the rough center O1 of the target retort, determine the rough coordinate point O4 of the target retort opening plane, and position the end of the rotation center of the robot arm's spreading arm to roughly O4 to ensure that the robot arm and the target retort will not interfere or collide.

[0096] Start the laser scanning module and make the laser beam scan the opening plane of the retort barrel horizontally. When the laser beam is blocked by the barrel wall, the photoelectric sensor generates a pulse signal and records the start and end time difference t of the pulse signal. The coordinates of the retort barrel opening plane of the precise center O1 of the retort barrel are calculated as follows:

[0097] D=V·t

[0098] Where: v-laser beam scanning linear velocity;

[0099] Perform laser scanning along the vertical direction of the retort barrel, collect point cloud data of the top opening and bottom edge, and calculate the precise height H of the retort barrel. The calculation formula is:

[0100]

[0101] Where: n-number of sampling points; -height of each point on the top opening

[0102] h i,top -Height values ​​of each point of the top opening;

[0103] h i,bottom -Height values ​​of each bottom point;

[0104] By converting the coordinates of the opening plane of the retort barrel of the precise circle center O1 and the precise height H of the retort barrel, the coordinates of the target retort barrel opening plane precise coordinate point O4 with the rotation center O of the robot arm as the origin of the space coordinate system are obtained.

[0105] Position the end of the rotation center of the robot arm's spreading arm to the precise coordinate point O4 of the target drum opening plane, such as Figure 3 shown.

[0106] S13: According to the characteristics of the robot arm itself, the outer dimensions L3 and L4 of the paving arm ABCD and the outer area S are obtained. ABCD And the spreading area S CDEF , and the turning point O3 of the paving arm and the outer area S of the paving arm ABCD Relative position relationship, calculate the inner radius R5 of the collision zone edge, calculation formula:

[0107]

[0108] Set the range of R5≤R<R3 as the collision zone, such as Figure 4 As shown, it is ensured that the spreading arm will not collide with the target steamer drum during the spreading process.

[0109] The criteria for dividing each stage are as follows: a spatial coordinate system is established with the rotating point O of the above steam retort device as the origin, and the data coordinate points such as the precise radius R, center O1 / O2 and height H of the target steam retort barrel are obtained, which means that the S1 preparation and distribution stage is completed; when the overall distribution height reaches H1, the S2 bottom distribution stage is completed; when the local point distribution height reaches H2, the S3 steam detection distribution stage is completed; when the overall distribution height reaches H2, the S4 capping distribution stage is completed; each height value follows the rule of 0

[0110] S21: Set the cloth cut-off height threshold to H1. The bottom cloth is in the steam-off stage. Set a suitable fixed cloth trajectory according to the characteristics of the robot arm to carry out cloth laying until the cloth height reaches H1.

[0111] S22: When the material height reaches H1 / 2, steam is activated and image acquisition is performed simultaneously. Image acquisition methods are not limited to robotic arm motion scanning or fixed-mount scanning. The acquisition principle is common to existing steaming robot equipment and will not be elaborated here. Based on the set steam point temperature threshold f1, the lower distance threshold d1, and the upper distance threshold d2, steam points with a temperature ≥ f1 are marked as trending steam points. These points are prioritized based on the temperature values ​​and subsequent steam point development trends are estimated.

[0112] S23: Collect the temperature T of each steam point with temperature ≥ f1 i , the distance between steam points d i , set its weight and (ω T +ω d =1,ω T >ω d ), calculate its density λ i , select the collision zone with a density greater than or equal to the set threshold and a distribution range within R5≤R<R3 (to prevent the steam points in the center of the drum from interfering with the calculation), connect the steam points that meet the requirements close to the inner wall of the edge zone to form a circle, calculate R6, and obtain the area of ​​R6≤R<R3 as the edge zone, and the area of ​​R<R6 as the steam exploration zone.​ Figure 5 shown.

[0113] By dividing the edge area, the interference of the steam detection and material distribution caused by the easy escape of steam from the contact area between the drum edge and the material is eliminated. When the density of the edge area λ i When the density is greater than or equal to the set density threshold, fixed trajectory laying is performed, which can effectively meet the requirement that the steamer surface material is low in the middle and high around. While reducing the complexity of the algorithm, it is closer to the requirements of manual process.

[0114] S31: Collect the temperature T of each marked steam point whose temperature is greater than or equal to the set steam point temperature threshold f1. i , quantity G, distance d between each pair i , according to the set percentage, the temperature T i Sorting, screening out the core steam points. Further, when the distance between two steam points is less than the set distance threshold d1, they are divided into single steam points with the core steam point as the center and sorted. The priority is P0>P1>P2>P3>P4>P5>P6>P7, such as Figure 6 shown.

[0115] S32: Collect the temperature T of each core steam point i , the distance D between each pair i , when the distance between other surrounding steam points and the core steam point is lower than the upper distance threshold d2, and the steam point area S formed by the centroid of each outermost steam point i Smaller than the spreading area S0(S CDEF ), which is divided into a single steam point area.

[0116] Furthermore, the average temperature ST of each steam point area is collected i , area S i , set its weight and (ω ST +ω S =1,ω ST >ω S ), normalize it to eliminate the dimension effect, and combine it with the weight division to obtain the steam point area priority score: S1>S2>S3>S4, such as Figure 7 shown.

[0117] S33: Priority p at steam point i On this basis, the physical distance SD from the centroid of each steam point to the turning point of the paving opening is collected. i , set its weight and (ω p +ω SD =1,ω p >ω SD ), normalize it to eliminate the dimension effect, and combine it with the weight division to obtain the cloth route, such as Figure 8 shown.

[0118] S41: Rotate and emit a laser beam perpendicular to the target retort in the retort, calculate the material height distance of each point in the target retort through the signal reflected by the material, set the material distribution height difference ΔH, divide the retort surface into a completion area and an initial feeding area, and divide it into one feeding area with the requirement that the area of ​​the distribution area S2 formed by the line connecting the height points along the outermost edge of the initial feeding area is smaller than the area of ​​the spreading area S0; if the area of ​​a single initial distribution area is larger than the area of ​​the spreading area, divide it into multiple feeding areas along its centroid until its area is smaller than the area of ​​the spreading area S0 (S CDEF ).

[0119] S42: further collect the area S2 of each feeding zone i , the distance between the center of mass of the cloth area D2 i , the straight-line distance D3 between the center of mass of the feeding area and the turning point of the paving hopper i , set its weight and (ω S2 +ω D2 +ω D3 =1,ω S2 >ω D2 >ω D3 ), the weight calculation is carried out comprehensively, and it is normalized to eliminate the dimension effect, and the weight division is combined to obtain the fabric route.

[0120] After the target retort barrel 1 has completed the retort cloth loading, switch to the target retort barrel 2 and repeat the above steps. This embodiment can also be applied to the multi-retort mode.

[0121] Example 3

[0122] Single steamer application in hand-made brewing workshop

[0123] The overall process steps are as follows Figure 1 shown.

[0124] S11: Manually measure the rough center position O1 and radius R3 of the target retort barrel in the workshop, and calculate the value range of L2. The calculation formula is:

[0125] R1+R3≤L5≤R2-R3

[0126] Where: R1—minimum arm span radius of the robotic arm (minimum distance between O and O3);

[0127] R2—maximum arm span radius (maximum distance between O and O3);

[0128] O—Rotation origin of the robotic arm;

[0129] O3—the origin of rotation of the paving arm;

[0130] Take the L5 value with the center of the target retort barrel as the steam point to obtain the installation positioning coordinates of the upper retort device, that is, the origin coordinates O of the robotic arm, such as Figure 9 As shown, it can be ensured that the selected installation position robot arm can cover the range where all the steamer barrels are located on the basis of manual measurement errors.

[0131] The subsequent steps are the same as those in the first embodiment and will not be described in detail.

[0132] Example 4

[0133] Automated brewing workshop application

[0134] The overall process steps are as follows Figure 10 shown.

[0135] Through the automatic brewing workshop equipment, the coordinate dimensions of the target retort barrel are extracted, initial debugging preparations are made, and the subsequent S2-S4 related steps are directly completed. The content and principles are not repeated here.

Claims

1. A method for feeding materials into a retort, for controlling a feeding device to feed materials into a retort barrel, characterized in that: The following steps are involved: S1. Prepare the fabric: S11: Calculate the installation and positioning coordinates of the upper retort device by roughly manually measuring the center radius and relative distance of the target retort barrel, combined with the upper and lower limits of the arm span of the upper retort device, to ensure that the robotic arm covers the operating range of all retort barrels; S12: Collect the geometric data of the target retort barrel through laser scanning and pulse signals, calculate its radius, center and height, and convert them into a spatial coordinate system with the rotation point of the robotic arm as the origin; S13: Calculate the collision zone range based on the outer dimensions of the end of the spreading arm and the radius of the target retort drum, and set the safe movement threshold of the spreading arm; S2. Bottom fabric: S21: Laying an initial material layer on the bottom of the retort according to a preset trajectory until the height reaches the material laying cut-off height threshold H1; S22: Collect images inside the retort, detect and mark steam points whose temperatures exceed the steam point temperature threshold f1, and estimate the subsequent steam point development trend; S23: Divide the edge area and the steam exploration area according to the distribution of steam points, and use a fixed route to lay materials in the edge area; S3, steam detection cloth: S31: Identify and mark steam points, merge them into core steam points based on temperature and distance between adjacent steam points, and sort them by temperature priority; S32: Divide the steam points whose adjacent distance is less than or equal to the upper distance threshold into steam point areas, and prioritize them based on area, average temperature, and centroid distance; S33: planning the material distribution path according to the priority of the steam point area; S4, top fabric: S41: Divide the finished area and the feeding area by laser scanning. If the area of ​​the feeding area exceeds the area S0 of the spreading area, it is divided into multiple sub-areas along the centroid; S42: Plan the final material distribution path based on the area of ​​the feeding area, the distance between the centroids and the distance from the spreading hopper.

2. The method according to claim 1, characterized in that In step S12, the geometric parameters of the retort are calculated by emitting a laser beam into the retort and receiving the reflected signal, combining the start and end time difference t of the pulse signal and the laser beam scanning linear velocity V. The formula is: D=V·t Wherein, D is the center offset distance of the target retort opening plane.

3. The method according to claim 1, characterized in that In step S13, the calculation formula of the inner radius R5 of the collision zone edge is: Among them, R3 is the initial measurement radius of the target retort, L3 and L4 are the horizontal length and vertical width of the end of the spreading arm, respectively.

4. The method according to claim 1, wherein In step S23, the edge area is divided according to the following criteria: steam point temperature ≥ temperature threshold f1, and is located within the range of collision area radius R5 ≤ precise radius R of target retort < initial measurement radius R3 of target retort.

5. The method according to claim 1, wherein In step S31, the priority sorting rule of the core steam points is: The combined core steam point with high temperature is greater than the single core steam point with high temperature. The combined core steam point with low temperature is greater than the single core steam point with low temperature.

6. The method according to claim 1, characterized in that In the step S32, the division of the steam point area must meet the following requirements: ① The distance between adjacent steam points is ≤ the upper threshold value d2; ②The area of ​​the steaming point area S1 is less than the area of ​​the spreading area S0; Priority sorting is based on area weight ω S , average temperature weight ω ST And the centroid distance weight is calculated comprehensively.

7. The method according to claim 1, characterized in that In the step S41, the feeding area is divided by detecting the material height difference ΔH by laser scanning. If the area of ​​the initial feeding area is greater than the area of ​​the spreading area S0, it is divided into multiple sub-areas along the centroid, and the area of ​​each sub-area is less than or equal to the area of ​​the spreading area S0.

8. The method according to claim 1, characterized in that In the path planning of steps S33 and S42, the spreading arm pivot point O3 is taken as the origin, and areas with high priority and short distance are preferentially selected for spreading.

9. A steamer loading device for executing the steamer loading method according to any one of claims 1 to 8, characterized in that: The invention comprises an execution system (1), a control system (2), and a perception system (3), and is characterized in that: the execution system (1) comprises a support arm (101), the support arm (101) is connected to a rotary arm (102), and the control system (2) is installed on the rotary arm (102); the rotary arm (102) is connected to a pitching seat (106), a fixed conveyor belt (103) is provided on the pitching seat (106), and a telescopic conveyor belt (104) is provided on one side of the pitching seat (106); a rotary feed arm (105) is provided at one end of the telescopic conveyor belt (104), and the perception system (3) is arranged at the end of the rotary feed arm (105).

10. The device according to claim 9, characterized in that The sensing system (3) includes a laser rangefinder and an infrared imager, which are used to collect geometric data, temperature and images of the retort; The control system (2) comprises an operation screen, a host computer and a slave computer. The host computer processes the sensing data and plans the path. The slave computer controls the actions of the execution system (1). The operation screen is used for human-computer interaction and status monitoring.

Images