Intelligent driving system for making Maotai-flavor wine and automatic cellar entering and exiting method for Maotai-flavor wine vinasse

Abstract

The invention relates to the field of wine making equipment, and discloses an intelligent travelling crane system for making Maotai-flavor wine and an automatic cellar entering and exiting method for Maotai-flavor wine vinasse, a travelling crane laser scanning system is used for collecting the position of each moving part of the travelling crane system and the current workshop equipment and personnel conditions, and transmitting the grabbed information to a processor; the travelling crane three-dimensional positioning system is used for positioning coordinates of all positions in the current plant, reading real-time coordinates of moving parts and transmitting the coordinates to the processor; the travelling crane electronic anti-shaking system is used for controlling the states of the grab bucket and the wine retort in movement; a travelling crane wireless communication data transmission system; the system is used for information interaction between the ground processor and the cloud processor and the driving laser scanning system, the driving electronic anti-shaking system and the driving transmission system. The system has the advantages of high stability, high automation degree and the like.

Description

Technical Field

[0001] The present invention relates to the field of Maotai-flavor liquor equipment, and in particular to an intelligent driving system for Maotai-flavor liquor brewing. Background Art

[0002] The production process for Maotai-flavor liquor requires workers to go through the following steps during each production cycle: removing the lees, beating the lees, steaming, distilling, cooling, collecting the piles for fermentation, turning the piles for fermentation, and then storing them in the cellar for fermentation. The entire production process is labor-intensive, requiring a large number of employees, resulting in high labor intensity and long working hours. The cellar removal and cellar turning processes are particularly labor-intensive and time-consuming. Summary of the Invention

[0003] Aiming at the shortcomings of the prior art, the present invention provides an intelligent driving system for brewing Maotai-flavor liquor.

[0004] In order to solve the above technical problems, the present invention is solved by the following technical solutions:

[0005] An intelligent driving system for Maotai-flavor liquor brewing,

[0006] It includes a crane transmission system, including tracks, cranes, transmission mechanisms, and a grab assembly for grabbing and placing materials;

[0007] The vehicle laser scanning system is used to collect the position of each moving part of the vehicle system and the current status of workshop equipment and personnel, and transmit the captured information to the processor;

[0008] The three-dimensional positioning system of the driving crane is used to locate the coordinates of various positions in the current factory and read the real-time coordinates of the moving parts, and transmit the coordinates to the processor;

[0009] The electronic anti-sway system is used to control the status of the grab bucket and wine retort during movement;

[0010] Vehicle wireless communication data transmission system; used for information exchange between ground processors and cloud processors and vehicle laser scanning systems, vehicle electronic anti-shake systems, and vehicle transmission systems.

[0011] Preferably, the crane laser scanning system is installed on the crane transmission system, which includes a gantry and a longitudinal track. The gantry is installed on the longitudinal track. The gantry is provided with a transverse track. The crane is installed on the transverse track and can move along the transverse track. The crane laser scanning system includes a 3D scanner, which is installed on the main beam of the gantry to scan the information of the working area below in real time.

[0012] Preferably, it also includes a three-dimensional positioning system for the vehicle, which includes a coding belt and an encoder. The coding belt is laid along the transverse track, and the encoder is installed on the vehicle for outputting the current position of the vehicle in real time; it also includes a transmission motor installed on the vehicle, the transmission motor is connected to a transmission gear, a transmission rack is provided on the transverse track, and the encoder is installed on the transmission motor.

[0013] Preferably, the grab assembly includes a left grab, a right grab and a bracket. The left grab is connected to the bracket through a left connecting shaft, and the right grab is installed on the bracket through a right connecting shaft. The left connecting shaft includes connecting ear one, connecting ear two and connecting ear three at both ends. The right connecting shaft is provided with connecting ear four and connecting ear five. It also includes a driving cylinder and a connecting rod. One end of the driving cylinder is hinged to connecting ear one, and the other end is hinged to connecting ear four. One end of the connecting rod is hinged to connecting ear two, and the other end is hinged to connecting ear four. Connecting ear four has at least two connection areas for connecting the driving cylinder and the connecting rod respectively.

[0014] Preferably, there are two connecting ears three, each located at the two ends of connecting axis one; there are two connecting ears five, each located at the two ends of connecting axis two; connecting ears three and connecting ears five are hinged to the bracket; the outer sides of the left grab and the right grab are semicircular, and the bottom is a horizontal structure; the angle between connecting ear one and connecting ear two is 90 degrees, the angle between connecting ear three and connecting ear two is 45 degrees, and the angle between connecting ear four and connecting ear five is 45 degrees; the bracket is a hollow quadrangular pyramid structure, and connecting axis one and connecting axis two are arranged in parallel; it also includes a wine retort hanger for hanging the wine retort.

[0015] As a preference, the electronic anti-sway system is controlled by the following control model:

[0016] The following definitions are made: the direction of travel of the gantry (6) is the Y direction, the direction of travel of the trolley (30) is the X direction; the mass of the trolley is Mtrolley, the total mass of the gantry is Mgantry, the total mass of the grab (including materials) is m, the acceleration due to gravity is g, the rope length refers to the distance from the suspension point to the center of mass of the grab, which is defined as L; the motion state parameters are defined as follows: x refers to the X-axis displacement of the trolley on the gantry, is the X-speed of the car, is the X-axis acceleration of the car, and Y is the absolute position of the gantry Y axis, which is obtained through the coordinate system. is the Y-axis speed of the gantry, is the Y-axis acceleration of the gantry, θ is the XZ plane swing angle (around the Y axis), is the rate of change of the swing angle (XZ plane), is the angular acceleration (XZ), φ is the YZ plane angular acceleration (around the X axis), is the rate of change of the swing angle (YZ plane), is the rate of change of the swing angle (YZ plane), is the rate of change of rope length, is the acceleration due to the change of rope length;

[0017] The parameters of the control input and force are defined as follows:

[0018] F x is the driving force of the X axis of the car, F Y is the driving force of the gantry Y axis, F L is the drum lifting force, F θ Swing damping force (theoretical term);

[0019] Among them, the position equation of the grab is:

[0020]

[0021] Where H is the initial height of the suspension point;

[0022] The kinetic energy and potential energy of the system are expressed by the following formulas:

[0023]

[0024] V=mgLcosθcosφ(gravitational potential energy)

[0025] Combined with the Lagrange equation, take the generalized coordinate q = [x, Y, L, θ, φ] T , we get the coupling equation:

[0026] X-direction movement of the car:

[0027]

[0028] Gantry Y-direction movement:

[0029]

[0030] Movement in the direction of rope length:

[0031]

[0032] XZ plane swing angle:

[0033]

[0034] Z plane swing angle plane swing angle:

[0035]

[0036] Through the small-angle decoupling model, it can be concluded that when |θ|<10°, |φ|<10°, the decoupling equations are approximately obtained:

[0037]

[0038] Set the target value by controlling the input variable F x 、F Y 、F L The decoupled equations are combined to make the swing meet the set target value.

[0039] The present invention has the following significant technical effects due to the adoption of the above technical solution:

[0040] The driving system designed in this invention can directly carry out material picking and placing and obtain material information, thereby ensuring the safety of the material picking and placing process. At the same time, the anti-shake system can ensure the stability of the grab bucket during operation, thereby ensuring stability and the safety of picking and placing materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the overall structure of the device.

[0042] Figure 2 It is a schematic diagram of the overall structure of the device.

[0043] Figure 3 It is a structural diagram of a grab bucket.

[0044] Figure 4 It is a structural diagram of a grab bucket.

[0045] Figure 5 It is a schematic diagram of the order of grabbing the cellar.

[0046] Figure 6 This is a working diagram of a 3D scanner.

[0047] Figure 7 It is an image scanned by a 3D scanner.

[0048] Figure 8 This is a schematic diagram of the automatic cellaring process.

[0049] The technical names of the figures in the figure are: 1-crane transmission assembly, 2-crane, 3-transmission mechanism, 4-grab assembly, 5-crane laser scanning system, 6-gantry, 7-longitudinal track, 8-transverse track, 9-3D scanner, 10-encoding belt, 11-encoder, 12-transmission motor, 13-transmission gear, 14-transmission rack, 15-left grab, 16-right grab, 17-bracket, 20-left connecting shaft, 21-right connecting shaft, 22-connecting ear one, 23-connecting ear two, 24-connecting ear three, 25-connecting ear four, 26-connecting ear five, 27-connecting area, 28-driving cylinder, 29-connecting rod, 30-trolley. DETAILED DESCRIPTION

[0050] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0051] Example 1

[0052] An intelligent driving system for Maotai-flavor liquor brewing,

[0053] It includes a crane transmission system, including tracks, a crane, a transmission mechanism 3, and a grab assembly 4 for grabbing and placing materials;

[0054] The vehicle laser scanning system 5 is used to collect the positions of the moving parts of the vehicle system and the current status of the workshop equipment and personnel, and transmit the captured information to the processor;

[0055] The three-dimensional positioning system of the driving crane is used to locate the coordinates of various positions in the current factory and read the real-time coordinates of the moving parts, and transmit the coordinates to the processor;

[0056] The electronic anti-sway system is used to control the status of the grab bucket and wine retort during movement;

[0057] The crane's wireless communication data transmission system is used to exchange information between the ground-based and cloud-based processors and the crane's laser scanning system 5, electronic anti-sway system, and transmission system. The 3D scanner 9's basic function is to set various graphical protection zones based on site needs, easily modifying the patterns at any time, with a protection range of up to 80 meters. Installation is simple and convenient, facilitating system integration. Key functions include scanning the surrounding area of ​​the work area and providing specific protection settings. This prevents collisions during horizontal movement of the crane when the lifting height does not exceed equipment placed along the movement path. Mounted on either side of the crane's guide frame or main beam, it prevents the crane from contacting the ground and is used for safe scanning within the work area, ensuring safe operation within the system. Pre-set equipment is set within the work area. If equipment or personnel enter a non-work area, an alarm is triggered and the crane stops operating. Compact and lightweight, it features a self-diagnosis function and can set ten protection zones to prevent collisions between the crane and personnel or objects.

[0058] In this solution, a 3D scanner system, developed based on PCL Point Cloud Lib, generates 3D point cloud data and visualizes the contours of the data. The model is then reconstructed to correspond with the actual object, transforming a single 2D image into a multi-layered 3D image, providing an accurate and vivid picture of the current cellar.

[0059] After scanning the object, the 3D laser scanner determines the pile's shape and measures, calculates, and analyzes its height and contour. It memorizes the pile's real-time contour and coordinates, ultimately transmitting the acquired contour data and (X, Y, Z) coordinates to the crane's PLC system. This enables automated grabbing of distiller's grains. 2. The 3D scanner 9 is equipped with auxiliary equipment, including a voice announcement and alarm system, to prevent collisions with people, fixed obstacles, or moving objects. 3. 3D Scanner 9 Installation and Position: The scanner is installed below the crane's main beam, directly in the center of the trolley's 30-degree span. One scanner is installed on each crane.

[0060] The specific driving laser scanning system 5 is installed on the driving transmission system. The driving transmission system includes a gantry 6 and a longitudinal track 7. The gantry 6 is installed on the longitudinal track 7. The gantry 6 is provided with a transverse track 8. The driving is installed on the transverse track 8 and can move along the transverse track 8. The driving laser scanning system 5 includes a 3D scanner 9. The 3D scanner 9 is installed on the main beam of the gantry 6 to scan the information of the working area below in real time.

[0061] This solution also includes a three-dimensional positioning system for the vehicle, which includes a coding belt 10 and an encoder 11. The coding belt 10 is laid along the transverse track 8, and the encoder 11 is installed on the vehicle for outputting the current position of the vehicle in real time; it also includes a transmission motor 12 installed on the vehicle, the transmission motor 12 is connected to a transmission gear 13, a transmission rack 14 is provided on the transverse track 8, and the encoder 11 is installed on the transmission motor 12.

[0062] This solution utilizes an absolute encoder 11 positioning system. This stainless steel absolute multi-turn encoder 11 is used for positioning the hoist mechanism (18-bit single-turn, 30-bit multi-turn). It features a wide range of programmable parameters, high resolution, and a highly protective housing, making it suitable for winery environments. It offers up to 30-bit resolution, can be mounted using a clamping flange or servo flange, offers multiple mounting options, adjustable resolution and offset, and features a pluggable universal cable connection. Programmable functionality reduces storage requirements and achieves millimeter-level positioning accuracy.

[0063] In this solution, the grab assembly 4 includes a left grab 15, a right grab 16 and a bracket 17. The left grab 15 is connected to the bracket 17 through a left connecting shaft 20, and the right grab 16 is installed on the bracket 17 through a right connecting shaft 21. The left connecting shaft 20 includes a connecting ear 1 22, a connecting ear 23 and a connecting ear 3 24 at both ends. The right connecting shaft 21 is provided with a connecting ear 4 25 and a connecting ear 5 26; it also includes a driving cylinder 28 and a connecting rod 29; one end of the driving cylinder 28 is hinged to the connecting ear 1 22, and the other end is hinged to the connecting ear 4 25; one end of the connecting rod 29 is hinged to the connecting ear 23, and the other end is hinged to the connecting ear 4 25; the connecting ear 4 25 has at least two connecting areas 27 for connecting the driving cylinder 28 and the connecting rod 29 respectively.

[0064] There are two connecting ears 24 (three) located at either end of connecting axis 1, and two connecting ears 26 (five) located at either end of connecting axis 2. Both connecting ears 24 and 26 are hinged to bracket 17. The left and right grab buckets 15 and 16 are semicircular in shape, with horizontal bottoms. The angle between connecting ears 1 and 2 is 90 degrees, the angle between connecting ears 3 and 2 is 45 degrees, and the angle between connecting ears 4 and 25 is 45 degrees. Bracket 17 is a hollow quadrangular pyramid structure, with connecting axes 1 and 2 arranged parallel to each other. A wine retort hanger is also included for suspending the wine retort. This type of grab bucket is capable of grabbing the last bit of material at the bottom.

[0065] The Keane principle of the electronic anti-sway system is as follows:

[0066] The basic principle of the anti-sway system is to prevent load swing by adjusting the travel speed of the trolley and carriage in real time. The anti-sway system detects the current swing angle of the load and calculates the corresponding speed in real time. This speed is transmitted to the PLC, which then adjusts the set speed of the trolley and carriage to achieve the anti-sway effect.

[0067] Specifically controlled by the following control model:

[0068] The following definitions are made: the direction of travel of the gantry (6) is the Y direction, the direction of travel of the trolley (30) is the X direction; the mass of the trolley is Mtrolley, the total mass of the gantry is Mgantry, the total mass of the grab (including materials) is m, the acceleration due to gravity is g, the rope length refers to the distance from the suspension point to the center of mass of the grab, which is defined as L; the motion state parameters are defined as follows: x refers to the X-axis displacement of the trolley on the gantry, is the X-speed of the car, is the X-axis acceleration of the car, and Y is the absolute position of the gantry Y axis, which is obtained through the coordinate system. is the Y-axis speed of the gantry, is the Y-axis acceleration of the gantry, θ is the XZ plane swing angle (around the Y axis), is the rate of change of the swing angle (XZ plane), is the angular acceleration (XZ), φ is the YZ plane angular acceleration (around the X axis), is the rate of change of the swing angle (YZ plane), is the rate of change of the swing angle (YZ plane), is the rate of change of rope length, is the acceleration due to the change of rope length;

[0069] The parameters of the control input and force are defined as follows:

[0070] F x is the driving force of the X axis of the car, FY is the driving force of the gantry Y axis, F L is the drum lifting force, F θ Swing damping force (theoretical term);

[0071] Among them, the position equation of the grab is:

[0072]

[0073] Where H is the initial height of the suspension point;

[0074] The kinetic energy and potential energy of the system are expressed by the following formulas:

[0075]

[0076] V=mgLcosθcosφ(gravitational potential energy)

[0077] Combined with the Lagrange equation, take the generalized coordinate q = [x, Y, L, θ, φ] T , we get the coupling equation:

[0078] X-direction movement of the car:

[0079]

[0080] Gantry Y-direction movement:

[0081]

[0082] Movement in the direction of rope length:

[0083]

[0084] XZ plane swing angle:

[0085]

[0086] Z plane swing angle plane swing angle:

[0087]

[0088] Through the small-angle decoupling model, it can be concluded that when |θ|<10°, |φ|<10°, the decoupling equations are approximately obtained:

[0089]

[0090] Set the target value by controlling the input variable F x 、F Y 、F L The decoupled equations are combined to make the swing meet the set target value.

[0091] The key terms in the car's motion equation (X) are: It refers to the inertial coupling force of the pendulum angular acceleration; Refers to the horizontal component of the centripetal force (sloshing centrifugal effect); It refers to the tangential force caused by the acceleration of the rope; It refers to the Coriolis force that relates the rope speed to the angular velocity.

[0092] For how to obtain each parameter, see the following table:

[0093]

[0094] The driving system designed in this invention can directly carry out material picking and placing and obtain material information, thereby ensuring the safety of the material picking and placing process. At the same time, the anti-shake system can ensure the stability of the grab bucket during operation, thereby ensuring stability and the safety of picking and placing materials.

[0095] Example 2

[0096] Based on Example 1, this solution provides a handling method, which includes a crane transmission system, including a track, a crane, a transmission mechanism 3 and a grab assembly 4 for grabbing and placing materials;

[0097] The vehicle laser scanning system 5 is used to collect the positions of the moving parts of the vehicle system and the current status of the workshop equipment and personnel, and transmit the captured information to the processor;

[0098] The three-dimensional positioning system of the driving crane is used to locate the coordinates of various positions in the current factory and read the real-time coordinates of the moving parts, and transmit the coordinates to the processor;

[0099] The electronic anti-sway system is used to control the status of the grab bucket and wine retort during movement;

[0100] On-vehicle wireless communication data transmission system; used for information exchange between ground processors and cloud processors and on-vehicle laser scanning system 5, on-vehicle electronic anti-shake system, and on-vehicle transmission system;

[0101] There are multiple groups of silos in the factory, and each group is numbered and entered into the system. There are multiple silos and they are evenly arranged under the crane system. The handling method is as follows:

[0102] Step 1: The processor collects the number, location, and depth of the silos in the workshop, the number, location, and condition of the lees in the cellars through the driving laser scanning system and transmits the data to the processor. The processor determines the silo that needs to be filled or the cellar that needs to be moved according to the current needs.

[0103] Step 2: The crane transmission system, with the assistance of the crane's three-dimensional positioning system, grabs the lees in the cellar through a grab bucket, while the laser scanning system updates the data of the lees.

[0104] Step 3: The processor plans the next grabbing path for the hopper based on the data of each silo and pit;

[0105] Step 4: When the data collected shows that the current silo height reaches the set value, the silo will no longer hold the lees; when the data collected shows that the current cellar has bottomed out or the depth has reached the set requirement, the cellar will no longer grab materials;

[0106] Step 5: Repeat steps 1 to 4 above until the silo loading target or pit grabbing target set by the processor is met.

[0107] The invention also includes a method for automatically storing lees in a cellar, comprising the following steps:

[0108] Step 1: Steaming: The steamer is put into the steamer manually. If there is an automatic steaming equipment, the crane cooperates with the steaming equipment to complete the automatic steaming.

[0109] Step 2: Cooling the wine out of the steamer: After the wine is steamed, the operator issues a command to remove the wine from the steamer. The crane automatically moves to the top of the steamer. The operator manually places the steamer or the crane automatically hangs the steamer and automatically moves to the designated cooling position. The operator then manually opens the steamer and releases the lees for cooling. Alternatively, an automatic cooling machine combined with an intelligent crane can be used to achieve automatic cooling.

[0110] Step 3: Stacking process: The operator manually operates the crane or automatically uses a stacking machine or an intelligent crane with 3D scanning function to complete the process;

[0111] Step 4: Turning the pile: This is done manually by an operator or automatically by a smart crane with 3D scanning function.

[0112] Step 5. Automatic cellaring process: After the stacking and fermentation are completed, the operator gives the cellaring instruction, and the crane automatically runs to the stacking area. The lees can be grabbed manually or automatically, and it automatically runs to the designated cellar number, automatically opens the grab, puts down the lees, and completes the automatic cellaring process.

Claims

1. An intelligent driving system for Maotai-flavor liquor brewing, characterized by: It includes a crane transmission system, including tracks, a crane, a transmission mechanism (3) and a grab assembly (4) for grabbing and placing materials; A driving laser scanning system (5) is used to collect the positions of the moving parts of the driving system and the current status of the workshop equipment and personnel, and transmit the captured information to the processor; The three-dimensional positioning system of the driving crane is used to locate the coordinates of various positions in the current factory and read the real-time coordinates of the moving parts, and transmit the coordinates to the processor; The electronic anti-sway system is used to control the status of the grab bucket and wine retort during movement; A vehicle wireless communication data transmission system; used for information exchange between a ground processor and a cloud processor and a vehicle laser scanning system (5), a vehicle electronic anti-shake system, and a vehicle transmission system.

2. The intelligent driving system for Maotai-flavor liquor brewing according to claim 1, characterized in that: The traveling laser scanning system (5) is installed on the traveling crane transmission system. The traveling crane transmission system includes a gantry (6) and a longitudinal track (7). The gantry (6) is installed on the longitudinal track (7). The gantry (6) is provided with a transverse track (8). The traveling crane is installed on the transverse track (8) and can move along the transverse track (8). The traveling crane laser scanning system (5) includes a 3D scanner (9). The 3D scanner (9) is installed on the main beam of the gantry (6) to scan the working area information below in real time.

3. The intelligent driving system for brewing Maotai-flavor liquor according to claim 2, characterized in that: The invention also includes a three-dimensional positioning system for the traveling vehicle, which includes a coding belt (10) and an encoder (11), wherein the coding belt (10) is laid along the transverse track (8), and the encoder (11) is installed on the traveling vehicle for outputting the current position of the traveling vehicle in real time; and further includes a transmission motor (12) installed on the traveling vehicle, wherein the transmission motor (12) is connected to a transmission gear (13), a transmission rack (14) is provided on the transverse track (8), and the encoder (11) is installed on the transmission motor (12).

4. The intelligent driving system for brewing Maotai-flavor liquor according to claim 2, characterized in that: The grab assembly (4) includes a left grab (15), a right grab (16) and a bracket (17). The left grab (15) is connected and installed with the bracket (17) through a left connecting shaft (20). The right grab (16) is installed with the bracket (17) through a right connecting shaft (21). The left connecting shaft (20) includes a connecting ear 1 (22), a connecting ear 2 (23) and connecting ears 3 (24) at both ends. The right connecting shaft (21) is provided with a connecting ear 4 (25) and Connecting ear five (26); also includes a driving cylinder (28) and a connecting rod (29); one end of the driving cylinder (28) is hinged on the connecting ear one (22), and the other end is hinged on the connecting ear four (25); one end of the connecting rod (29) is hinged on the connecting ear two (23), and the other end is hinged on the connecting ear four (25); the connecting ear four (25) has at least two connecting areas (27) for connecting the driving cylinder (28) and the connecting rod (29) respectively.

5. The intelligent driving system for brewing Maotai-flavor liquor according to claim 4, characterized in that: The number of the third connecting ear (24) is two and they are located at the two ends of the first connecting axis respectively; the number of the fifth connecting ear (26) is two and they are located at the two ends of the second connecting axis respectively; the third connecting ear (24) and the fifth connecting ear (26) are both hinged to the bracket (17); the outer sides of the left grab (15) and the right grab (16) are semicircular, and the bottom is a horizontal structure; wherein the angle between the first connecting ear (22) and the second connecting ear (23) is 90 degrees, the angle between the third connecting ear (24) and the second connecting ear (23) is 45 degrees, and the angle between the fourth connecting ear (25) and the fifth connecting ear (26) is 45 degrees; the bracket (17) is a hollow quadrangular pyramid structure, and the first connecting axis and the second connecting axis are arranged in parallel; and it also includes a wine steamer hanger for hanging the wine steamer.

6. An intelligent driving system for Maotai-flavor liquor brewing according to any one of claims 1 to 5, characterized in that: The electronic anti-sway system of the trolley is controlled by the following control model: The following definitions are made: the direction of travel of the gantry (6) is the Y direction, the direction of travel of the trolley (30) is the X direction; the mass of the trolley is Mtrolley, the total mass of the gantry is Mgantry, the total mass of the grab (including materials) is m, the acceleration due to gravity is g, the rope length refers to the distance from the suspension point to the center of mass of the grab, which is defined as L; the motion state parameters are defined as follows: x refers to the X-axis displacement of the trolley on the gantry, is the X-speed of the car, is the X-axis acceleration of the car, and Y is the absolute position of the gantry Y axis, which is obtained through the coordinate system. is the Y-axis speed of the gantry, is the Y-axis acceleration of the gantry, θ is the XZ plane swing angle (around the Y axis), is the rate of change of the swing angle (XZ plane), is the angular acceleration (XZ), φ is the YZ plane angular acceleration (around the X axis), is the rate of change of the swing angle (YZ plane), is the rate of change of the swing angle (YZ plane), is the rate of change of rope length, is the acceleration due to the change of rope length; The parameters of the control input and force are defined as follows: F x is the driving force of the X axis of the car, F Y is the driving force of the gantry Y axis, F L is the drum lifting force, F θ Swing damping force (theoretical term); Among them, the position equation of the grab is: Where H is the initial height of the suspension point; The kinetic energy and potential energy of the system are expressed by the following formulas: Combined with the Lagrange equation, take the generalized coordinate q = [x, Y, L, θ, φ] T , we get the coupling equation: X-direction movement of the car: Gantry Y-direction movement: Movement in the direction of rope length: XZ plane swing angle: Z plane swing angle plane swing angle: Through the small-angle decoupling model, it can be concluded that when |θ|<10°, |φ|<10°, the decoupling equations are approximately obtained: Set the target value by controlling the input variable F x 、F Y 、F L The decoupled equations are combined to make the swing meet the set target value.

7. A method for automatically loading and unloading Maotai-flavor liquor lees, characterized by: An intelligent driving system for brewing Maotai-flavor liquor according to any one of claims 1 to 8, comprising a driving transmission system, including a track, a driving crane, a transmission mechanism (3) and a grab assembly (4) for grabbing and placing materials; A driving laser scanning system (5) is used to collect the positions of the moving parts of the driving system and the current status of the workshop equipment and personnel, and transmit the captured information to the processor; The three-dimensional positioning system of the driving crane is used to locate the coordinates of various positions in the current factory and read the real-time coordinates of the moving parts, and transmit the coordinates to the processor; The electronic anti-sway system is used to control the status of the grab bucket and wine retort during movement; A wireless communication data transmission system for the vehicle; used for information exchange between the ground processor and the cloud processor and the vehicle laser scanning system (5), the vehicle electronic anti-shake system, and the vehicle transmission system; also includes a lees beating machine, which has multiple silos for placing lees; the steps of the automatic lees unloading method are as follows: Step 1: The processor collects the number, location, and depth of the silos in the workshop, the number, location, and condition of the lees in the cellars through the driving laser scanning system and transmits the data to the processor. The processor determines the silo that needs to be filled or the cellar that needs to be moved according to the current needs. Step 2: The crane transmission system, with the assistance of the crane's three-dimensional positioning system, grabs the lees in the designated cellar and transports them to the designated lees-making machine silo through a grab bucket. At the same time, the laser scanning system updates the data of the cellar and the silo. Step 3: The processor plans the next grabbing path for the hopper based on the data of each silo and pit; Step 4: When the data collected shows that the current silo height reaches the set value, the silo will no longer hold the lees; when the data collected shows that the current cellar has bottomed out or the depth has reached the set requirement, the cellar will no longer grab materials; Step 5: Repeat steps 1 to 4 above until the silo loading target or pit grabbing target set by the processor is met.

8. The method for automatically loading and unloading lees of Maotai-flavor liquor according to claim 7, characterized in that: The method of entering the cellar is as follows: Step 1: Steaming: The steamer is put into the steamer manually. If there is an automatic steaming equipment, the crane cooperates with the steaming equipment to complete the automatic steaming. Step 2: Cooling the wine out of the steamer: After the wine is steamed, the operator issues a command to remove the wine from the steamer. The crane automatically moves to the top of the steamer. The operator manually places the steamer or the crane automatically hangs the steamer and automatically moves to the designated cooling position. The operator then manually opens the steamer and releases the lees for cooling. Alternatively, an automatic cooling machine combined with an intelligent crane can be used to achieve automatic cooling. Step 3: Stacking process: The operator manually operates the crane or automatically uses a stacking machine or an intelligent crane with 3D scanning function to complete the process; Step 4: Turning the pile: This is done manually by an operator or automatically by a smart crane with 3D scanning function. Step 5. Automatic cellaring process: After the stacking and fermentation are completed, the operator gives the cellaring instruction, and the crane automatically runs to the stacking area. The lees can be grabbed manually or automatically, and it automatically runs to the designated cellar number, automatically opens the grab, puts down the lees, and completes the automatic cellaring process.

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