Intelligent online detection control device and control method for fermentation workshop

Abstract

The invention discloses an intelligent online detection control device and control method for a fermentation workshop, and the device comprises a near-infrared detection module which is disposed outside a fermentation tank, and is used for emitting detection light to pass through an observation window on the fermentation tank to enter the fermentation tank, and measuring the near-infrared original spectrum of a fermentation liquid in the fermentation tank; the inspection mechanism is used for mounting a near-infrared detection module and driving the near-infrared detection module to move to an observation window on the fermentation tank according to a set route; the control system is used for receiving the detection data of the near-infrared detection module, analyzing according to the near-infrared original spectrum of the fermentation liquid, obtaining a fermentation parameter measurement value, comparing the fermentation parameter measurement value with a preset target range, generating a fermentation regulation signal and controlling the execution mechanism to act according to the fermentation regulation signal; and the execution mechanism is connected with the control system and is used for adjusting one or more fermentation parameters in the fermentation tank under the control of the control system. According to the invention, comprehensive monitoring and automatic control of the biological pharmacy fermentation process are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fermentation engineering, and in particular to an intelligent online detection control device and control method for a fermentation workshop. BACKGROUND

[0002] In the field of biopharmaceuticals, the traditional manual detection method has many shortcomings in the fermentation production process of antibiotics such as aureomycin, mainly as follows: (1) insufficient detection accuracy: manual detection is greatly affected by the skills and experience of the operator, and the accuracy and stability of the results are difficult to guarantee, and the manual detection operation is tedious and prone to errors, which affects the detection results and thus the regulation of the fermentation process; (2) inconvenient data management: the data recording and management of manual detection are scattered, which is not conducive to data analysis and process optimization; (3) low degree of automation: the online detection system that may exist in the market cannot achieve complete automatic detection according to the production control requirements, and still may need manual detection instructions, which is low in efficiency and insufficient in automation; (4) data lag: key parameters need to be detected manually, which has a lag, making it difficult to adjust the process parameters in a timely manner; (5) environmental risk: the use of chemical reagents in traditional detection methods increases the cost and may cause chemical pollution. The above problems result in large fluctuations in parameters in the aureomycin fermentation process, long regulation period, and difficulty in achieving precise control of the fermentation process, thereby affecting the yield and quality of the product.

[0003] At the same time, with the development of industrial automation and intelligent manufacturing, some robots or automated equipment for industrial detection have already existed in the market. However, for this specific application scenario of biopharmaceutical processes, especially the automated detection technology for aureomycin fermentation production processes, it is still in the development stage, and the existing technology cannot fully meet the high requirements of detection efficiency, real-time performance and accuracy in this field.

[0004] The Chinese utility model patent with publication number CN219788331U discloses an intelligent inspection robot for calcium carbide furnace, which comprises a vehicle frame, a control platform, a walking part, a mechanical arm, an infrared thermal imager, an image capture module, an inspection sensing module, a mechanical visual obstacle avoidance module and a GPS module. The walking part is arranged on the lower side of the vehicle frame, and the control platform is arranged on the upper side of the vehicle frame. The mechanical arm is arranged on the right part of the upper side of the control platform. The infrared thermal imager and the image capture module are arranged on the end joint of the mechanical arm. The above scheme realizes infrared video acquisition through the infrared thermal imager, visible light video acquisition and calcium carbide furnace instrument shooting degrees through the image capture module, and inspection route planning and obstacle avoidance for the inspection site through the mechanical visual obstacle avoidance module and the GPS module. However, for the fermentation production in biopharmaceuticals, there is still no suitable intelligent inspection mechanism that can realize automated detection and control of the fermentation production process.

[0005] Therefore, in order to achieve comprehensive monitoring and automated control of the biopharmaceutical fermentation process, it is urgent to develop an efficient, accurate, and real-time automated detection technology for fermentation workshops. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and realize comprehensive monitoring and automated control of the biopharmaceutical fermentation process, providing an intelligent online detection and control device and method for fermentation workshops.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A smart online detection and control device for fermentation workshops includes: The near-infrared detection module is located outside the fermenter and is used to emit detection light that passes through the observation window on the fermenter and enters the fermenter to measure the near-infrared raw spectrum of the fermentation liquid inside the fermenter. The inspection mechanism is used to install near-infrared detection modules and move them to the observation window on the fermenter according to a set route. The control system is used to receive detection data from the near-infrared detection module, analyze the raw near-infrared spectrum of the fermentation broth to obtain fermentation parameter measurement values, compare the fermentation parameter measurement values ​​with a preset target range, generate a fermentation adjustment signal, and control the actuator to act according to the fermentation adjustment signal. An actuator, connected to the control system, is used to adjust one or more fermentation parameters within the fermenter under the control of the control system.

[0008] By using an autonomously moving near-infrared detection module, the fermentation broth inside the fermenter can be measured non-contactly. The control system intelligently analyzes the raw near-infrared spectral data of the fermentation broth to obtain fermentation parameter measurements. These measurements are then compared with preset target ranges, generating fermentation adjustment signals. The actuators then adjust one or more fermentation parameters within the fermenter based on these signals, achieving automated monitoring of the fermentation process. This significantly improves production efficiency and the level of intelligence in the biopharmaceutical fermentation process.

[0009] Preferably, the measured fermentation parameters include total sugar content; The actuator includes a sugar replenishment mechanism, which is used to deliver sugar source into the fermenter and adjust the sugar replenishment rate under the control of the control system when the total sugar content exceeds a set threshold.

[0010] Preferably, the sugar replenishment mechanism includes a sugar replenishment flow meter, a sugar replenishment regulating valve, and a sugar replenishment pipeline. The sugar replenishment flow meter is used to detect the flow rate in the sugar replenishment pipeline. The sugar replenishment regulating valve is used to open, close, or adjust the opening degree according to a set value under the control of the control system. One end of the sugar replenishment pipeline is connected to the fermentation tank, and the other end is connected to the sugar source storage tank.

[0011] Preferably, the inspection mechanism includes: The sensor module is used to sense path parameters and feed them back to the automatic control module; The automatic control module is used to plan the movement route based on the inspection task and the sensed path parameters, and to control the movement of the mobile platform and the robotic arm according to the movement route; Mobile platform for omnidirectional mobility; The robotic arm has a near-infrared detection module installed at its end, and the robotic arm is used to align the near-infrared detection module with the observation window. The data transmission module is used to send path parameters, movement routes, and equipment operating status data to the control system display, as well as to receive inspection tasks issued by the control system and provide feedback.

[0012] Through the collaborative work of the inspection mechanism and the near-infrared detection module, comprehensive monitoring of the fermentation process was achieved, significantly improving production efficiency and product quality. The inspection mechanism performs comprehensive testing, intelligent route planning, and high-precision analysis, while the near-infrared detection module is precisely positioned near the observation window of the fermenter, improving detection accuracy.

[0013] Preferably, the sensor module includes: LiDAR is used to generate dense 3D point cloud data of the surrounding environment. Intelligent vision camera, used to capture two-dimensional image information; The intelligent navigation and positioning module is used to obtain the current location information of the inspection agency.

[0014] Preferably, the control system is also used to display the measured values ​​of fermentation parameters output by the control system, and to perform human-computer interaction.

[0015] Preferably, the fermentation parameter measurements also include the values ​​of potency and amino nitrogen, which are displayed by the control system.

[0016] Preferably, it also includes an automatic steam cleaning mechanism, which comprises: The system features multiple steam pipelines, each equipped with an automatic control valve. The inlet of each pipeline connects to a steam source, and the outlet connects to a nozzle. The controlled end of each automatic control valve is connected to the control system. The multiple steam pipelines are the first steam pipeline, the second steam pipeline, and the small exhaust steam pipeline; The outlet of the first steam pipe is located inside the fermenter and is used to clean the inner surface of the observation window; The outlet of the second steam pipeline is located outside the fermenter and is used to clean the outer surface of the observation window; The outlet of the small exhaust pipe is located outside the fermenter to discharge the steam accumulated in the steam pipe.

[0017] The automatic steam cleaning mechanism uses the first and second steam lines to clean the inside and outside of the observation window of the fermenter, removing fermentation liquid contamination inside the observation window and dirt, condensate, or disinfectant residue from the outside. Condensate in the steam pipes is discharged through a small exhaust pipe to prevent bacterial contamination.

[0018] Preferably, the control system adopts the Siemens PCS7 system.

[0019] A method for intelligent online detection and control in a fermentation workshop includes the following steps: According to the set inspection task and movement route, the near-infrared detection module is moved to the observation window of the fermenter. The near-infrared detection module is controlled to emit detection light that passes through the observation window on the fermenter and enters the fermenter to measure the raw near-infrared spectrum of the fermentation liquid inside the fermenter. The system receives and analyzes the raw near-infrared spectrum to obtain measured values ​​of fermentation parameters. It then compares these measured values ​​with a preset target range and generates a fermentation adjustment signal. The system controls the actuator to adjust one or more fermentation parameters within the fermenter based on the fermentation adjustment signal.

[0020] This invention achieves comprehensive monitoring of the fermentation process through the coordinated operation of an inspection mechanism and a near-infrared detection module, significantly improving production efficiency and product quality. The inspection mechanism performs comprehensive detection, intelligent route planning, and high-precision analysis, while the near-infrared detection module is precisely positioned near the observation window of the fermenter, improving detection accuracy. The control system analyzes data and dynamically adjusts fermentation conditions, enabling timely adjustments to process parameters, reducing waiting and adjustment time during production, as well as reducing raw material waste and energy consumption, further lowering costs. Simultaneously, it reduces manual intervention and the use of chemical reagents, lowering production costs and environmental pollution risks. Attached Figure Description

[0021] The present invention will now be described in further detail with reference to the accompanying drawings: Figure 1 This is a block diagram of the control principle of the present invention; Figure 2 This is a schematic diagram showing the connection relationship between the inspection mechanism and the control system of the present invention; Figure 3 This is a schematic diagram of the inspection mechanism of the present invention; Figure 4 This is a schematic diagram of the sugar replenishment mechanism of the present invention; Figure 5 This is a schematic diagram of the automatic steam cleaning mechanism of the present invention.

[0022] Figure labeling: 1-Near-infrared detection module; 201-Sensor module; 202-Moving platform; 203-Robotic arm; 3-Fermentation tank; 301-Observation window; 401-Sugar supplementation pipeline; 402-Sugar supplementation regulating valve; 403-Sugar supplementation flow meter; 404-Sugar source storage tank; 405-First manual valve; 406-Second manual valve; 501-Steam pipeline; 502-Steam source; 503-Nozzle; 504-First automatic control valve; 505-Second automatic control valve; 506-Third automatic control valve; 507-Third manual valve; 508-Fourth manual valve; 509-Fifth manual valve; 510-Sixth manual valve. Detailed Implementation

[0023] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of an intelligent online detection and control device and control method for fermentation workshops proposed according to the present invention.

[0024] like Figure 1 As shown, an intelligent online detection and control device for a fermentation workshop includes: The near-infrared detection module is located outside the fermenter and is used to emit detection light that passes through the observation window on the fermenter and enters the fermenter to measure the near-infrared raw spectrum of the fermentation liquid inside the fermenter; specifically, the observation window is a flange sight glass.

[0025] The inspection mechanism is used to install near-infrared detection modules and move them to the observation window on the fermenter according to a set route. The control system receives detection data from the near-infrared detection module, analyzes the raw near-infrared spectrum of the fermentation broth to obtain measured values ​​of fermentation parameters, compares the measured values ​​of fermentation parameters with preset target ranges, generates fermentation adjustment signals, and controls the actuators to act according to the fermentation adjustment signals. An actuator, connected to a control system, is used to adjust one or more fermentation parameters within the fermenter under the control of the control system.

[0026] In this embodiment, the control system adopts the Siemens PCS7 system.

[0027] The near-infrared detection module uses an online near-infrared analyzer DA-5G. The control system analyzes the near-infrared raw spectrum of the fermentation broth measured online using a partial least squares regression model based on pre-established fermentation parameters (Y variable) and the raw near-infrared spectrum (X variable).

[0028] When establishing the partial least squares regression model for near-infrared raw spectral analysis, the root mean square error of prediction (RMSE) and the coefficient of determination (R²) are used. 2 Evaluation model. A smaller RMSE indicates higher detection accuracy and smaller detection error in the partial least squares regression model; R0 2 The larger the value, the stronger the ability of the partial least squares regression model to distinguish between high and low values ​​of the Y variable, and the higher the R value. 2 It also depends on the range of variation of the Y variable value. If the range of variation of the Y variable value is small, R... 2 The correlation coefficient R represents the data fit and correlation; the closer it is to 1, the stronger the correlation.

[0029] like Figure 2 and Figure 3 As shown, the inspection organization includes: Sensor module 201 is used to sense path parameters and feed them back to the automatic control module; The automatic control module is used to plan the movement route based on the inspection task and the sensed path parameters, and to control the movement of the mobile platform and the robotic arm according to the movement route; Mobile platform 202, for omnidirectional mobility; The robotic arm 203 has a near-infrared detection module 1 installed at its end and is used to drive the near-infrared detection module to align with the observation window 301. The data transmission module is used to send path parameters, movement routes, and equipment operating status data to the control system management platform for display, as well as to receive inspection tasks issued by the control system and provide feedback.

[0030] The control system is also used to display the measured values ​​of fermentation parameters output by the control system, as well as to facilitate human-computer interaction.

[0031] Specifically, the inspection agency can use industrial inspection robots, which are equipped with Mecanum wheels, enabling them to move freely within the fermentation workshop and cover all fermentation tanks.

[0032] The data transmission module enables remote monitoring and operation of the inspection mechanism, improving inspection efficiency and flexibility. The control system not only displays real-time equipment operating status and basic information, including path parameters, movement routes, and process parameters, but also allows for remote scheduling and equipment management, enabling human-machine interaction, emergency handling, automatic work order dispatch, and abnormal situation alarms.

[0033] Sensor module 201 includes: LiDAR is used to generate dense 3D point cloud data of the surrounding environment. Intelligent vision camera, used to capture two-dimensional image information; The intelligent navigation and positioning module is used to obtain the current location information of the inspection agency.

[0034] The sensor module integrates lidar, intelligent vision camera and intelligent navigation and positioning module to achieve precise positioning and intelligent inspection of fermentation tank.

[0035] Specifically, the automatic control module uses laser SLAM navigation technology to draw an environmental map and plan a route based on information perceived by the lidar and intelligent navigation and positioning module. It can avoid obstacles in real time during the journey and arrive safely.

[0036] Fermentation parameters include total sugar content; the actuators include a sugar replenishment mechanism, which supplies sugar to the fermenter and adjusts the replenishment rate under the control of the control system when the total sugar content exceeds a set threshold. Fermentation parameters also include titer and amino nitrogen levels, which are displayed on the control system platform.

[0037] like Figure 4 As shown, the sugar replenishment mechanism includes a sugar replenishment flow meter 403, a sugar replenishment regulating valve 402, and a sugar replenishment pipeline 401. The sugar replenishment flow meter 403 is used to detect the flow rate in the sugar replenishment pipeline 401. The sugar replenishment regulating valve 402 is used to open, close, or adjust the opening degree according to a set limit under the control of the control system. One end of the sugar replenishment pipeline 401 is connected to the fermentation tank 3, and the other end is connected to the sugar source storage tank 404.

[0038] In this embodiment, in order to facilitate manual adjustment, a first manual valve 405 and a second manual valve 406 are respectively provided on the sugar replenishment pipeline 401 on the side of the fermentation tank 3 and the side of the sugar source storage tank 404.

[0039] It also includes automatic steam cleaning mechanisms, such as Figure 5 As shown, the automatic steam cleaning mechanism includes: The system includes multiple steam pipelines 501, each equipped with a self-controlled valve. The inlet of each steam pipeline is connected to a steam source 502, and the outlet of each steam pipeline is connected to a nozzle 503. The controlled end of each self-controlled valve is connected to the control system. In this embodiment, the nozzle 503 is a duckbill nozzle.

[0040] The multiple steam pipelines are the first steam pipeline, the second steam pipeline, and the small exhaust steam pipeline; The outlet of the first steam pipeline is located inside the fermenter and is used to clean the inner surface of the observation window 301; the first steam pipeline is equipped with a first automatic control valve 504 and a third manual valve 507; The outlet of the second steam pipeline is located outside the fermenter and is used to clean the outer surface of the observation window 301; the second steam pipeline is equipped with a second automatic control valve 505 and a fourth manual valve 508; The outlet of the small exhaust pipe is located outside the fermenter to discharge the steam accumulated in the steam pipe; the small exhaust pipe is equipped with a third automatic control valve 506 and a fifth manual valve 509.

[0041] The controlled ends of the first automatic control valve 504, the second automatic control valve 505, and the third automatic control valve 506 are all connected to the control system to receive steam cleaning control signals.

[0042] By manually adjusting the opening and closing of the third manual valve 507, the third manual valve 508, and the third manual valve 509, manual control can be performed under any circumstances, improving convenience.

[0043] In order to control the steam pipeline, a sixth manual valve 510 is also installed at the outlet of the steam source on the steam pipeline.

[0044] According to the set cleaning time and frequency, the corresponding automatic control valve of each steam pipeline is opened or closed by the control system. In this embodiment, when the automatic steam cleaning mechanism is running, the first automatic control valve 504 and the second automatic control valve 505 of the first steam pipeline and the second steam pipeline are opened simultaneously, and the third automatic control valve 506 of the small exhaust pipeline is closed to rinse and clean the inner and outer surfaces of the observation window 301 respectively; after rinsing, the first automatic control valve 504 and the second automatic control valve 505 of the first steam pipeline and the second steam pipeline are closed, and the third automatic control valve 506 of the small exhaust pipeline is opened to exhaust steam; after exhausting steam, the third automatic control valve 506 of the small exhaust pipeline is closed to complete one complete automatic steam cleaning cycle.

[0045] The first and second steam pipes of the automatic steam cleaning mechanism are used to steam clean the inside and outside of the observation window 301 of the fermentation tank, removing the fermentation liquid inside the observation window 301 and the dirt, condensate or disinfectant water marks on the outside of the observation window 301. The condensate in the steam pipe is discharged through the small exhaust pipe to prevent bacterial contamination.

[0046] During operation, on-site operators issue inspection tasks to the industrial inspection robot through the control system. They can choose sequential or specified inspections. Inspection tasks include the inspection object, inspection cycle, and frequency. In this embodiment, the inspection object is the fermentation tank. After receiving the inspection task from the control system, the industrial inspection robot uses its intelligent navigation and positioning module to determine its current location. Based on the task instructions, the automatic control module controls the mobile platform to move to a preset point near the corresponding fermentation tank and then stops.

[0047] Once the industrial inspection robot moves to the preset position on the fermentation tank, the automatic control module plans the robot arm's movement path and autonomously guides the robot arm to move the near-infrared detection module, aligning it with and bringing it close to the observation window 301 of the fermentation tank. When the repeatability of the robot arm's positioning of the near-infrared detection module (including the light shield) close to the observation window 301 is ≤ ±1mm, the robot arm stops at the detection position and sends a positioning stop signal to the control system. The control system receives the positioning stop signal and sends an infrared detection start signal to the near-infrared detection module, which then begins detection. Simultaneously, the industrial inspection robot transmits its path parameters, movement route, and equipment operating status data to the control system for display in real time. In this embodiment, the near-infrared detection module weighs approximately 13kg, and the observation window 301 is circular with a diameter of approximately 10cm.

[0048] In this embodiment, the detection time for each observation window 301 is 0.5-10 minutes. After completion, the control system sends a command to the automatic control module through the data transmission module. The automatic control module controls the robotic arm to retract, simultaneously retracting the near-infrared detection module. The near-infrared raw spectrum of the fermentation broth in the fermenter measured by the near-infrared detection module is transmitted to the control system in real time for analysis to obtain fermentation parameter measurement values. These values ​​are then transmitted to the control system for display. Simultaneously, the control system compares the obtained total sugar content with a preset target range. When the total sugar content is low, a low total sugar fermentation adjustment signal is generated, controlling the sugar replenishment mechanism's sugar replenishment adjustment valve to open or increase its opening by a set amount. When the total sugar content is high, a high total sugar fermentation adjustment signal is generated, controlling the sugar replenishment mechanism's sugar replenishment adjustment valve to close or decrease its opening by a set amount until the total sugar content reaches the target range.

[0049] The industrial inspection robot automatically moves to the next fermenter according to the inspection task and the movement route, repeating the inspection process until all fermenters are inspected.

[0050] This invention achieves comprehensive monitoring of the fermentation process through the collaborative operation of an industrial inspection robot and a near-infrared detection module, significantly improving production efficiency and product quality. The industrial inspection robot performs comprehensive inspection, intelligent route planning, and high-precision analysis, while the near-infrared detection module is precisely positioned near the observation window 301 of the fermenter, improving detection accuracy. The control system analyzes data and dynamically adjusts fermentation conditions, enabling timely adjustments to process parameters, reducing waiting and adjustment time during production, as well as reducing raw material waste and energy consumption, further lowering costs. Simultaneously, it reduces manual intervention and the use of chemical reagents, lowering production costs and environmental pollution risks.

[0051] This invention also provides an intelligent online detection and control method for fermentation workshops, comprising the following steps: According to the set inspection task and movement route, the near-infrared detection module is moved to the observation window of the fermenter. The near-infrared detection module is controlled to emit detection light that passes through the observation window on the fermenter and enters the fermenter to measure the raw near-infrared spectrum of the fermentation liquid inside the fermenter. The system receives and analyzes the raw near-infrared spectrum to obtain measured values ​​of fermentation parameters. It then compares these measured values ​​with a preset target range and generates a fermentation adjustment signal. The system controls the actuator to adjust one or more fermentation parameters within the fermenter based on the fermentation adjustment signal.

[0052] The method of the present invention is used in the application of the above-mentioned intelligent online detection and control device for fermentation workshops, and will not be described in detail here.

[0053] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A smart online detection and control device for a fermentation workshop, characterized in that, include: The near-infrared detection module is located outside the fermenter and is used to emit detection light that passes through the observation window on the fermenter and enters the fermenter to measure the near-infrared raw spectrum of the fermentation liquid inside the fermenter. The inspection mechanism is used to install near-infrared detection modules and move them to the observation window on the fermenter according to a set route. The control system is used to receive detection data from the near-infrared detection module, analyze the raw near-infrared spectrum of the fermentation broth to obtain fermentation parameter measurement values, compare the fermentation parameter measurement values ​​with a preset target range, generate a fermentation adjustment signal, and control the actuator to act according to the fermentation adjustment signal. An actuator, connected to the control system, is used to adjust one or more fermentation parameters within the fermenter under the control of the control system.

2. The intelligent online detection and control device for fermentation workshops according to claim 1, characterized in that, The measured fermentation parameters include total sugar content; The actuator includes a sugar replenishment mechanism, which is used to deliver sugar source into the fermenter and adjust the sugar replenishment rate under the control of the control system when the total sugar content exceeds a set threshold.

3. The intelligent online detection and control device for fermentation workshops according to claim 2, characterized in that, The sugar replenishment mechanism includes a sugar replenishment flow meter, a sugar replenishment regulating valve, and a sugar replenishment pipeline. The sugar replenishment flow meter is used to detect the flow rate in the sugar replenishment pipeline. The sugar replenishment regulating valve is used to open, close, or adjust the opening degree according to a set value under the control of the control system. One end of the sugar replenishment pipeline is connected to the fermentation tank, and the other end is connected to the sugar source storage tank.

4. The intelligent online detection and control device for fermentation workshops according to claim 1, characterized in that, The inspection organization includes: The sensor module is used to sense path parameters and feed them back to the automatic control module; The automatic control module is used to plan the movement route based on the inspection task and the sensed path parameters, and to control the movement of the mobile platform and the robotic arm according to the movement route; Mobile platform for omnidirectional mobility; The robotic arm has a near-infrared detection module installed at its end, and the robotic arm is used to align the near-infrared detection module with the observation window. The data transmission module is used to send path parameters, movement routes, and equipment operating status data to the control system display, as well as to receive inspection tasks issued by the control system and provide feedback.

5. The intelligent online detection and control device for fermentation workshops according to claim 4, characterized in that, The sensor module includes: LiDAR is used to generate dense 3D point cloud data of the surrounding environment. Intelligent vision camera, used to capture two-dimensional image information; The intelligent navigation and positioning module is used to obtain the current location information of the inspection agency.

6. The intelligent online detection and control device for fermentation workshops according to claim 1, characterized in that, The control system is also used to display the measured values ​​of fermentation parameters output by the control system, and to perform human-computer interaction.

7. The intelligent online detection and control device for fermentation workshops according to claim 6, characterized in that, The fermentation parameter measurements also include the values ​​of potency and amino nitrogen, which are displayed by the control system.

8. The intelligent online detection and control device for fermentation workshops according to claim 1, characterized in that, It also includes an automatic steam cleaning mechanism, which includes: The system features multiple steam pipelines, each equipped with an automatic control valve. The inlet of each pipeline connects to a steam source, and the outlet connects to a nozzle. The controlled end of each automatic control valve is connected to the control system. The multiple steam pipelines are designated as the first steam pipeline, the second steam pipeline, and the small exhaust steam pipeline; The outlet of the first steam pipeline is located inside the fermenter and is used to clean the inner surface of the observation window; The outlet of the second steam pipeline is located outside the fermenter and is used to clean the outer surface of the observation window; The outlet of the small exhaust pipe is located outside the fermenter to discharge the steam accumulated in the steam pipe.

9. The intelligent online detection and control device for fermentation workshops according to claim 1, characterized in that, The control system uses the Siemens PCS7 system.

10. A method for intelligent online detection and control in a fermentation workshop, characterized in that, Includes the following steps: According to the set inspection task and movement route, the near-infrared detection module is moved to the observation window of the fermenter. The near-infrared detection module is controlled to emit detection light that passes through the observation window on the fermenter and enters the fermenter to measure the raw near-infrared spectrum of the fermentation liquid inside the fermenter. The system receives and analyzes the raw near-infrared spectrum to obtain measured values ​​of fermentation parameters. It then compares these measured values ​​with a preset target range and generates a fermentation adjustment signal. The system controls the actuator to adjust one or more fermentation parameters within the fermenter based on the fermentation adjustment signal.

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