AGV (Automatic Guided Vehicle) automatic intelligent cooling system for fermented grains in solid-state fermentation tank and use method of AGV automatic intelligent cooling system

Abstract

The invention discloses an AGV automatic intelligent cooling system for fermented grains of a solid state fermentation tank. The AGV automatic intelligent cooling system comprises a remote control center, an AGV trolley, a refrigerator, a control cabinet and a battery module, the AGV trolley comprises a rack and an omni-directional walking device; the refrigerating machine, the control cabinet and the battery module are arranged on the rack; a panoramic camera is arranged on each of the two sides of the rack; cold air generated by the refrigerator is blown to fermented grains in the fermentation tank through the fan cover; a temperature measuring device is arranged on the fan cover; a temperature sensor is arranged in the fermentation tank; the battery module supplies power to the refrigerating machine, the control cabinet and the omni-directional walking device; the remote control center dispatches the AGV trolley to move to the position over the corresponding fermentation tank according to data fed back by the temperature sensor and position information fed back by the panoramic camera, and the fermented grains in the fermentation tank are cooled. According to the invention, interconnection and intercommunication of the AGVs are realized, a reasonable advancing route is planned, omnidirectional walking is carried out in a fermentation tank area, fermented grains in the fermentation tank are cooled, and the automation degree and the production efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of brewing, in particular to an AGV automatic intelligent cooling system for solid-state fermentation pit fermented grains and a use method thereof. BACKGROUND

[0002] Traditional solid-state fermentation liquor is sensitive to temperature, and high temperature in the fermentation tank in summer may cause imbalance of microbial activity, affecting liquor quality. From the end of June to the beginning of September, the ambient temperature of the fermentation workshop is too high, which causes the fermented grains to easily volatilize alcohol when they are taken out of the tank after the fermentation period is over, thereby reducing the liquor yield. The temperature of the fermented grains after airing (cooling of fermented grains) is higher than the process tank temperature, and the fermented grains cannot be put into the tank. Therefore, many liquor enterprises are forced to stop production and hibernate during this period from June to September. At present, most domestic liquor enterprises use traditional floor blower or continuous mechanical airing machine to air the fermented grains, and adopt the mode of taking air from outdoor cool places to cool down, which cannot reduce the temperature of the cooling air in a high-temperature environment, so that the temperature of the fermented grains after passing through the airing machine is not lower than room temperature. After airing, the fermented grains are exposed to room temperature for a period of time before being put into the tank, which causes rewarming and is not conducive to fermentation. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application provides an AGV automatic intelligent cooling system for solid-state fermentation pit fermented grains and a use method thereof, which solves the cooling problem in the above background technology during solid-state fermentation.

[0004] In order to achieve the above object, the present application is realized by the following technical scheme: an AGV automatic intelligent cooling system for solid state fermentation tank fermented grains, comprising a remote control center, an AGV trolley, a panoramic camera, a temperature sensor, a refrigerating machine, a control cabinet and a battery module; the AGV trolley comprises a rack and an omnidirectional walking device; the refrigerating machine, the control cabinet and the battery module are arranged on the rack; one panoramic camera is arranged on each side frame of the rack; the cold air generated by the refrigerating machine is blown to the fermented grains in the fermentation tank through the wind cover arranged below the rack; a set of temperature measuring devices are arranged on the wind cover for detecting the temperature of the surface of the fermented grains in the fermentation tank; a temperature sensor is arranged in the fermentation tank; the battery module supplies power to the refrigerating machine, the control cabinet and the omnidirectional walking device; after the temperature sensor detects that the temperature of the fermented grains in the fermentation tank is higher than the temperature corresponding to the fermentation stage, the signal is transmitted to the control cabinet on the AGV trolley, and feedback is given to the remote control center through the control cabinet; after the temperature sensor in different fermentation tanks transmits the temperature data to the remote control center, the remote control center schedules each AGV trolley to move to the corresponding fermentation tank directly above, starts the refrigerating machine to cool the fermented grains in the fermentation tank, and when the temperature measuring device detects that the surface temperature of the fermentation tank reaches the temperature set for the corresponding fermentation stage, the refrigerating machine is stopped by the control cabinet, and the AGV trolley is driven to move to the next fermentation tank to be cooled, and after the cooling of all the fermented grains in the fermentation tank is completed, each AGV trolley moves to the corresponding parking point and stops working.

[0005] Further, the rack comprises an upper rack and four legs; the refrigerating machine is arranged in the upper rack, and a blower is arranged on the upper rack; the control cabinet and the battery module are arranged side by side in the upper rack; the wind cover is arranged below the upper rack; the omnidirectional walking device is arranged on each of the four legs.

[0006] Further, the outlet of the refrigerating machine is connected with the upper end of the corrugated expansion pipe, and the lower end of the corrugated expansion pipe is fixed with the wind cover; two telescopic adjusting mechanisms are fixed at the positions of the four corners of the upper surface of the wind cover; the upper end of the telescopic adjusting mechanism is fixed on the bottom plate of the upper rack.

[0007] Further, the omnidirectional walking device comprises a Mecanum wheel, a mounting skeleton, a speed reducer and a servo motor; one side of the mounting skeleton is connected with the Mecanum wheel, and the other end is fixed with the speed reducer and the servo motor; the control cabinet communicates with the servo motor through the motor controller and drives the servo motor, and the servo motor drives the corresponding Mecanum wheel to make corresponding vector motion after being decelerated by the speed reducer; the four Mecanum wheels corresponding to the four omnidirectional walking devices can make omnidirectional movement after vector synthesis under the driving.

[0008] Further, the mounting framework is provided with a damping device, the damping device comprises a lower mounting plate, a damping spring and an upper damping plate; the lower mounting plate is fixed with the upper damping plate through a connecting column; the connecting column is sleeved with the damping spring; and the lower mounting plate is fixed on the mounting framework.

[0009] Further, the telescopic adjusting mechanism comprises an upper connector, an electric push rod and a lower connector; the upper end of the electric push rod is fixed with the bottom plate of the upper rack through the upper connector and a locking bolt and a threaded hole; the lower end of the electric push rod is fixed into a threaded hole on the upper surface of the wind cover through the lower connector and a locking bolt; the battery module supplies power for the electric push rod; the control cabinet controls the opening and closing of the electric push rod; and the wind cover is moved up and down through the telescopic adjustment of the electric push rod.

[0010] Further, the upper connector is in T-shaped structure; the lower end of the upper connector is clamped with the upper end of the electric push rod and is fixed through a bolt.

[0011] Further, the lower connector is in circular ring structure; the inner ring of the lower connector is provided with threads and is threadedly connected with the end of the movable telescopic rod of the electric push rod and is fixed through a locking pin.

[0012] Further, the temperature measuring device comprises an infrared temperature measuring device, a stainless steel sleeve, a locking nut and a data line; the infrared temperature measuring device is provided with a threaded connection part; the upper end of the stainless steel sleeve is provided with external threads; the inner tube at the lower end is provided with internal threads; the infrared temperature measuring device is screwed into the inner tube at the lower end of the stainless steel sleeve through the threaded connection part; and the stainless steel sleeve is fixed on the wind cover through the locking nut.

[0013] The application further provides a use method of the AGV automatic intelligent cooling system for solid-state fermentation pit fermented grains, and the steps are as follows: S1: each temperature sensor detects the temperature of the fermented grains in the fermentation pit and feeds back to the remote control center; the remote control center formulates a cooling strategy and a moving route of each AGV according to the positions of the AGVs and the positions of the fermentation pits; S2: the remote control center sends the cooling strategy and the moving route of each AGV to the control cabinet of the corresponding AGV; and each AGV is driven to move above the corresponding fermentation pit; S3: the AGV formulates a corresponding refrigerating capacity and refrigerating time through the corresponding control cabinet according to the temperature of the fermentation pit and the capacity of the fermentation pit; the control cabinet controls the refrigerating machine to refrigerate; the wind cover is moved to an appropriate height above the fermentation pit through the telescopic adjusting mechanism; and the fermented grains in the fermentation pit are cooled. S4: the temperature sensor in the fermentation tank communicates feedback data with the control cabinet and the remote control center in real time; when the temperature detection data of the temperature sensor in the fermentation tank and the temperature detection data of the temperature measuring device are consistent with the set value, the information is fed back to the control cabinet, the corresponding AGV car stops refrigeration, and the information is transmitted to the remote control center; if the feedback information is not enough to complete the cooling within the specified time after calculation by the control cabinet, the control cabinet is re-calculated, a higher refrigeration capacity is set for the fermentation tank to cool down, and the new data is sent to the remote control center for comprehensive control of the running efficiency of each AGV car by the remote control center; S5: after the fermented grains in each fermentation tank are cooled, the control cabinet controls each AGV car to return to the parking point designated in the production workshop; if the battery module in the AGV car is insufficient, the remote control center coordinates the charging sequence of each AGV car to go to the charging station for charging. Beneficial effects

[0014] The present application provides automatic intelligent cooling of fermented grains in a fermentation tank, interconnection of each AGV car, planning of a reasonable travel route, all-directional walking in the fermentation tank area, movement in any direction without changing the orientation, effective avoidance of obstacles or passing through obstacles in the limited space of the fermentation tank area, great advantages, greatly improved flexibility and precision of movement, reliable mechanical structure, effective cooling of fermented grains in the fermentation tank, extension of the production time of the wine enterprise in summer, change of the influence of seasonal high temperature weather on enterprise production, and improved automation degree and production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the AGV automatic intelligent cooling system principle diagram of the present application.

[0016] Figure 2 It is the structure schematic diagram of the AGV car of the present application located above the fermentation tank for down exploration cooling.

[0017] Figure 3 It is the structure front view schematic diagram of the AGV car cooling system of the present application.

[0018] Figure 4 It is the structure side view schematic diagram of the AGV car cooling system of the present application.

[0019] Figure 5 It is the structure top view schematic diagram of the AGV car cooling system of the present application.

[0020] Figure 6 It is the structure schematic diagram of the AGV car of the present application.

[0021] Figure 7Structure diagram of the telescopic adjusting mechanism of the application.

[0022] Figure 8 Front view of the omni-directional walking device of the application.

[0023] Figure 9 Side view of the omni-directional walking device of the application.

[0024] Figure 10 Structure diagram of the temperature measuring device of the application.

[0025] Figure 11 State diagram of the AGV trolley cooling system in the production workshop of the application.

[0026] In the figure: hair dryer 1; refrigeration machine 2; rack 3; upper rack 31; support leg 32; telescopic adjusting mechanism 4; upper connector 41; electric push rod 42; lower connector 43; omni-directional walking device 5; Mecanum wheel 51; mounting skeleton 52; speed reducer 53; servo motor 54; lower mounting plate 55; shock absorbing spring 56; upper shock absorbing plate 57; motor controller 58; corrugated telescopic pipe 6; air cover 7; temperature measuring device 8; infrared temperature measuring device 81; threaded connection part 82; stainless steel sleeve 83; locking nut 84; data line 85; control cabinet 9; battery module 10; panoramic camera 11; AGV trolley 12; remote control center 13; temperature sensor 14. DETAILED DESCRIPTION

[0027] The present disclosure will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related content, and not to limit the present disclosure. In addition, it should be noted that only parts related to the present disclosure are shown in the drawings for ease of description.

[0028] As Figures 1 to 11As shown, an AGV automatic intelligent cooling system for solid fermentation tank fermented grains, comprising a remote control center 13, an AGV 12, a panoramic camera 11, a temperature sensor 14, a refrigeration machine 2, a control cabinet 9 and a battery module 10; the AGV 12 comprises a rack 3 and an omnidirectional walking device 5; the refrigeration machine 2, the control cabinet 9 and the battery module 10 are arranged on the rack 3; one panoramic camera 11 is arranged on each side frame of the rack 3; the cold air generated by the refrigeration machine 2 is blown to the fermented grains in the fermentation tank through the wind shield 7 arranged below the rack 3; a set of temperature measuring devices 8 are arranged on the wind shield 7 for detecting the temperature of the surface of the fermented grains in the fermentation tank; a set of temperature measuring devices 8 can be arranged obliquely so that the temperature measuring devices 8 can detect the same area of the fermented grains in the fermentation tank, facilitating comprehensive judgment of the stability of temperature detection data; a temperature sensor 14 is arranged in the fermentation tank; the battery module 10 supplies power to the refrigeration machine 2, the control cabinet 9 and the omnidirectional walking device 5; the battery module 10 includes a DC / AC power module, which can convert electrical energy in both directions, support power conversion of different voltages and frequencies, provide driving power according to the driving power requirements of each component, and realize full utilization of green energy; after the temperature sensor 14 detects that the temperature of the fermented grains in the fermentation tank is higher than the temperature corresponding to the fermentation stage, the signal is transmitted to the control cabinet 9 on the AGV 12, and feedback is given to the remote control center 13 through the control cabinet 9; after the temperature sensor 14 in different fermentation tanks transmits the temperature data to the remote control center 13, the remote control center 13 schedules each AGV 12 to move to the corresponding fermentation tank directly above according to the position information fed back by the panoramic camera 11, starts the refrigeration machine 2 to cool the fermented grains in the fermentation tank, and when the temperature measuring device 8 detects that the surface temperature of the fermented grains in the fermentation tank reaches the temperature set for the corresponding fermentation stage, the refrigeration machine 2 is controlled to stop refrigeration through the control cabinet 9, and the AGV 12 is driven to move to the next fermentation tank that needs to be cooled for cooling, and after the cooling of all fermented grains in the fermentation tank is completed, each AGV 12 moves to the corresponding parking point and stops working. The present application realizes intelligent cooling of fermented grains in the fermentation tank of an automatic factory, realizes interconnection of each AGV 12, plans a reasonable travel route and cooling strategy, can walk omnidirectionally in the fermentation tank area, can move in any direction without changing its own orientation, can effectively avoid obstacles or pass through obstacles in the limited space of the factory building in the fermentation tank area, has great advantages, greatly improves the flexibility and precision of movement, the mechanical structure is reliable, can effectively cool the fermented grains in the fermentation tank, can prolong the production time of the wine enterprise in summer, change the influence of seasonal high temperature weather on enterprise production, and improve the degree of automation and production efficiency.

[0029] As a preferred embodiment, as Figures 2 to 6As shown in the figure, the rack 3 includes an upper rack 31 and four legs 32; the refrigerator 2 is arranged in the upper rack 31, and the blower 1 is arranged on the upper rack 31; the control cabinet 9 and the battery module 10 are arranged side by side in the upper rack 31; the wind cover 7 is arranged below the upper rack 31; and the omnidirectional walking device 5 is arranged on each of the four legs 32.

[0030] As a preferred embodiment, as shown in Figures 2 to 4 As shown in the figure, the air outlet of the refrigerator 2 is connected with the upper end of the corrugated expansion pipe 6, and the lower end of the corrugated expansion pipe 6 is fixed with the wind cover 7; two telescopic adjusting mechanisms 4 are fixed at the positions of the four corners of the upper surface of the wind cover 7; and the upper ends of the telescopic adjusting mechanisms 4 are fixed on the bottom plate of the upper rack 31.

[0031] As a preferred embodiment, as shown in Figure 3 、 Figure 8 and Figure 9 As shown in the figure, the omnidirectional walking device 5 includes a Mecanum wheel 51, a mounting framework 52, a speed reducer 53, and a servo motor 54; one side of the mounting framework 52 is connected with the Mecanum wheel 51, and the other end is fixed with the speed reducer 53 and the servo motor 54; the control cabinet 9 communicates with the servo motor 54 through the motor controller 58 and drives the servo motor 54, and the servo motor 54 drives the corresponding Mecanum wheel 51 to make corresponding vector motion after being decelerated by the speed reducer 53; the corresponding four Mecanum wheels 51 of the four omnidirectional walking devices 5 can make omnidirectional movement after vector synthesis under driving. When the Mecanum wheel 51 rotates, two forces in two directions are generated: a main thrust force in the direction of hub rotation (i.e. the direction of the wheel itself rotating); and a lateral component force generated by the angled rollers, which is perpendicular to the axis of the rollers. By controlling the rotation speed and direction of the four wheels, the forces generated by the four wheels can be vector synthesized, and finally the resultant force of the entire device in any direction (forward, backward, left, right, diagonal, and rotation) is obtained, so that the device moves in the corresponding resultant force direction. The specific motion rules of the Mecanum wheel 51 are as follows:

[0032] If you want to move in a certain direction, let the “diagonal force” vector synthesized by all Mecanum wheels 51 point to that direction, so as to achieve omnidirectional movement. As shown in the figure, Figure 11As shown, at the same time, through the panoramic camera 11, each AGV 12 can interact with the control cabinet 9 and the remote control center 13, which is more conducive to line planning; when the panoramic camera 11 detects an obstacle, it can determine whether it can pass through according to the size of the AGV 12 and the size and gap of the obstacle fed back by the panoramic camera 11, and then control the Mecanum wheel 51 to pass through the obstacle in the calculated movement mode, saving the time of avoiding obstacles, making the AGV 12 in the production workshop achieve intelligent and orderly operation, and greatly improving the production effect.

[0033] As a preferred embodiment, as shown in Figure 8 and Figure 9 As shown, the mounting frame 52 is provided with a damping device, which comprises a lower mounting plate 55, a damping spring 56 and an upper damping plate 57; the lower mounting plate 55 is fixed with the upper damping plate 57 through a connecting column; the connecting column is sleeved with a damping spring 56; the lower mounting plate 55 is fixed on the mounting frame 52, reducing the vibration of the whole device and ensuring complete operation.

[0034] As a preferred embodiment, as shown in Figure 2 and Figure 7 As shown, the telescopic adjusting mechanism 4 comprises an upper connector 41, an electric push rod 42 and a lower connector 43; the upper end of the electric push rod 42 is fixed with the bottom plate of the upper rack 31 through the upper connector 41 and locking bolts; the lower end of the electric push rod 42 is fixed into the threaded hole on the upper surface of the fan cover 7 through the lower connector 43 and locking bolts; the battery module 10 supplies power to the electric push rod 42, and the control cabinet 9 controls the opening and closing of the electric push rod 42; the electric push rod 42 is telescopic to drive the fan cover 7 to move up and down; when in use, the fan cover 7 is lowered to the appropriate height above the fermentation tank to achieve the best cooling effect.

[0035] As a preferred embodiment, as shown in Figure 7 As shown, the upper connector 41 is T-shaped, and the lower end of the upper connector 41 is clamped with the upper end of the electric push rod 42 and fixed through bolts. The lower connector 43 is in the form of a ring, and the inner ring of the lower connector 43 is provided with threads and is connected with the end of the movable telescopic rod of the electric push rod 42 through threads and locking pins, which can ensure the stability of the connection, improve the efficient operation of the equipment, reduce the maintenance frequency and cost.

[0036] As a preferred embodiment, as shown in Figure 3 and Figure 10As shown, the temperature measuring device 8 includes an infrared thermometer 81, a stainless steel sleeve 83, a locking nut 84 and a data line 85; the infrared thermometer 81 is provided with a threaded connection part 82; the upper end of the stainless steel sleeve 83 is provided with external threads, and the inner tube at the lower end is provided with internal threads; the infrared thermometer 81 is screwed into the inner tube at the lower end of the stainless steel sleeve 83 through the threaded connection part 82; the stainless steel sleeve 83 is fixed on the fan cover 7 through the locking nut 84; the infrared thermometer 81 is protected by the stainless steel sleeve 83, and at the same time the data line 85 is connected to the control cabinet 9 through the wire harness, providing stable temperature data.

[0037] As Figure 1 , Figure 2 and Figure 11 shown, the application also provides a use method of the AGV automatic intelligent cooling system for solid-state fermentation pit distiller's grains, the steps are as follows: S1: each temperature sensor 14 detects the temperature of the fermentation pit distiller's grains and feeds back to the remote control center 13; the remote control center 13 formulates a cooling strategy and a moving route of each AGV car 12 according to the position of each AGV car 12 and the position of the fermentation pit; S2: the remote control center 13 sends the cooling strategy and the moving route of each AGV car 12 to the control cabinet 9 of the corresponding AGV car 12; and drives each AGV car 12 to move directly above the corresponding fermentation pit; S3: the AGV car 12 formulates a corresponding refrigeration capacity and refrigeration time through the corresponding control cabinet 9 according to the temperature of the fermentation pit distiller's grains and the capacity of the fermentation pit; the control cabinet 9 controls the refrigeration machine 2 to refrigerate; and moves the fan cover 7 to the appropriate height above the fermentation pit through the telescopic adjusting mechanism 4; and cools the fermentation pit distiller's grains; S4: the temperature sensor 14 in the fermentation pit communicates and feeds back data to the control cabinet 9 and the remote control center 13 in real time; when the temperature detection data of the temperature sensor 14 in the fermentation pit and the temperature detection data of the temperature measuring device 8 are consistent with the set value, the information is fed back to the control cabinet 9, the corresponding AGV car 12 stops refrigeration, and the information is transmitted to the remote control center 13; if the feedback information is not enough to complete the cooling within the specified time after calculation by the control cabinet 9, the control cabinet 9 is re-calculated to set a higher refrigeration capacity to cool the fermentation pit distiller's grains, and the new data is sent to the remote control center 13, so as to facilitate the remote control center 13 to comprehensively control the operation efficiency of each AGV car 12; S5: After the temperature of the fermented grains in each fermentation tank is lowered, the control cabinet 9 controls each AGV trolley 12 to return to the designated parking point in the production workshop; if the battery module 10 in the AGV trolley 12 is insufficient in power, the remote control center 13 coordinates the charging sequence of each AGV trolley 12 to go to the charging station for charging. Taking the fermentation tank starting (fermented grains discharging) operation as an example: the AGV trolley 12 moves to the position directly above the fermentation tank according to the fermentation tank number input by the remote control center 13; the air hood 7 is lowered to a position 100 mm above the grains layer, the cooling fan 1 blows the cold air at the air outlet of the refrigeration machine 2 to the fermentation tank, and the 300 mm thick fermented grains layer is cooled according to the set cooling curve; after the temperature is lowered to the set temperature, the cooling is stopped, and the air hood 7 is retracted through the telescopic adjusting mechanism 4; if other fermentation tanks need to be cooled, the next fermentation tank can be moved to the next position for fermented grains cooling, and the fermentation tank operation surface is released; if there is no need to cool the fermented grains in the fermentation tank, the AGV trolley 12 returns to the parking point or needs to be charged, and then moves to the charging station for charging; the above operation is repeated to complete the fermented grains discharging operation of the fermentation tank.

[0038] Those skilled in the art should understand that the above embodiments are only for clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. Based on the above disclosure, other changes or modifications can also be made by those skilled in the art, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. An AGV automated intelligent cooling system for solid-state fermentation tank mash, characterized in that, The system includes a remote control center, AGV carts, panoramic cameras, temperature sensors, a chiller, a control cabinet, and a battery module. The AGV carts consist of a frame and an omnidirectional walking mechanism. The chiller, control cabinet, and battery module are mounted on the frame. A panoramic camera is installed on each of the two side frames of the frame. The chiller generates cold air that is blown onto the fermentation tank mash through a fan hood located below the frame. A set of temperature measuring devices is installed on the fan hood to detect the surface temperature of the fermentation tank mash. A temperature sensor is installed in the fermentation tank. The battery module supplies power to the chiller, control cabinet, and omnidirectional walking mechanism. Based on the data from the temperature sensors and the position information from the panoramic cameras, the remote control center dispatches each AGV cart to move directly above its corresponding fermentation tank and starts the chiller to cool the fermentation tank mash. When the temperature measuring device detects that the surface temperature of the fermentation tank mash has reached the set temperature, the chiller stops cooling. The AGV carts then move to the next fermentation tank requiring cooling. After cooling all the fermentation tank mash, each AGV cart moves to its corresponding parking point and stops working.

2. The AGV automated intelligent cooling system for solid-state fermentation tank mash according to claim 1, characterized in that, The frame includes an upper frame and four support legs; the refrigeration unit is installed inside the upper frame, and a blower is installed on the upper frame; the control cabinet and the battery module are arranged side by side inside the upper frame; the fan cover is installed below the upper frame; and each of the four support legs is equipped with an omnidirectional walking device.

3. The AGV automated intelligent cooling system for solid-state fermentation tank mash according to claim 2, characterized in that, The air outlet of the refrigeration unit is connected to the upper end of the corrugated telescopic pipe, and the lower end of the corrugated telescopic pipe is fixed to the fan shroud; two telescopic adjustment mechanisms are fixed at the four corners of the upper surface of the fan shroud; the upper end of the telescopic adjustment mechanism is fixed to the base plate of the upper frame.

4. The AGV automated intelligent cooling system for solid-state fermentation tank mash according to claim 1, characterized in that, The omnidirectional walking device includes a Mecanum wheel, a mounting frame, a reducer, and a servo motor. One side of the mounting frame is connected to the Mecanum wheel, and the other end is fixed with the reducer and the servo motor. The control cabinet communicates with the servo motor through a motor controller and drives the servo motor. After being reduced in speed by the reducer, the servo motor drives the corresponding Mecanum wheel to perform corresponding vector motion. The four Mecanum wheels corresponding to the four omnidirectional walking devices can perform omnidirectional movement after vector synthesis under the drive.

5. The AGV automated intelligent cooling system for solid-state fermentation tank mash according to claim 4, characterized in that, The mounting frame is equipped with a shock-absorbing device, which includes a lower mounting plate, a shock-absorbing spring, and an upper shock-absorbing plate. The lower mounting plate is fixed to the upper shock-absorbing plate via a connecting column. A shock-absorbing spring is sleeved on the connecting column. The lower mounting plate is fixed to the mounting frame.

6. The AGV automated intelligent cooling system for solid-state fermentation tank mash according to claim 3, characterized in that, The telescopic adjustment mechanism includes an upper connector, an electric push rod, and a lower connector. The upper end of the electric push rod is fixed to a threaded hole on the base plate of the upper frame via the upper connector and locking bolts. The lower end of the electric push rod is fixed to a threaded hole on the upper surface of the fan cover via the lower connector and locking bolts. The battery module supplies power to the electric push rod, and the control cabinet controls the opening and closing of the electric push rod. The telescopic movement of the electric push rod drives the fan cover to move up and down.

7. The AGV automated intelligent cooling system for solid-state fermentation tank mash according to claim 6, characterized in that, The upper connector has a T-shaped structure, and the lower end of the upper connector is engaged with the upper end of the electric push rod and fixed by bolts.

8. The AGV automated intelligent cooling system for solid-state fermentation tank mash according to claim 7, characterized in that, The lower connector is configured as a circular ring structure, and the inner ring of the lower connector is threaded, which is threaded to the end of the movable telescopic rod of the electric push rod and fixed by a locking pin.

9. The AGV automated intelligent cooling system for solid-state fermentation tank mash according to claim 1, characterized in that, The temperature measuring device includes an infrared thermometer, a stainless steel sleeve, a locking nut, and a data cable; the infrared thermometer is provided with a threaded connection part; the upper end of the stainless steel sleeve is provided with an external thread, and the inner tube at the lower end is provided with an internal thread; the infrared thermometer is screwed into the inner tube at the lower end of the stainless steel sleeve through the threaded connection part; the stainless steel sleeve is fixed to the fan cover by the locking nut.

10. A method of using an AGV automated intelligent cooling system for solid-state fermentation tank mash according to any one of claims 1 to 9, characterized in that, The steps are as follows: S1: Each temperature sensor detects the temperature of the mash in the fermentation tank and feeds it back to the remote control center; the remote control center formulates cooling strategies and movement routes for each AGV based on the position of each AGV and the position of the fermentation tank. S2: The remote control center sends the cooling strategy and the movement routes of each AGV to the control cabinet of the corresponding AGV; drives each AGV to move directly above the corresponding fermentation tank; S3: The AGV trolley sets the corresponding cooling capacity and cooling time through the corresponding control cabinet based on the temperature and capacity of the fermentation tank; the control cabinet controls the refrigeration unit to perform cooling; and moves the fan cover to an appropriate height directly above the fermentation tank through the telescopic adjustment mechanism; thus cooling the fermentation mash in the fermentation tank. S4: The temperature sensor in the fermentation tank communicates with the control cabinet and remote control center in real time to provide feedback data. When the temperature detection data of the temperature sensor and the temperature detection data of the temperature measuring device in the fermentation tank are consistent with the set value, the information is fed back to the control cabinet, the corresponding AGV stops cooling, and the information is transmitted to the remote control center. If the feedback information is calculated by the control cabinet and is insufficient to complete the cooling within the specified time, the control cabinet will recalculate and set a higher cooling capacity to cool the fermentation tank mash, and send the new data to the remote control center to facilitate the comprehensive control of the operating efficiency of each AGV. S5: After the fermentation mash in each fermentation tank has cooled down, the control cabinet controls each AGV to return to the designated parking point in the production workshop; if the battery module in the AGV is low on power, the remote control center coordinates the charging sequence of each AGV to go to the charging station for charging.

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