Digestion control method, device and system
The automated digestion control method, which uses a host computer to control a robotic arm and digester, solves the problems of low efficiency and risks associated with manual operation in the digestion process of dairy products, and achieves efficient and accurate digestion and analysis.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- 蒙牛乳业(宁夏)有限公司
- Filing Date
- 2024-11-28
- Publication Date
- 2026-05-29
Smart Images
Figure CN122108726A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of dairy processing technology, and in particular to a digestion control method, apparatus and system. Background Technology
[0002] Dairy products, such as milk, are organic compounds and cannot be analyzed using spectroscopic techniques. Therefore, acids (such as nitric acid) need to be added to dairy products to convert them from organic to inorganic compounds, making them suitable for spectroscopic analysis. This process of adding acid to dairy products is called digestion. The dosage of acid added varies depending on the type and / or quantity of the dairy product; in other words, different digestion methods are used.
[0003] Currently, the digestion process for dairy products is entirely manual. This involves manually weighing the milk sample, placing it into an empty channel of the digester (a channel without a milk sample for digestion), closing the channel door, manually inputting the amount of acid to be added, and manually opening the channel door and removing the milk sample after confirming the digester has finished its work. This manual operation is inefficient and carries the unavoidable risk of human error, leading to inaccurate results in subsequent spectral analysis. Summary of the Invention
[0004] This invention provides a digestion control method, apparatus, and system to solve the problems of low efficiency and risk of improper operation in existing digestion methods that rely on manual operation.
[0005] This invention provides a digestion control method, comprising the following steps.
[0006] A weighing instruction for a target milk sample is sent to the robotic arm. The weighing instruction includes the target milk sample type and the target sample quantity, so as to control the robotic arm to weigh the target milk sample.
[0007] After monitoring that the robotic arm has completed weighing, control the robotic arm to send the target milk sample into the idle channel of the digester, and receive the feeding completion signal from the robotic arm.
[0008] Based on the target milk sample type and target sample quantity, the corresponding target digestion method is sent to the digester to digest the target milk sample.
[0009] When the digester detects that a channel has completed digestion, the robotic arm is controlled to remove the target milk sample from the digestion completion channel of the digester.
[0010] According to a digestion control method provided by the present invention, after monitoring that the robotic arm has completed weighing, the method controls the robotic arm to send the target milk sample into the idle channel of the digester and receives the feeding completion signal from the robotic arm, including the following steps.
[0011] The weighing completion signal of the robotic arm is monitored in real time.
[0012] After detecting the weighing completion signal of the robotic arm, an idle channel query command is sent to the digester to control the digester to query the status of each channel and return an idle channel confirmation signal.
[0013] The digester receives an idle channel confirmation signal from the digester. If the idle channel confirmation signal is true, the digester is controlled to open an idle channel.
[0014] The robotic arm is controlled to deliver the target milk sample into the idle channel, and the delivery completion signal from the robotic arm is received.
[0015] According to a resolution control method provided by the present invention, the idle channel confirmation signal includes: channel number and corresponding status.
[0016] The process of receiving an idle channel confirmation signal from the digester and controlling the digester to open an idle channel when the idle channel confirmation signal is true includes the following steps.
[0017] Receive the idle channel confirmation signal returned by the digester, and parse the channel number and corresponding status.
[0018] If at least one channel number is in an idle state, the idle channel confirmation signal is confirmed to be true, and any idle channel number is selected as the target channel number.
[0019] An opening command including the target channel number is sent to the digester to control the digester to open the channel door of the idle channel corresponding to the target channel number and return an idle channel opening completion signal.
[0020] According to a digestion control method provided by the present invention, the robotic arm is controlled to deliver the target milk sample into the idle channel, and the delivery completion signal of the robotic arm is received, comprising the following steps.
[0021] Receive the idle channel door opening completion signal to confirm that the idle channel door is open.
[0022] Send a feeding instruction including the target channel number to the robotic arm to control the robotic arm to feed the target milk sample into the corresponding idle channel, and return the feeding completion signal.
[0023] Receive the feeding completion signal returned by the robotic arm.
[0024] According to a digestion control method provided by the present invention, a corresponding target digestion method is sent to the digester based on the target milk sample type and target sample quantity to digest the target milk sample, including the following steps.
[0025] After receiving the feeding completion signal, the target digestion method is confirmed based on the target milk sample type, target sample quantity, and a preset relationship table, which records the correspondence between milk sample type, sample quantity, and digestion method.
[0026] The digestion instruction, including the target digestion method and the target channel number, is sent to the digester to control the digester to close the channel door of the channel corresponding to the target channel number, and to digest the target milk sample in the channel corresponding to the target channel number according to the target digestion method.
[0027] According to a digestion control method provided by the present invention, when it is detected that a channel of the digester has completed digestion, the robotic arm is controlled to remove the target milk sample from the digestion completion channel of the digester, including the following steps.
[0028] The status of each channel of the digester is read at preset intervals, the channel with the status of digestion completed is determined as the digestion completed channel, and the digestion completed channel number is obtained.
[0029] An opening command, including the digestion completion channel number, is sent to the digester to control the digester to open the channel door of the digestion completion channel corresponding to the digestion completion channel number, and a digestion completion channel opening completion signal is returned.
[0030] Upon receiving the signal indicating that the digestion completion channel has opened, the robotic arm is controlled to remove the target milk sample from the digestion completion channel of the digester.
[0031] The present invention also provides a digestion control device, comprising the following modules.
[0032] The weighing control module is used to send a weighing instruction for the target milk sample to the robotic arm. The weighing instruction includes the target milk sample type and the target sample quantity, so as to control the robotic arm to weigh the target milk sample.
[0033] The feeding control module is used to control the robotic arm to send the target milk sample into the idle channel of the digester after monitoring that the robotic arm has finished weighing, and to receive the feeding completion signal from the robotic arm.
[0034] The digestion control module is used to send the corresponding target digestion method to the digester based on the target milk sample type and target sample quantity, so as to digest the target milk sample.
[0035] The material handling control module is used to control the robotic arm to remove the target milk sample from the digestion completion channel of the digester when it is detected that a channel of the digester has completed digestion.
[0036] The present invention also provides a digestion control system, comprising: a robotic arm, a digester, and a host computer.
[0037] The host computer sends a weighing instruction for the target milk sample to the robotic arm. The weighing instruction includes the target milk sample type and the target sample quantity. After receiving the weighing instruction, the robotic arm weighs the target milk sample.
[0038] The host computer monitors the completion of the weighing by the robotic arm, controls the robotic arm to send the target milk sample into the idle channel of the digester, and receives the feeding completion signal from the robotic arm.
[0039] The host computer sends the corresponding target digestion method to the digester based on the target milk sample type and target sample quantity, and the digester digests the target milk sample according to the target digestion method.
[0040] When the host computer detects that a channel of the digester has completed digestion, it controls the robotic arm to remove the target milk sample from the digestion completion channel of the digester.
[0041] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the resolution control method as described above.
[0042] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the resolution control method as described above.
[0043] The digestion control method, apparatus, and system provided by this invention control the robotic arm to weigh the target milk sample by sending a weighing command to the robotic arm; after the robotic arm has completed weighing, it sends the target milk sample into an idle channel of the digester; based on the type and quantity of the target milk sample, a corresponding target digestion method is sent to the digester to digest the target milk sample; when a channel of the digester has completed digestion, the robotic arm removes the target milk sample from the digestion completion channel of the digester. This control process achieves automatic digestion control of the target milk sample, improving digestion efficiency, reducing labor costs, and avoiding the risk of inaccurate subsequent spectral component analysis results due to improper manual operation. Attached Figure Description
[0044] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0045] Figure 1 This is one of the flowcharts of the digestion control method provided by the present invention.
[0046] Figure 2 This is the second flowchart of the digestion control method provided by the present invention.
[0047] Figure 3 This is the third flowchart of the digestion control method provided by the present invention.
[0048] Figure 4 This is the fourth flowchart of the digestion control method provided by the present invention.
[0049] Figure 5 This is the fifth flowchart of the digestion control method provided by the present invention.
[0050] Figure 6 This is the sixth flowchart of the digestion control method provided by the present invention.
[0051] Figure 7 This is a schematic diagram of the digestion control device provided by the present invention.
[0052] Figure 8 This is a schematic diagram of the digestion control system provided by the present invention.
[0053] Figure 9 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation
[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.
[0055] To address the low efficiency and inherent risks of human error in manual digestion processes in existing technologies, this embodiment employs a host computer to control a robotic arm and a digester, automating the digestion process of dairy products through interaction among the three. The digestion control method of this embodiment is applied to the host computer, and the specific process is as follows: Figure 1As shown, it includes steps S110 to S140.
[0056] Step S110: Send a weighing instruction for the target milk sample to the robotic arm. The weighing instruction includes the target milk sample type and the target sample quantity, so as to control the robotic arm to weigh the target milk sample.
[0057] Specifically, the host computer issues a weighing command for the target milk sample to the robotic arm. This weighing command includes the target milk sample type and the target sample quantity. The robotic arm has a built-in PLC control program. After receiving the weighing command, the robotic arm (i.e., the PLC control program) grasps the digestion tube and places it on the weighing platform. The robotic arm then grasps the sample cup corresponding to the target milk sample type and pours the target milk sample into the digestion tube. Once the weighing result reaches the target sample quantity, the pouring of the target milk sample stops, and the weighing is completed.
[0058] It should be noted that the robotic arm can grasp the sample cup corresponding to the target milk sample type by recognizing the milk sample type label on the sample cup using the image recognition method of the camera at the front end of the robotic arm, or by other preset positioning methods (e.g., the specific coordinates of sample cups of different milk sample types are preset in the aforementioned PLC control program). During weighing, the weight display area of the weighing device can also be recognized by the image recognition method of the camera at the front end of the robotic arm. When the target sample volume is reached, the pouring of the target milk sample stops.
[0059] Step S120: After monitoring that the robotic arm has finished weighing, control the robotic arm to send the target milk sample into the idle channel of the digester, and receive the feeding completion signal from the robotic arm.
[0060] Specifically, the host computer monitors the robotic arm's working status in real time. After weighing, the robotic arm sets its weighing status to true. When the host computer detects that the weighing status is true, it controls the robotic arm to send the target milk sample into the idle channel of the digester. That is, the robotic arm picks up the weighed digestion tube, places it into the digestion rack, and then sends the digestion rack into the idle channel of the digester. After the robotic arm sends the target milk sample into the idle channel of the digester, it sends a feeding completion signal back to the host computer. Upon receiving this feeding completion signal, the host computer confirms that the robotic arm's feeding is complete. Of course, when the robotic arm receives a weighing command, it resets the weighing status to false.
[0061] Step S130: Based on the target milk sample type and target sample quantity, the corresponding target digestion method is sent to the digester to digest the target milk sample.
[0062] Specifically, the dosage of acid added during digestion varies depending on the type and quantity of the target milk sample. In other words, adding different amounts of acid constitutes different digestion methods. After receiving the feeding completion signal from the robotic arm, the host computer sends the target digestion method (acid dosage) corresponding to the target milk sample type and quantity to the digester. Upon receiving the target digestion method, the digester digests the target milk sample.
[0063] Step S140: When it is detected that a channel of the digester has completed digestion, control the robotic arm to remove the target milk sample from the digestion completion channel of the digester.
[0064] Specifically, the digester has different channels, each capable of holding different target milk samples for digestion. Once the target milk sample in one channel has been digested, the digester sets that channel to a "digestion complete" state. The host computer monitors the status of each channel in real time, for example, polling all channels every 10 seconds. When a channel is found to have completed digestion, the computer controls a robotic arm to remove the target milk sample from that channel and continues polling the next channel. After the robotic arm removes the target milk sample from the digested channel, it can be sent to the next step: spectral analysis of the target milk sample's composition.
[0065] In the digestion control method of this embodiment, a weighing command for the target milk sample is sent to the robotic arm to control the robotic arm to weigh the target milk sample. After the robotic arm completes the weighing, it is controlled to send the target milk sample into an idle channel of the digester. Based on the target milk sample type and quantity, a corresponding target digestion method is sent to the digester to digest the target milk sample. When it is detected that a channel of the digester has completed digestion, the robotic arm is controlled to remove the target milk sample from the digestion completion channel of the digester. The above control process realizes automatic digestion control of the target milk sample, improves digestion efficiency, reduces labor costs, and avoids the problem of inaccurate subsequent spectral component analysis results due to improper manual operation.
[0066] In some embodiments, such as Figure 2 As shown, step S120 specifically includes the following steps.
[0067] Step S210: Monitor the weighing completion signal of the robotic arm in real time. Specifically, the robotic arm will set the weighing status to true after the weighing is completed. When the host computer detects that the weighing status is true, it determines that the robotic arm has completed the weighing of the target milk sample.
[0068] Step S220: After detecting the weighing completion signal of the robotic arm, an idle channel query command is sent to the digester to control the digester to query the status of each channel and return an idle channel confirmation signal. That is, after the host computer detects that the weighing status of the robotic arm is set to true, it sends an idle channel query command to the digester. This idle channel query command is used to instruct the digester to query the status of each channel and return an idle channel confirmation signal.
[0069] Step S230: Receive the idle channel confirmation signal returned by the digester. If the idle channel confirmation signal is true, control the digester to open an idle channel. A true idle channel confirmation signal indicates that the digester currently has at least one idle channel. In this case, the host computer controls the digester to open an idle channel. Conversely, if the idle channel confirmation signal is false, the host computer will wait and send an idle channel query command to the digester at predetermined time intervals.
[0070] Step S240: Control the robotic arm to deliver the target milk sample into the idle channel, and receive a delivery completion signal from the robotic arm. Specifically, the host computer sends a delivery command to the robotic arm. Since the idle channel is open, the robotic arm can identify the idle channel through the channel image, and thus deliver the target milk sample into the idle channel. After delivering the target milk sample into the idle channel, the robotic arm returns a delivery completion signal to the host computer.
[0071] It should be noted that controlling the digester to open an empty channel can be achieved by the host computer issuing only an open command. Upon receiving the open command, the digester randomly determines which empty channel to open and returns the channel number of that empty channel to the host computer. When the host computer controls the robotic arm to deliver the target milk sample into the empty channel, it sends the channel number to the robotic arm. This allows the robotic arm to more accurately identify and locate the empty channel by combining the recognition of the channel image with the recognition of the channel number on the digester's casing.
[0072] In this embodiment, by first confirming with the digester whether there is an empty channel and opening the empty channel, the robotic arm is controlled to send the target milk sample into the empty channel, ensuring the sequential execution of the digestion control process.
[0073] In some embodiments, the idle channel confirmation signal includes: a channel number and a corresponding status; each channel of the digester has a unique number. Based on this, as... Figure 3 As shown, step S230 specifically includes the following steps.
[0074] Step S310: Receive the idle channel confirmation signal returned by the digester and parse the channel number and corresponding status. Specifically, the digester generates an idle channel confirmation signal based on the channel number and corresponding status of each channel. That is, the idle channel confirmation signal includes the channel number and corresponding status information of all channels in the digester. For example, if the digester has five channels, numbered A, B, C, D and E, the idle channel confirmation signal format is: (A,0)(B,1)(C,1)(D,0)(E,1), where 0 indicates an idle state and 1 indicates an occupied state. In this case, the idle channel confirmation signal indicates that only channels A and D are idle.
[0075] Step S320: If at least one channel number is in an idle state, confirm that the idle channel confirmation signal is true, and select any idle channel number as the target channel number. For example, if both channels A and D are idle, the host computer can randomly select one of channels A and D as the target channel number.
[0076] Step S330: Send an opening command, including the target channel number, to the digester to control the digester to open the channel door of the idle channel corresponding to the target channel number, and return an idle channel opening completion signal. Specifically, after receiving the opening command, the digester executes the action of opening the channel with the target channel number, and returns an idle channel opening completion signal to the host computer.
[0077] In this embodiment, by actively selecting an idle channel and sending an opening command including the target channel number to the digester, the digester opens the channel door of the idle channel indicated by the host computer. This eliminates the need for manual selection of an idle channel, thereby reducing the need for improvements to the digester's internal control program. Digestion control can be achieved using only the original control command interface of the digester's control program, making the digestion control method simpler to implement.
[0078] In some embodiments, such as Figure 4 As shown, step S240 specifically includes the following steps.
[0079] Step S410: Receive the idle channel door opening completion signal to confirm that the idle channel door is open. This step confirms that the idle channel door is open to avoid the robotic arm feeding material when the door is not open due to a door opening failure.
[0080] Step S420: Send a feeding instruction including the target channel number to the robotic arm to control the robotic arm to feed the target milk sample into the corresponding idle channel and return a feeding completion signal. The feeding instruction instructs the robotic arm to feed the target milk sample into the idle channel. This feeding instruction includes the target channel number, allowing the robotic arm to more accurately identify and locate the idle channel by combining the recognition of the channel image with the recognition of the channel number on the digester housing. After the robotic arm identifies and locates the idle channel, it grips the digester and feeds the sample into the idle channel. When the robotic arm's grippers release, it returns a feeding completion signal.
[0081] Step S430: Receive the feeding completion signal returned by the robotic arm. Specifically, after receiving the feeding completion signal, the host computer confirms that the robotic arm has completed feeding.
[0082] In some embodiments, such as Figure 5 As shown, step S130 specifically includes the following steps.
[0083] Step S510: After receiving the feeding completion signal, based on the target milk sample type, target sample quantity, and a preset relationship table, confirm the target digestion method. The preset relationship table records the correspondence between milk sample type, sample quantity, and digestion method. Specifically, the host computer pre-sets relationship expressions for different milk sample types, sample quantities, and corresponding digestion methods. Each milk sample type corresponds to one relationship expression, which can be a function with sample quantity as the independent variable and the dosage of added acid as the dependent variable. Substituting the sample quantity into this function yields the corresponding dosage of added acid, which is also the corresponding target digestion method.
[0084] Step S520: A digestion command including the target digestion method and the target channel number is sent to the digester to control the digester to close the channel door corresponding to the target channel number and digest the target milk sample in the channel corresponding to the target channel number according to the target digestion method. In this step, the host computer sends a digestion command including the target digestion method and the target channel number to the digester. The digestion command instructs the digester to first close the channel door corresponding to the target channel number and then digest the target milk sample in the channel corresponding to the target channel number according to the target digestion method.
[0085] In this embodiment, a preset relationship table is used to record the relationship between milk sample type, sample quantity and digestion method, so as to quickly obtain the target digestion method according to the target milk sample type and target sample quantity, thereby improving digestion efficiency.
[0086] In some embodiments, such as Figure 6 As shown, step S140 specifically includes the following steps.
[0087] Step S610: Read the status of each channel of the digester at preset intervals, determine the channel with the status of "digestion complete" as the digestion complete channel, and obtain the digestion complete channel number. Specifically, after the target milk sample in any channel is digested, the digester will set the status of that channel, for example: 0 indicates idle state, 1 indicates occupied state, and 2 indicates digestion complete state. The host computer reads the status of each channel of the digester at preset intervals (e.g., 10 seconds). If the status of a certain channel is 2, it indicates that the channel is the digestion complete channel, and obtains the digestion complete channel number.
[0088] Step S620: Send an opening command including the digestion completion channel number to the digester to control the digester to open the channel door of the digestion completion channel corresponding to the digestion completion channel number, and return a digestion completion channel opening completion signal. That is, the host computer sends an opening command including the digestion completion channel number to the digester. After receiving the opening command including the digestion completion channel number, the digester opens the channel door of the digestion completion channel and returns a digestion completion channel opening completion signal to the host computer.
[0089] Step S630: After receiving the digestion completion channel opening completion signal, control the robotic arm to remove the target milk sample from the digestion completion channel of the digester. Specifically, after receiving the digestion completion channel opening completion signal, the host computer sends a material removal command to the robotic arm. The material removal command includes the digestion completion channel number. After receiving the material removal command, the robotic arm identifies the current opening status and the number on the channel of the digester housing through a camera, determines the digestion completion channel, and then removes the target milk sample from the digestion completion channel.
[0090] In this embodiment, the status of each channel of the digester is read at preset intervals, which can obtain the status of each channel of the digester in real time and determine in a timely manner whether the target milk sample in the channel has been digested, thereby further improving the digestion efficiency.
[0091] The digestion control device provided by the present invention is described below. The digestion control device described below can be referred to in correspondence with the digestion control method described above.
[0092] The digestion control device of this invention embodiment, such as Figure 7 As shown, it includes the following modules.
[0093] The weighing control module 710 is used to send a weighing instruction for the target milk sample to the robotic arm. The weighing instruction includes the target milk sample type and the target sample quantity, so as to control the robotic arm to weigh the target milk sample.
[0094] The feeding control module 720 is used to control the robotic arm to send the target milk sample into the idle channel of the digester after monitoring that the robotic arm has finished weighing, and to receive the feeding completion signal from the robotic arm.
[0095] The digestion control module 730 is used to send the corresponding target digestion method to the digester based on the target milk sample type and target sample quantity, so as to digest the target milk sample.
[0096] The material handling control module 740 is used to control the robotic arm to remove the target milk sample from the digestion completion channel of the digester when it is detected that a channel of the digester has completed digestion.
[0097] In some embodiments, the feeding control module 720 is specifically used to monitor the weighing completion signal of the robotic arm in real time; after monitoring the weighing completion signal of the robotic arm, it sends an idle channel query command to the digester to control the digester to query the status of each channel and return an idle channel confirmation signal; it receives the idle channel confirmation signal returned by the digester, and if the idle channel confirmation signal is true, it controls the digester to open an idle channel; it controls the robotic arm to send the target milk sample into the idle channel and receives the feeding completion signal of the robotic arm.
[0098] In some embodiments, the idle channel confirmation signal includes: a channel number and a corresponding status; wherein, the feeding control module 720 is specifically used to receive the idle channel confirmation signal returned by the digester, and parse the channel number and the corresponding status; when at least one channel number corresponds to an idle status, confirm that the idle channel confirmation signal is true, and select any idle channel number as the target channel number; send an opening command including the target channel number to the digester to control the digester to open the channel door of the idle channel corresponding to the target channel number, and return an idle channel opening completion signal.
[0099] In some embodiments, the feeding control module 720 is specifically used to receive the idle channel door opening completion signal to determine that the idle channel door is open; send a feeding instruction including the target channel number to the robotic arm to control the robotic arm to feed the target milk sample into the corresponding idle channel, and return the feeding completion signal; and receive the feeding completion signal returned by the robotic arm.
[0100] In some embodiments, the digestion control module 730 is specifically used to, after receiving the feeding completion signal, confirm the target digestion method based on the target milk sample type, target sample quantity, and a preset relationship table, wherein the preset relationship table records the correspondence between milk sample type, sample quantity, and digestion method; and send a digestion instruction including the target digestion method and target channel number to the digester to control the digester to close the channel door of the channel corresponding to the target channel number, and digest the target milk sample in the channel corresponding to the target channel number according to the target digestion method.
[0101] In some embodiments, the digestion control module 740 is specifically used to read the status of each channel of the digester at preset intervals, determine the channel with the status of digestion completion as the digestion completion channel, and obtain the digestion completion channel number; send an opening command including the digestion completion channel number to the digester to control the digester to open the channel door of the digestion completion channel corresponding to the digestion completion channel number, and return a digestion completion channel opening completion signal; after receiving the digestion completion channel opening completion signal, control the robotic arm to remove the target milk sample from the digestion completion channel of the digester.
[0102] The present invention also provides a digestion control system, such as Figure 8 As shown, it includes: host computer 810, robotic arm 820 and digester 830.
[0103] The host computer 810 sends a weighing instruction for the target milk sample to the robotic arm 820. The weighing instruction includes the target milk sample type and the target sample quantity. After receiving the weighing instruction, the robotic arm 820 weighs the target milk sample.
[0104] The host computer 810 monitors that the robotic arm 820 has completed weighing, controls the robotic arm 820 to send the target milk sample into the idle channel of the digester 830, and receives the feeding completion signal from the robotic arm 820.
[0105] The host computer 810 sends the corresponding target digestion method to the digester 830 based on the target milk sample type and target sample quantity, and the digester 830 digests the target milk sample according to the target digestion method.
[0106] When the host computer detects that a channel of the digester 830 has completed digestion, it controls the robotic arm 820 to remove the target milk sample from the digestion completion channel of the digester 830.
[0107] The specific interaction method among the host computer 810, robotic arm 820 and digester 830 can be referred to the above method embodiment, and will not be repeated here.
[0108] Figure 9 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 9 As shown, the electronic device can be the aforementioned host computer, and it may include: a processor 910, a communication interface 920, a memory 930, and a communication bus 940. The processor 910, communication interface 920, and memory 930 communicate with each other via the communication bus 940. The processor 910 can call logical instructions from the memory 930 to execute a resolution control method, which includes the following steps.
[0109] A weighing instruction for a target milk sample is sent to the robotic arm. The weighing instruction includes the target milk sample type and the target sample quantity, so as to control the robotic arm to weigh the target milk sample.
[0110] After monitoring that the robotic arm has completed weighing, control the robotic arm to send the target milk sample into the idle channel of the digester, and receive the feeding completion signal from the robotic arm.
[0111] Based on the target milk sample type and target sample quantity, the corresponding target digestion method is sent to the digester to digest the target milk sample.
[0112] When the digester detects that a channel has completed digestion, the robotic arm is controlled to remove the target milk sample from the digestion completion channel of the digester.
[0113] Furthermore, the logical instructions in the aforementioned memory 930 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0114] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer is able to execute the resolution control method provided by the above methods, the method including the following steps.
[0115] A weighing instruction for a target milk sample is sent to the robotic arm. The weighing instruction includes the target milk sample type and the target sample quantity, so as to control the robotic arm to weigh the target milk sample.
[0116] After monitoring that the robotic arm has completed weighing, control the robotic arm to send the target milk sample into the idle channel of the digester, and receive the feeding completion signal from the robotic arm.
[0117] Based on the target milk sample type and target sample quantity, the corresponding target digestion method is sent to the digester to digest the target milk sample.
[0118] When the digester detects that a channel has completed digestion, the robotic arm is controlled to remove the target milk sample from the digestion completion channel of the digester.
[0119] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the resolution control methods provided by the above methods, the method comprising the following steps.
[0120] A weighing instruction for a target milk sample is sent to the robotic arm. The weighing instruction includes the target milk sample type and the target sample quantity, so as to control the robotic arm to weigh the target milk sample.
[0121] After monitoring that the robotic arm has completed weighing, control the robotic arm to send the target milk sample into the idle channel of the digester, and receive the feeding completion signal from the robotic arm.
[0122] Based on the target milk sample type and target sample quantity, the corresponding target digestion method is sent to the digester to digest the target milk sample.
[0123] When the digester detects that a channel has completed digestion, the robotic arm is controlled to remove the target milk sample from the digestion completion channel of the digester.
[0124] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.
[0125] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A digestion control method, characterized in that, include: Send a weighing instruction for the target milk sample to the robotic arm. The weighing instruction includes the target milk sample type and the target sample quantity, so as to control the robotic arm to weigh the target milk sample. After monitoring that the robotic arm has finished weighing, control the robotic arm to send the target milk sample into the idle channel of the digester, and receive the feeding completion signal from the robotic arm; Based on the target milk sample type and target sample quantity, the corresponding target digestion method is sent to the digester to digest the target milk sample; When the digester detects that a channel has completed digestion, the robotic arm is controlled to remove the target milk sample from the digestion completion channel of the digester.
2. The digestion control method according to claim 1, characterized in that, After monitoring that the robotic arm has completed weighing, the system controls the robotic arm to send the target milk sample into the idle channel of the digester, and receives a feeding completion signal from the robotic arm, including: The weighing completion signal of the robotic arm is monitored in real time; After detecting the weighing completion signal of the robotic arm, an idle channel query command is sent to the digester to control the digester to query the status of each channel and return an idle channel confirmation signal; Receive the idle channel confirmation signal returned by the digester, and control the digester to open an idle channel if the idle channel confirmation signal is true; The robotic arm is controlled to deliver the target milk sample into the idle channel, and the delivery completion signal from the robotic arm is received.
3. The digestion control method according to claim 2, characterized in that, The idle channel confirmation signal includes: the channel number and the corresponding status; The process includes receiving an idle channel confirmation signal from the digester, and, if the idle channel confirmation signal is true, controlling the digester to open an idle channel, including: Receive the idle channel confirmation signal returned by the digester, and parse the channel number and corresponding status; If at least one channel number is in an idle state, confirm that the idle channel confirmation signal is true, and select any idle channel number as the target channel number. An opening command, including the target channel number, is sent to the digester to control the digester to open the channel door of the idle channel corresponding to the target channel number and return an idle channel opening completion signal.
4. The digestion control method according to claim 3, characterized in that, Controlling the robotic arm to deliver the target milk sample into the idle channel and receiving a delivery completion signal from the robotic arm includes: Receive the idle channel door opening completion signal to confirm that the idle channel door is open; Send a feeding instruction including the target channel number to the robotic arm to control the robotic arm to feed the target milk sample into the corresponding idle channel, and return the feeding completion signal; Receive the feeding completion signal returned by the robotic arm.
5. The digestion control method according to claim 3, characterized in that, Based on the target milk sample type and target sample quantity, a corresponding target digestion method is sent to the digester to digest the target milk sample, including: After receiving the feeding completion signal, the target digestion method is confirmed based on the target milk sample type, target sample quantity, and a preset relationship table, wherein the preset relationship table records the correspondence between milk sample type, sample quantity, and digestion method. The digestion instruction, including the target digestion method and the target channel number, is sent to the digester to control the digester to close the channel door of the channel corresponding to the target channel number, and to digest the target milk sample in the channel corresponding to the target channel number according to the target digestion method.
6. The digestion control method according to any one of claims 1 to 5, characterized in that, When it is detected that a channel of the digester has completed digestion, the robotic arm is controlled to remove the target milk sample from the digestion completion channel of the digester, including: reading the status of each channel of the digester at preset time intervals, determining the channel with the status of digestion completion as the digestion completion channel, and obtaining the digestion completion channel number; An opening command including the digestion completion channel number is sent to the digester to control the digester to open the channel door of the digestion completion channel corresponding to the digestion completion channel number, and return a digestion completion channel opening completion signal; Upon receiving the signal indicating that the digestion completion channel has opened, the robotic arm is controlled to remove the target milk sample from the digestion completion channel of the digester.
7. A digestion control device, characterized in that, include: The weighing control module is used to send a weighing instruction for the target milk sample to the robotic arm. The weighing instruction includes the target milk sample type and the target sample quantity, so as to control the robotic arm to weigh the target milk sample. The feeding control module is used to control the robotic arm to send the target milk sample into the idle channel of the digester after monitoring that the robotic arm has finished weighing, and to receive the feeding completion signal from the robotic arm. The digestion control module is used to send the corresponding target digestion method to the digester based on the target milk sample type and target sample quantity, so as to digest the target milk sample; The material handling control module is used to control the robotic arm to remove the target milk sample from the digestion completion channel of the digester when it is detected that a channel of the digester has completed digestion.
8. A digestion control system, characterized in that, include: Robotic arm, digester, and host computer; The host computer sends a weighing instruction for the target milk sample to the robotic arm. The weighing instruction includes the target milk sample type and the target sample quantity. After receiving the weighing instruction, the robotic arm weighs the target milk sample. The host computer monitors that the robotic arm has finished weighing and controls the robotic arm to send the target milk sample into the idle channel of the digester, and receives the feeding completion signal from the robotic arm. The host computer sends the corresponding target digestion method to the digester based on the target milk sample type and target sample quantity, and the digester digests the target milk sample according to the target digestion method; When the host computer detects that a channel of the digester has completed digestion, it controls the robotic arm to remove the target milk sample from the digestion completion channel of the digester.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the resolution control method as described in any one of claims 1 to 6.
10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the resolution control method as described in any one of claims 1 to 6.