Walking wheel type balance car full-automatic detection vinasse fermentation device

Abstract

The utility model provides a walking wheel type balance car full-automatic vinasse fermentation detection device which comprises a car body, a detection mechanism, a storage battery and the like, the detection mechanism is arranged on the car body and comprises a rod body, a sensor and a driving mechanism, the rod body is used for being inserted into and drawn out of vinasse, and the driving rod body is used for driving the rod body to move, so that one end of the rod body is inserted into and drawn out of the vinasse; the sensors are embedded in the rod body and comprise a temperature and humidity sensor, a PH sensor and / or an alcohol concentration sensor, and the sensors and the driving mechanism are connected with the controller; the storage battery is arranged on the vehicle body and electrically connected with the controller to supply power to the device so as to solve the problems that traditional detection results are not comprehensive, temperature changes in the whole fermentation process are difficult to accurately reflect, manual measurement is high in labor intensity and low in efficiency and is prone to being influenced by human factors, data recording is inaccurate or asynchronous, and the detection accuracy is high. And subsequent data analysis and fermentation process regulation and control are influenced. Belongs to the field of brewing monitoring.

Description

Technical Field

[0001] The utility model relates to a fully automatic detection device for distiller's grains fermentation by a walking-wheel type balance vehicle, belonging to the field of brewing monitoring. Background Technique

[0002] In the brewing industry, the fermentation process of distiller's grains is a crucial link, and its temperature control directly affects the quality and yield of wine. Traditionally, the temperature monitoring of distiller's grains piles mainly relies on manual means, such as using a mercury thermometer or a digital handheld thermometer to directly insert into the distiller's grains pile for measurement. Although this method is intuitive, it has significant limitations, resulting in incomplete temperature monitoring results, making it difficult to accurately reflect the temperature changes during the entire fermentation process. Moreover, there are numerous and widely distributed distiller's grains piles. Manual measurement one by one not only has a large labor intensity and low efficiency, but is also easily affected by human factors, leading to inaccurate or asynchronous data recording, thus affecting subsequent data analysis and fermentation process control.

[0003] The current measurement methods are as follows: For the measurement of distiller's grains temperature, mainly a mercury thermometer or a digital handheld thermometer is used, and the thermometer or thermometer is directly inserted into the distiller's grains pile for measurement. Although this method is intuitive, it has significant limitations. The length of the glass thermometer is limited, usually not exceeding 0.3 meters, making it difficult to measure the temperature deep in the distiller's grains pile. At the same time, for a large fermentation chamber, manual measurement one by one not only has a large labor intensity and low efficiency, but also the data recording is prone to errors or asynchrony; for the measurement of distiller's grains pH value, an appropriate amount of sample is taken from the distiller's grains pile, and the combined electrode of the pH meter is inserted into the processed sample, and the pH value of the distiller's grains is determined according to the reading of the instrument. The pH meter is calibrated using a standard buffer solution to ensure the accuracy of the measurement results. The measurement is relatively complex, and for a large number of distiller's grains piles, the operation efficiency is low; for the measurement of distiller's grains humidity, a humidity sensor is used, and the humidity sensor is placed in the distiller's grains pile, and the humidity of the distiller's grains is sensed and measured by the sensor.

[0004] With the rapid development of Internet of Things, artificial intelligence and robot technologies, automated and intelligent monitoring solutions have gradually become an important direction for the transformation and upgrading of the industry. In this context, this application proposes a walking-wheel type balance vehicle detection device, which has brought revolutionary changes to the temperature monitoring of the distiller's grains fermentation process. Summary of the Invention

[0005] The utility model provides a fully automatic detection device for distiller's grains fermentation by a walking-wheel type balance vehicle to solve problems such as incomplete traditional detection results, difficulty in accurately reflecting the temperature changes during the entire fermentation process, large labor intensity, low efficiency of manual measurement, and being easily affected by human factors, resulting in inaccurate or asynchronous data recording, thus affecting subsequent data analysis and fermentation process control.

[0006] To solve the above problems, a fully automatic detection device for distiller's grains fermentation using a step-wheel type balance vehicle is proposed, including:

[0007] A vehicle body, which has traveling wheels, a driving motor and a controller. The driving motor is connected to the controller, and the controller controls the movement of the vehicle body through the driving motor and the traveling wheels.

[0008] A detection mechanism, which is arranged on the vehicle body and includes a rod body, a sensor and a driving mechanism. The rod body is used to insert into and extract from the distiller's grains. The driving rod body is used to drive the rod body to move, so that one end of the rod body inserts into and extracts from the distiller's grains. The sensor is embedded in the rod body. The sensor includes a temperature and humidity sensor, a PH sensor and / or an alcohol concentration sensor. The sensor and the driving mechanism are respectively connected to the controller;

[0009] A storage battery, which is arranged on the vehicle body and electrically connected to the controller to supply power to the device.

[0010] In the above-mentioned device, there is also a data transmission module and a host computer. The controller is connected to the host computer through the data transmission module, and is used for the transmission of control signals and sensor detection data between the controller and the host computer.

[0011] In the above-mentioned device, there is also an observation mechanism. The observation mechanism is a camera. The camera is also connected to the host computer through the data transmission module, and receives the picture at the vehicle body through the host computer, so that the operator can remotely observe and operate.

[0012] In the above-mentioned device, at least three groups of sensors are distributed along the length direction of the rod body, so as to detect the parameters of the distiller's grains at different depths.

[0013] In the above-mentioned device, the vehicle body is a step-wheel type balance vehicle. The vehicle body also includes an attitude detection component, which is electrically connected to the controller and is used to monitor the balance state of the vehicle body. A set of balance leg components are respectively arranged on the relative two sides of the vehicle body. The two sets of balance leg components work independently and are respectively electrically connected to the controller on the vehicle body, and are used to adjust the balance state of the vehicle body 1. The traveling wheels are two sets of self-propelled wheel components. The two sets of self-propelled wheel components are respectively arranged at the working bottoms of the two sets of balance leg components. The two sets of self-propelled wheel components work independently and are electrically connected to the controller, and are used to drive the vehicle body to travel.

[0014] In the above-mentioned device, the attitude detection component includes an accelerometer and a gyroscope, and both the accelerometer and the gyroscope are electrically connected to the controller.

[0015] Compared with the prior art, the utility model adopts a self-balancing vehicle body structure in cooperation with a camera and / or a lidar sensor to realize the autonomous cruise of the vehicle body. It can move freely in a narrow space, can realize free movement and avoidance, has extremely strong environmental adaptability, can complete the monitoring of various data in front of each distiller's grains pile, and can also transmit the on-site situation back to the host computer or database in real time. The basic situation in the wine cellar can be observed in real time directly through the computer terminal, and the fermentation status can be feedback with high quality, which is convenient for the staff to find problems and process the distiller's grains in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the utility model;

[0017] Figure 2 is a schematic control diagram. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] In order to make the objectives, technical solutions and advantages of the utility model more clear, the following will further describe the utility model in detail with reference to the drawings. It should be understood that the specific embodiments described herein are only used to explain the utility model and are not used to limit the utility model.

[0019] Embodiment 1

[0020] Referring to Figure 1 and Figure 2 , this embodiment improves the distiller's grains fermentation detection device, mainly using a step-wheel balance vehicle to fully automatically detect the distiller's grains fermentation, specifically including:

[0021] Vehicle body 1, the vehicle body 1 is a step-wheel balance vehicle, which has traveling wheels 11, a driving motor 12 and a controller 13. The driving motor 12 is connected to the controller 13, and the controller 13 controls the movement of the vehicle body 1 through the driving motor 12 and the traveling wheels 11;

[0022] The structure of the vehicle body 1 can refer to the self-balancing wheel structure of the prior patent "An unmanned aerial vehicle with self-balancing wheels and legs". An attitude detection component 14 is also installed on the vehicle body 1. The attitude detection component 14 is electrically connected to the controller 13 and is used to monitor the balance state of the vehicle body 1. A set of balance leg components 15 are respectively arranged on the opposite sides of the vehicle body 1. The two sets of balance leg components 15 work independently and are respectively electrically connected to the controller 13 on the vehicle body 1 for adjusting the balance state of the vehicle body 1. The walking wheels 11 are two sets of self-propelled wheel components, and the two sets of self-propelled wheel components are respectively arranged at the working bottoms of the two sets of balance leg components 15. The two sets of self-propelled wheel components work independently and are electrically connected to the controller 13 for driving the vehicle body 1 to move forward. The attitude detection component 14 includes an accelerometer and a gyroscope, and both the accelerometer and the gyroscope are electrically connected to the controller 13. The self-propelled wheel component includes a bearing cylinder 16 connected to the balance leg component 15. A drive motor 12 is arranged inside the bearing cylinder 16. The drive motor 12 is electrically connected to the controller 13, and the output end of the drive motor 12 is coaxially fixed with the walking wheel 11.

[0023] The balance leg component 15 includes an adjustment motor 151, a main attitude adjustment swing arm 152, and a secondary attitude adjustment swing arm 153. There are two adjustment motors 151 in each set of balance leg components 15. The two adjustment motors 151 are fixed on the same side of the vehicle body 1 and are symmetrically distributed with respect to the length center line of the vehicle body 1. The two adjustment motors 151 work independently and are electrically connected to the controller 13. The output ends of the two adjustment motors 151 are respectively fixedly connected to the upper ends of a main attitude adjustment swing arm 152. The lower ends of the two main attitude adjustment swing arms 152 are respectively rotatably connected to the upper ends of a secondary attitude adjustment swing arm 153. The lower ends of the two secondary attitude adjustment swing arms 153 are both rotatably connected to the bearing cylinder 16 of the corresponding self-propelled wheel component.

[0024] Detection mechanism 2 is installed on the vehicle body 1 and includes a rod body 21, a sensor 22, and a driving mechanism 23. The rod body 21 is used to insert into and extract the distillers grains. The driving rod body 21 is used to drive the rod body 21 to move, so that one end of the rod body 21 inserts into and extracts the distillers grains. In this embodiment, the driving mechanism 23 adopted is two friction wheels respectively arranged on opposite sides of the rod body 21. Two motors drive the two friction wheels to rotate in opposite directions at the same time, and the rod body 21 is driven to move by the friction force of the friction wheels, cooperating with the guiding groove 24 in a fixed direction (the guiding groove 24 is fixed, and the rod body 21 passes through the guiding groove 24, as shown in the figure), so as to realize the insertion and extraction of one end of the rod body 21 into and out of the distillers grains. The sensor 22 is embedded in the rod body 21. The sensor 22 includes a temperature and humidity sensor, a PH sensor and / or an alcohol concentration sensor. The alcohol concentration sensor adopts a pin type, model: FS00701. There are many other temperature and humidity sensors and the like to be selected, and the main selection criterion is small size and sensitivity. The sensor 22 and the driving mechanism 23 are respectively connected to the controller 13. At least three groups of sensors 22 are distributed along the length direction of the rod body 21 to detect the parameters of the distillers grains at different depths;

[0025] This detection mechanism 2 can also be designed as a structure with adjustable angle. For example, the fixed base of the driving mechanism 23 is designed as a structure that can be adjusted in pitch by means of shaft connection and fixed on the base, and then the base is fixed on the upper end of the vehicle body 1 by means of a horizontally rotatable 360-degree adjustment, so as to be more flexible in use, as Figure 1 shown. [[ID=⑥]] [[ID=⑦]]

[0026] [[ID=⑧]]The storage battery 3 is installed on the vehicle body 1 and electrically connected to the controller 13 to supply power to the device; [[ID=⑨]] [[ID=⑩]]

[0027] [[ID=⑪]]The data transmission module 4 and the host computer 5. The controller 13 is connected to the host computer 5 through the data transmission module 4 for transmitting the control signal and the sensor detection data between the controller 13 and the host computer 5. [[ID=⑫]] [[ID=⑬]]

[0028] [[ID=⑭]]The observation mechanism 6. The observation mechanism is a camera. A lidar sensor can also be added to improve the monitoring ability of the surrounding conditions during the operation of the vehicle body. The camera is also connected to the host computer 5 through the data transmission module 4, and the picture at the vehicle body 1 is received through the host computer 5 so that the operator can remotely observe and operate. [[ID=⑮]] [[ID=⑯]]

[0029] [[ID=⑰]]Embodiment 2 [[ID=⑱]] [[ID=⑲]]

[0030] [[ID=⑳]]The difference between this embodiment and Embodiment 1 is that the rod body 21 is a segmented structure (structurally it is a whole, but theoretically segmented along the length direction). The length of each section of the rod body is 0.4 meters, and there are five sections in total. One group of sensors 22 is fixed on each section, and the required data at different depths can be measured by using the rod body embedded with sensors. [[ID=㉑]] [[ID=㉒]]

[0031] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A fully automatic detection device for distiller's grains fermentation of a walking wheel type balance vehicle, characterized in that, Including: A vehicle body (1) having traveling wheels (11), a drive motor (12) and a controller (13), the drive motor (12) being connected to the controller (13), and the controller (13) controlling the movement of the vehicle body (1) via the drive motor (12) and the traveling wheels (11); A detection mechanism (2) disposed on the vehicle body (1), including a rod body (21), a sensor (22), and a drive mechanism (23). The rod body (21) is used to insert into and extract from distillers' grains, and the drive rod body (21) is used to drive the rod body (21) to move so that one end of the rod body (21) inserts into and extracts from distillers' grains. The sensor (22) is embedded in the rod body (21), and the sensor (22) includes a temperature and humidity sensor, a PH sensor, and / or an alcohol concentration sensor. The sensor (22) and the drive mechanism (23) are respectively connected to the controller (13); A storage battery (3) disposed on the vehicle body (1) and electrically connected to the controller (13) to supply power to the device.

2. The fully automatic inspection device for distiller's grains fermentation of a step-wheel type self-balancing scooter according to claim 1, characterized in that: It further includes a data transmission module (4) and a host computer (5). The controller (13) is connected to the host computer (5) via the data transmission module (4) for transmitting control signals and sensor detection data between the controller (13) and the host computer (5).

3. The fully automatic detection device for distiller's grains fermentation of a step-wheel type self-balancing scooter according to claim 1, characterized in that: It further includes an observation mechanism (6), and the observation mechanism is a camera. The camera is also connected to the host computer (5) via the data transmission module (4) to receive the picture at the vehicle body (1) through the host computer (5) for remote observation and operation by the operator.

4. The fully automatic detection device for distiller's grains fermentation of a step-wheel type self-balancing scooter according to claim 1, characterized in that: At least three groups of sensors (22) are distributed along the length direction of the rod body (21) to detect parameters of distillers' grains at different depths.

5. The fully automatic detecting device for distiller's grains fermentation of a walking-wheel type self-balancing scooter according to claim 1, wherein: The vehicle body (1) is a walking-wheel type balancing vehicle. The vehicle body (1) further includes an attitude detection component (14). The attitude detection component (14) is electrically connected to the controller (13) for monitoring the balance state of the vehicle body (1). A set of balance leg components (15) are respectively arranged on the opposite sides of the vehicle body (1). The two sets of balance leg components (15) work independently and are respectively electrically connected to the controller (13) on the vehicle body (1) for adjusting the balance state of the vehicle body (1). The traveling wheels (11) are two sets of self-propelled wheel assemblies, and the two sets of self-propelled wheel assemblies are respectively arranged at the working bottoms of the two sets of balance leg components (15). The two sets of self-propelled wheel assemblies work independently and are electrically connected to the controller (13) for driving the vehicle body (1) to travel.

6. The fully automatic detection device for distiller's grains fermentation of a step-wheel type self-balancing scooter according to claim 5, characterized in that: The attitude detection component (14) includes an accelerometer and a gyroscope, and both the accelerometer and the gyroscope are electrically connected to the controller.

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