CN114755139B - An automatic code system with moisture content measurement function for blocks - Google Patents

Abstract

The invention discloses an automatic starter stacking system with a starter block water content measuring function. The invention comprises a conveying device, wherein the rear side of the conveying device is connected with a belt scale, the belt scale is used for acquiring the mass M of a yeast block and sending the mass M of the yeast block to a control unit, the tail end of the belt scale is provided with a turnover mechanism, the turnover mechanism is used for turning the yeast block from a flat state to an upright state, one side of the turnover mechanism is provided with a placing table, one side of the placing table is provided with a yeast stacking device and a transport vehicle, the yeast stacking device is provided with a 2D visual camera and a laser positioning lamp, the 2D visual camera is also used for acquiring image data of the yeast block after turning, the control unit calculates the water content of the yeast block based on the image data of the yeast block, and if the water content of the yeast block is within a set humidity threshold range, the yeast stacking device is controlled to place the yeast block on the placing table into the transport vehicle. The invention realizes automatic and unmanned code yeast operation by utilizing machine vision and robot technology, and realizes intelligent manufacturing and upgrading of the white spirit industry.

Description

Automatic starter stacking system with starter block water content measuring function

Technical Field

The invention relates to the technical field of automatic yeast stacking systems with a yeast block water content measuring function, in particular to an automatic yeast stacking system with a yeast block water content measuring function.

Background

The yeast is bone of wine, and the Daqu is an important raw material for brewing white wine. The preparation process generally comprises pulverizing semen Tritici Aestivi or fructus Hordei vulgaris with pulverizer, adding mother yeast powder and water, stirring, and press molding with yeast pressing machine. The shape of the curved block is usually a cuboid or one side of a cuboid bulges out. The traditional starter propagation is that after starter block starter propagation is molded, the starter block starter propagation is manually piled up on an electric trolley and then conveyed to a culture room for fermentation by the trolley. Each yeast block weighs 3-5kg, the beat is 3 seconds, the manual yeast stacking is a heavy manual labor, and the continuous operation of the pulverizer and the yeast pressing machine is in a yeast pressing field, so that the noise is very loud, and the manual yeast stacking operation is not facilitated.

Disclosure of Invention

The invention aims to provide an automatic starter stacking system with a starter block water content measuring function, aiming at the defects in the prior art.

In order to achieve the above-mentioned purpose, the invention provides an automatic yeast stacking system with a function of measuring the moisture content of a yeast, which comprises a conveying device for conveying the yeast, wherein the rear side of the conveying device is connected with a belt scale, the belt scale is used for acquiring the mass M of the yeast and sending the mass M of the yeast to a control unit, the tail end of the belt scale is provided with a turnover mechanism, the turnover mechanism is used for turning the yeast from a flat state to an upright state, one side of the turnover mechanism is provided with a placing table, one side of the placing table is provided with a yeast stacking device and a transport vehicle, the yeast stacking device is provided with a 2D visual camera and a laser positioning lamp, the control unit utilizes the image acquired by the 2D visual camera and the laser positioning reference line sent by the laser positioning lamp to construct the relation between the image coordinate and the physical world, and realize the pose judgment and positioning of the transport vehicle through angle detection and distance detection, the 2D visual camera is also used for acquiring the image data of the yeast, the control unit is used for acquiring the thickness H of the yeast based on the image data of the yeast, and calculating the cross-sectional area S=V=V of the yeast in combination with the image data of the yeast to calculate the cross-sectional area of the yeast to calculate the volume of the yeast and the humidity of the yeast in the volume of the yeast and the yeast is set up in the humidity area of the yeast is set at the humidity area or not, and the humidity of the humidity is set in the humidity area is set up in the humidity area is set to be equal to the humidity area.

Further, the real-time water content mc=k _i ×ρ is calculated based on a multipoint calibration method, where K _i is a piecewise linearization coefficient, i=1, 2.

Further, the stacking device grabs 3 curved blocks each time, and when the curved blocks are placed into the transportation vehicle, the control unit adjusts the coordinates of the stacking center according to the total thickness of the three curved blocks.

Further, before the starter is grabbed and after the starter is stacked, the control unit controls the 2D vision camera to collect image data of the starter, and identifies the pose of the starter in the image based on a pose detection algorithm so as to judge whether the pose of the starter is normal or not, if not, starter stacking operation is stopped, and an alarm signal is sent out.

Further, the stacking device comprises a 6-axis robot and a clamping mechanism arranged on the 6-axis robot.

Further, the conveyor is a belt conveyor.

Further, the conveying device is provided with a scraping plate mechanism, the scraping plate mechanism comprises a bracket fixed on the upper side of the conveying device and a scraping plate rotatably connected with the middle part of the upper side of the bracket, and a torsion spring is arranged between the scraping plate and the bracket.

Further, the tail end of the belt scale is provided with a roller conveyor, the turnover mechanism comprises a fixed seat fixed on one side of the roller conveyor, the middle part of the fixed seat is rotatably connected with a rotating shaft, the rotating shaft is fixedly connected with a motor fixed on the fixed seat, a plurality of L-shaped turnover frames are fixed on the upper side of the rotating shaft, and gaps matched with the L-shaped turnover frames are respectively arranged on the roller conveyor and the discharge table.

The intelligent starter stacking machine has the advantages that automatic and unmanned starter stacking operation is achieved through machine vision and a robot technology, intelligent manufacturing and upgrading of the white spirit industry are achieved, whether the water content of the starter meets the requirements or not can be judged through collecting the weight and the thickness of the starter, the water content of the starter placed in a transport vehicle is in a set range, the upper surface of the starter is processed through a scraping mechanism, the upper surface of the starter is flatter, the starter is turned through a turning mechanism, the starter is converted from a flat state to a standing state, and starter stacking operation is facilitated.

Drawings

FIG. 1 is a schematic diagram of an automatic starter stacking system with starter block moisture content measurement function;

FIG. 2 is a schematic diagram of calculating the angle between a laser positioning reference vertical and a vertical of a central reference of a truck;

FIG. 3 is a schematic diagram of calculating the height of a transporter;

FIG. 4 is a schematic diagram of adjusting the coordinates of the stacking center according to the thickness of the curved block;

FIG. 5 is a schematic view of the pose of a curved block;

FIG. 6 is a schematic structural view of the screeding mechanism;

FIG. 7 is a schematic illustration of a strickling mechanism strickling a curved block;

FIG. 8 is a schematic diagram of the mating structure of the turnover mechanism with the roller conveyor and the conveyor belt of the placement platform;

fig. 9 is a schematic structural view of the tilting mechanism.

Detailed Description

The invention will be further illustrated by the following drawings and specific examples, which are carried out on the basis of the technical solutions of the invention, it being understood that these examples are only intended to illustrate the invention and are not intended to limit the scope of the invention.

As shown in fig. 1 to fig. 1, an embodiment of the present invention provides an automatic starter stacking system with a starter block moisture content measuring function, which includes a conveyor 1, and the conveyor 1 preferably employs a belt conveyor for transporting a starter block 2 that has just been pressed. The belt balance 3 is connected to the rear side of the conveyor 1, and when the crankshaft 2 passes through the belt balance 3, the belt balance 3 can acquire the mass M of the crankshaft 2, and then the mass M of the crankshaft 2 is sent to the control unit. The bent piece 2 is placed in a flat state when the conveyer 1 and the belt balance 3 are arranged, the tail end of the belt balance 3 is provided with a turnover mechanism 8, and the turnover mechanism 8 is used for turning the bent piece 2 from the flat state to an upright state so as to facilitate stacking at the back. The belt scale 3 is connected with a placing table 4 at the rear side, a conveyor belt is also arranged at the front part of the placing table 4, the bent block 2 after overturning is continuously conveyed forward to the front end of the placing table 4 by the conveyor belt, a stacking device 5 and a transport vehicle 6 are arranged at one side of the front end of the placing table 4, a 2D visual camera 7 and a laser positioning lamp 11 are arranged on the stacking device 5, a control unit utilizes an image collected by the 2D visual camera 7 and a laser positioning datum line sent by the laser positioning lamp 11 to construct the relationship between an image coordinate and a physical world, and position and pose judgment and positioning of the transport vehicle 6 are realized through angle detection and distance detection.

Specifically, on the same horizontal plane, the 2D vision camera 7 can measure the number of pixels in the length direction of the standard laser line, and obtain the proportional relationship K' between the pixel size and the physical world size according to the length of the manually measured laser line. The pixel coordinates of the central point of the transport vehicle 6 and the laser positioning reference central point can be obtained through image processing algorithm software, and the pixel coordinates of the central point of the transport vehicle 6 are multiplied by a proportional relation K', so that the coordinates of the physical world are obtained. Referring to fig. 2, the control unit detects an included angle r° between the laser positioning reference vertical line and the vertical line of the central reference of the transport vehicle 6, which is an angle to be rotated by the included angle at the end of the stacking device 5, through an angle detection algorithm. Referring to fig. 3, the control unit may measure the line length L 'of the laser line irradiated on the ground plane in the figure by using the image collected by the 2D vision camera 7, refer to the standard height line L1' and the pixel number of the transport vehicle height line L2', and measure the height H1' by combining with manual work, so as to calculate the real-time height H2 '=h1' (L '-L2')/(L '-L1') of the transport vehicle 6. The control unit has the center point coordinates, the included angle R degrees and the real-time height H2' of the converted transport vehicle 6, namely, the pose judgment and the positioning of the transport vehicle 6 are realized, so that the code bending device 5 is controlled to carry out code bending work.

The moisture content of the yeast 2 will affect the subsequent fermentation and other processes, in order to reject the yeast 2 with moisture content not meeting the requirement, after the yeast 2 is overturned, the 2D vision camera 7 also collects the image data of the overturned yeast 2, the control unit obtains the thickness H of the yeast 2 based on the image data of the yeast 2, and calculates the volume v=s×h of the yeast by combining the cross-sectional area S of the compression mold. When the bending machine is used for bending, the length and width of the die are fixed, that is, the cross sectional areas S of the bent pieces 2 are the same, when the die is filled with materials, the die is slightly different, and the thickness H of the bent pieces 2 is different under the same pressure. The control unit calculates the density rho=m/V of the curved block 2 based on the mass M and the volume V of the curved block 2, calculates the water content of the curved block through the density rho of the curved block 2, judges whether the water content of the current curved block 2 is within a set humidity threshold range, if so, controls the code curved device 5 to put the curved block 2 on the putting table 4 into the transport vehicle 6, otherwise, controls the code curved device 5 to put the curved block 2 into a rejecting area, and then returns to a processing place for water adding or water subtracting.

When calculating the moisture content from the density of the curved block 2, the real-time moisture content mc=k _i ×ρ is calculated based on the multipoint calibration method, where K _i is a piecewise linearization coefficient, i=1, 2. The traditional measuring method is used for drawing a point connecting line, K _i is divided into n sections, and the slope of each section is the value of the section K _i.

In order to facilitate the stacking operation, the stacking device 5 preferably grabs 3 pieces of yeast 2 at a time, and the difference between the thicknesses of the 3 pieces of yeast 2 is further increased when the 3 pieces of yeast 2 are stacked together due to the difference between the thicknesses of the respective pieces of yeast 2, which is generally between 59mm and 65 mm. When putting the curved pieces 2 into the transportation vehicle, the control unit calculates the total thickness of the three curved pieces 2, and adjusts the coordinates of the stacking center according to the total thickness of the three curved pieces 2. Referring specifically to fig. 4, assuming that when calculating the moisture content of the curved block 2, the control unit obtains the thicknesses of the three curved blocks, which are the degrees H1, H2, and H3, respectively, based on the image data of the curved block 2, the control unit may directly calculate the total thickness l=h1+h2+h3 by summing, and then adjust the coordinates of the stacking center in real time according to the current total thickness L1 of the three curved blocks 2 and the total thickness L2 of the three curved blocks 2 stacked last time.

Before stacking, when the yeast 2 topples over, the stacking device 5 cannot perform stacking operation normally, and after the yeast 2 is placed in the transport vehicle 6, if the yeast 2 topples over, the following yeast 2 will be placed. Therefore, before and after the starter stacking device 5 grabs the starter, the control unit controls the 2D vision camera 7 to collect the image data of the starter 2, and identifies the pose of the starter 2 in the image based on the pose detection algorithm, so as to determine whether the pose of the starter 2 is normal, if not, the starter stacking operation is stopped, and an alarm signal is sent out. Referring specifically to fig. 5, the pose of the bent piece 2 in the frame area in fig. 5 is normal, and the rest is abnormal.

The stacking device 5 in the embodiment of the invention preferably adopts a 6-axis robot, and a clamping mechanism is arranged on the 6-axis robot, and is in the prior art and the structure of the clamping mechanism is not repeated.

Referring to fig. 6 and 7, in order to planarize the upper surface of the curved block 2, a scraper mechanism 9 is provided on the conveyor 1, the scraper mechanism 9 includes a bracket 91 fixed to the upper side of the conveyor 1 and a scraper 92 rotatably connected to the middle of the upper side of the bracket 91, and a torsion spring 93 is provided between the scraper 92 and the bracket 91. During installation, the scraper 92 is positioned by fixing the position of the torsion spring 93, so that the scraper 92 is inclined forwards and downwards, when the bent block 2 passes through the scraper mechanism 9, the scraper 92 is in contact with the upper surface of the bent block 2, and under the action of the torsion spring 93, the scraper 92 acts on a certain pressure on the upper surface of the bent block 2, so that the upper surface of the bent block 2 is scraped.

Referring to fig. 8 and 9, in order to facilitate the overturning of the curved block 2, it is preferable that the roller conveyor 10 is disposed at the end of the belt balance 3, the overturning mechanism 8 includes a fixing seat 81 fixed at one side of the roller conveyor 10, a rotating shaft 82 is rotatably connected to the middle of the fixing seat 81, the rotating shaft 82 is fixedly connected to a motor 83 fixed on the fixing seat 81, a plurality of L-shaped overturning frames 84 are fixed at the upper side of the rotating shaft 82, the L-shaped overturning frames 84 are preferably two, and gaps matched with the L-shaped overturning frames 84 are respectively disposed on the roller conveyor 10 and the discharging table 4, so that the L-shaped overturning frames 84 can fall into the gaps at the corresponding sides before and after overturning. When the bent block 2 enters the corresponding position of the roller conveyor 10, the motor 83 drives the rotating shaft 82 and the L-shaped overturning frame 84 to rotate 90 degrees, so that the bent block 2 on the roller conveyor 10 which is horizontally arranged is overturned to be in a standing state. The turned curved block 2 is transported forward by a conveyor belt on the placing table 4, and after the curved block 2 leaves the L-shaped roll-over stand 84, the motor 83 drives the rotating shaft 82 and the L-shaped roll-over stand 84 to reversely rotate by 90 degrees, and returns to the original position to wait for the arrival of the next curved block 2.

The foregoing is merely a preferred embodiment of the present invention, and it should be noted that other parts not specifically described are within the prior art or common general knowledge to a person of ordinary skill in the art. Modifications and alterations may be made without departing from the principles of this invention, and such modifications and alterations should also be considered as being within the scope of the invention.

Claims (8)

1. An automatic code system with a function of measuring the moisture content of a block, characterized in that it comprises a conveyor for transporting the block, a belt scale is connected to the rear side of the conveyor, the belt scale is used to obtain the mass M of the block, and send the weight M of the block to a control unit, a flip mechanism is provided at the end of the belt scale, the flip mechanism is used to flip the block from a flat state to an upright state, a placing table is provided on one side of the flip mechanism, a code device and a transport vehicle are provided on one side of the placing table, a 2D visual camera and a laser positioning light are provided on the code device, the control unit uses the image collected by the 2D visual camera and the laser positioning reference line emitted by the laser positioning light to construct the relationship between the image coordinates and the physical world, and realizes the posture judgment and positioning of the transport vehicle through angle detection and distance detection, as follows: The control unit detects the angle R° between the vertical line of the laser positioning reference and the vertical line of the center reference of the transport vehicle through an angle detection algorithm, and measures the line length L', the number of pixels of the reference standard height line L1' and the transport vehicle height line L2' of the laser positioning reference line in the image captured by the 2D visual camera on the ground plane, and combines the manually measured height H1' to calculate the real-time height H2'=H1'*(L'-L2')/(L'-L1') of the transport vehicle, and combines the center point coordinates of the transport vehicle, the angle R° and the real-time height H2' to judge and locate the position of the transport vehicle; The 2D vision camera is also used to collect image data of the curved block after flipping. The control unit obtains the thickness H of the curved block based on the image data of the curved block, and calculates the volume V=S*H of the curved block in combination with the cross-sectional area S of the buckling mold. The control unit calculates the density ρ=M/V of the curved block based on the mass M and volume V of the curved block, and calculates the moisture content of the curved block through the density ρ of the curved block. The control unit determines whether the moisture content of the current curved block is within the set humidity threshold range. If it is within the set humidity threshold range, the coding device is controlled to place the curved block on the display table into the transport vehicle. Otherwise, the coding device is controlled to place the curved block into the rejection area. 2. The automatic code song system with song block moisture content measurement function according to claim 1 is characterized in that the real-time moisture content Mc=K _i *ρ is calculated based on the multi-point calibration method, wherein K _i is the piecewise linearization coefficient, i=1,2...n, and n is a natural number greater than 2. 3. The automatic coding system with moisture content measurement function of the dough blocks according to claim 1 is characterized in that the coding device grabs 3 dough blocks each time, and when the dough blocks are placed in the transport vehicle, the control unit adjusts the coordinates of the stacking center based on the total thickness of the three dough blocks and the total thickness of the three dough blocks currently and last stacked. 4. The automatic coding system with the function of measuring the moisture content of the curved block according to claim 3 is characterized in that before the coding device grabs the curved block and after stacking the curved block, the control unit controls the 2D visual camera to collect image data of the curved block, and identifies the posture of the curved block in the image based on the posture detection algorithm to determine whether the posture of the curved block is normal. If it is abnormal, the coding operation is stopped and an alarm signal is issued. 5. The automatic coding system with a block moisture content measurement function according to claim 1 is characterized in that the coding device comprises a 6-axis robot and a clamping mechanism arranged on the 6-axis robot. 6. The automatic coding system with the function of measuring the moisture content of the curved block according to claim 1 is characterized in that the conveying device is a belt conveying device. 7. The automatic code bending system with the function of measuring the moisture content of the bent block according to claim 1 is characterized in that a scraper mechanism is provided on the conveying device, and the scraper mechanism includes a bracket fixed on the upper side of the conveying device and a scraper rotatably connected to the middle part of the upper side of the bracket, and a torsion spring is provided between the scraper and the bracket. 8. The automatic code system with the function of measuring the moisture content of the bent block according to claim 1 is characterized in that a roller conveyor is provided at the end of the belt scale, and the flipping mechanism includes a fixed seat fixed on one side of the roller conveyor, and the middle part of the fixed seat is rotatably connected with a rotating shaft, and the rotating shaft is fixedly connected to the motor fixed on the fixed seat, and a plurality of L-shaped flipping frames are fixed on the upper side of the rotating shaft, and the roller conveyor and the discharge platform are respectively provided with gaps that cooperate with the L-shaped flipping frames.