CN107874229A - A kind of automatics for soy sauce fermentation tank salt solution refining - Google Patents

Abstract

The invention relates to an automatic device for homogenizing brine in a soy sauce fermenter, comprising a fermenter integrated block arranged near the fermenter, the fermenter integrated block is provided with a solenoid valve, and the fermenter passes through two pipes arranged at the top and the lower part Connected to the two-position two-way solenoid valve, the fermenter manifold is provided with a fermenter quick connector, and the fermenter manifold is provided with markers for identification; the markers provide a reference for visual docking. The all-round mobile navigation vehicle can independently plan the path and conduct visual navigation to reach the corresponding fermentation tank location, and then use image recognition to complete the accurate docking of the quick connector of the fermentation tank and the quick connector of the circulation pump. The circulation pump makes the brine in the fermentation tank go up and down through the pipeline Circulation, using the momentum of brine circulation up and down to break up the koji floating in the fermenter to achieve automatic leveling, instead of manual salt water circulation in the fermentation tank in the soy sauce drying field, to realize the work of mechanical automatic circulation and leveling, and to achieve soy sauce drying Automated and unmanned field work.

Description

An automatic device for homogenizing brine in soy sauce fermentation tank

technical field

The invention relates to the field of equipment in the food processing industry, in particular to an automatic device for homogenizing brine in a soy sauce fermentation tank.

Background technique

There are many traditional condiments in my country. With the improvement of people's living standards, people's demand for sauces such as soy sauce is increasing, which impels the production scale of sauces to also continue to increase. In the soy sauce production process, after the materials such as koji and brine for soy sauce production are put into the fermentation tank, during the fermentation process, the brine needs to be circulated up and down, and the koji floating in the fermentation tank is broken up by the momentum of the brine up and down circulation for uniformity. material. At present, most of this link uses manual pushing of motors and circulation pumps to carry out pipeline docking and circulation work on each fermentation tank in the outdoor drying field. In harsh weather conditions such as summer, winter, and rainy season, the labor intensity of workers is high, and manual methods not only require a lot of manpower, material resources and financial resources, but also work efficiency is easily affected by the staff's business ability, work experience, mental state, etc. factors.

Contents of the invention

Aiming at the technical problems existing in the prior art, the purpose of the present invention is to provide an automatic robot and a navigation vehicle for soy sauce fermentation, which can break up the koji floating in the soy sauce fermenter to realize automatic leveling.

In order to achieve the above object, the present invention adopts following technical scheme:

An automatic device for brine homogenization in soy sauce fermenter, comprising a fermenter integrated block arranged near the fermenter, the fermenter integrated block is provided with a solenoid valve, and the fermenter is connected to two Two-way solenoid valve, the fermenter integrated block is equipped with a fermenter quick connector, and the fermenter integrated block is equipped with markers for identification; the markers provide reference for visual docking.

It also includes an all-round mobile navigation vehicle equipped with a circulating pump, a mechanical arm and a circulating pump integrated block. The circulating pump integrated block is arranged at the free end of the mechanical arm. The circulating pump is connected to the circulating pump integrated block through a circulating pump pipeline. A circulating pump quick connector is provided for matching with the fermenter quick connector, and the circulating pump manifold is provided with a visual identification device for identifying markers. After using this device, the all-round mobile navigation vehicle can independently plan the path and perform visual navigation to reach the corresponding fermentation tank position, and then use image recognition to complete the accurate docking of the quick connector of the fermentation tank and the quick connector of the circulating pump, and then turn on the circulating pump. Carry out cycle homogenization work. By using automatic devices instead of manual work, the automatic leveling work of the automatic circulation of brine in the soy sauce fermentation tank and the unmanned production line can be realized.

The all-round mobile navigation vehicle is also provided with a water tank, the water tank is provided with a water pump and a water tank pipeline, and the circulation pump integrated block is provided with a water gun, and the water gun is connected to the water tank through the water tank pipeline. After the cycle homogenization work is finished, the water gun is used to clean the integrated block of the fermenter.

The fermenter integrated block is provided with a sewage pipe. After the water gun cleans the integrated block of the fermenter, it is used to discharge the cleaning waste liquid.

The sewage pipe is connected with a waste liquid storage device. Used to store cleaning waste.

The all-round mobile navigation vehicle includes a navigation vehicle body. The navigation vehicle body is equipped with a visual navigation device, wheels and distance sensors. The wheels are omnidirectional wheels. Each wheel is connected to a separate motor and driven by a separate motor.

The body of the navigation vehicle is provided with four distance sensors, and the four distance sensors are respectively arranged at both ends and both sides of the body of the navigation vehicle. It is used to detect the position of the navigation vehicle body and the fermentation tank.

The fermenter integrated block is provided with a power socket, the fermenter integrated block is connected to the power supply, and the circulating pump integrated block is provided with a power plug that matches the power socket of the fermented tank integrated block. The power socket is used to provide power and charge for the device and its components after the quick connector of the fermenter is docked with the quick connector of the circulation pump;

The integrated block of the fermenter is provided with an air nozzle, and the air nozzle is connected to the air source. After the water gun is cleaned, dry the joint part.

The fermenter integrated block is provided with a protective cover. Keep it clean by isolating it from the outside world when not working.

The visual recognition device includes a recognition camera. It is used to shoot markers for image recognition, and the center position of the recognition camera corresponds to the center position of the markers.

Generally speaking, the present invention has following advantages:

An automatic device for brine homogenization in soy sauce fermentation tanks. Fermentation tanks are used to set fermenter integrated blocks. An omnidirectional mobile navigation vehicle carries a circulation pump, a mechanical arm and a circulation pump integration block. The omnidirectional mobile navigation vehicle can independently plan paths and Perform visual navigation to reach the corresponding location of the fermenter, and then use image recognition to complete the accurate docking of the quick connector of the fermenter and the quick connector of the circulation pump. The circulation pump circulates the brine in the fermenter up and down through the pipeline, and uses the momentum of the brine to float The koji material in the fermentation tank is broken up to realize automatic leveling, instead of manual automatic circulation of brine in the fermentation tank in the soy sauce drying field, to realize the work of mechanical automatic circulation and leveling, and to realize the automation and unmanned work of the soy sauce drying field. Improve work efficiency and ensure process consistency.

Description of drawings

Fig. 1 is a schematic diagram of the working state of an automatic device for homogenizing brine in a soy sauce fermenter according to the present invention.

Fig. 2 is a schematic diagram of the working state in another direction of an automatic device for brine homogenization in a soy sauce fermenter according to the present invention.

Fig. 3 is a structural schematic diagram of the omnidirectional mobile navigation vehicle of the present invention.

Fig. 4 is a structural schematic diagram of the all-round mobile navigation vehicle with a circulation pump, a mechanical arm and a circulation pump integrated block of the present invention.

Fig. 5 is a schematic structural view of a fermenter equipped with a circulation pump manifold of the present invention.

Among them, Figures 1 to 5 include:

1—fermentation tank, 2—fermentation tank manifold, 3—circulation pump manifold, 4—six degrees of freedom mechanical arm, 5—circulation pump, 6—navigation vehicle body, 7—visual navigation Device, 8—navigation camera, 9—distance sensor, 10—two-position two-way solenoid valve, 11—waste liquid storage device, 12—pipeline, 13—water tank, 14—mecanum wheel, 15—water tank pipeline, 16—circulation pump pipeline.

Fig. 6 is a schematic structural view of the fermenter integrated block of the present invention.

Among them, Figure 6 includes:

2-1 Protective cover, 2-2 Marker, 2-3 Power socket, 2-4 Air nozzle, 2-5 Fermentation tank quick connector, 2-6 Sewage pipe.

Fig. 7 is a schematic structural view of the circulating pump manifold of the present invention.

Among them, Figure 7 includes:

3-1 Identification camera, 3-2 Power plug, 3-3 Water gun, 3-4 Quick connector for circulation pump.

Detailed ways

The present invention will be described in further detail below.

As shown in Figures 1 to 5, an automatic device for homogenizing brine in a soy sauce fermenter includes a fermenter manifold 2 arranged near the fermenter 1, and the fermenter manifold 2 is provided with a two-position two-way solenoid valve 10. The fermenter 1 is connected to the two-position two-way solenoid valve 10 through two pipes 12 arranged at the top and the lower part. As shown in FIG. Block 2 is provided with markers 2-2 for identification; markers 2-2 provide reference for visual docking. It also includes an all-round mobile navigation vehicle equipped with a circulating pump 5, a six-degree-of-freedom mechanical arm 4, and a circulating pump integrated block 3. The circulating pump integrated block 3 is arranged at the free end of the six-degree-of-freedom mechanical arm 4. The circulating pump 5 The pipeline 16 is connected to the circulation pump manifold 3, the circulation pump manifold 3 is provided with the circulation pump quick connector 3-4 for matching the fermenter quick connector 2-5, and the circulation pump manifold 3 is provided with the identification mark 2-2 Visual identity device. As shown in Figure 7, when the fermenter integrated block 2 is docked with the circulating pump integrated block 3, the visual docking method is adopted, and the identification camera 3-1 on the circulating pump integrated block 3 is used to obtain the marker 2 on the fermented tank integrated block 2 -2 image, image recognition, camera calibration to obtain the relative position of the circulation pump integrated block 3, feedback to the six-degree-of-freedom mechanical arm 4 to adjust the position, and complete the docking. The visual docking method is more accurate and ensures the success rate of docking. After adopting this device, the all-round mobile navigation vehicle can independently plan the path and perform visual navigation to reach the position of the corresponding fermentation tank 1, and then use image recognition to complete the accurate positioning of the quick connector 2-5 of the fermenter and the quick connector 3-4 of the circulating pump. After docking, the circulation pump 5 is opened to carry out the work of circulation and homogenization. By using an automatic device instead of manpower, the automatic leveling work of the automatic circulation of the brine in the fermenter 1 and the unmanned production line can be realized.

The all-round mobile navigation vehicle is also provided with a water tank 13, and the water tank 13 is provided with a water pump and a water tank pipeline 15. As shown in Figure 3, the circulation pump integrated block 3 is provided with a water gun 3-3, and the water gun 3-3 is connected to the water tank 15 by the water tank pipeline 15. water tank13. After the cycle homogenization work is finished, the water gun 3-3 is used to clean the fermenter integrated block 2. As shown in Fig. 6, the fermenter integrated block 2 is provided with a sewage pipe 2-6. After the water gun 3-3 cleans the fermenter integrated block 2, it is used to discharge the cleaning waste liquid. The sewage pipe 2-6 is connected with a waste liquid storage device 11 . Used to store cleaning waste.

As shown in Figures 1 to 5, the omnidirectional mobile navigation vehicle includes a navigation vehicle body 6, the navigation vehicle body 6 is provided with a visual navigation device 7, wheels and distance sensors 9, the wheels are omnidirectional wheels, and each wheel is connected to a separate The motor is driven by a separate motor. Here we use the Mecanum wheel 14. The rotation of the omnidirectional wheel is controlled by a motor, which can support functions such as forward, backward, left and right translation, and turning without radius. The navigation vehicle body 6 is provided with four distance sensors 9 , and the four distance sensors 9 are respectively arranged at both ends and both sides of the navigation vehicle body 6 . It is used to detect the position of the navigation vehicle body 6 and the fermenter 1. The navigation vehicle body 6 adopts a visual navigation method, and the navigation camera 8 provided at the front end of the navigation vehicle body 6 can obtain road pictures. Thereby control navigation car body 6 to travel according to road. The navigation vehicle body 6 can plan its own path, obtain the optimal path to the designated fermenter 1 through the path planning algorithm, and arrive at the front of the designated fermenter 1 according to the path.

As shown in Figure 6, the fermenter manifold 2 is provided with a power socket 2-3, the fermenter manifold 2 is connected to the power supply, and the circulating pump manifold 3 is provided with a power supply that matches the power socket 2-3 of the fermenter manifold 2 Plug 3-2. The power socket 2-3 is used to provide power and charge the device and its components after the fermenter quick connector 2-5 is docked with the circulation pump quick connector 3-4; the fermenter integrated block 2 is provided with an air nozzle 2-4 , the air nozzle 2-4 is connected to the air source. After cleaning with the water gun 3-3, dry the joint part. The fermenter integrated block 2 is provided with a protective cover 2-1. Keep it clean by isolating it from the outside world when not working. The visual recognition device includes a recognition camera 3-1. It is used to photograph the marker 2-2 for image recognition, and the central position of the recognition camera 3-1 corresponds to the central position of the marker 2-2.

Generally speaking, the present invention has following advantages:

An automatic device for brine homogenization in soy sauce fermentation tanks. Fermentation tank 1 is used to set fermentation tank integrated block 2, and the omnidirectional mobile navigation vehicle carries circulation pump 5, six-degree-of-freedom mechanical arm 4 and circulation pump integration block 3. The mobile navigation vehicle can independently plan the path and perform visual navigation to reach the corresponding location of the fermentation tank 1, and then use image recognition to complete the accurate docking of the quick connector 2-5 of the fermentation tank and the quick connector 3-4 of the circulation pump. The circulation pump 5 passes through the pipeline 12 The brine in the fermentation tank 1 is circulated up and down, and the momentum of the brine circulation is used to break up the koji floating on the fermentation tank 1 to realize automatic leveling, instead of manual automatic circulation of the brine in the fermentation tank 1 in the soy sauce drying field, to realize The mechanical automatic circulation and leveling work realizes the automation and unmanned work of the soy sauce drying field, improves work efficiency and ensures process consistency. This device integrates equipment such as recognition camera 3-1, fermentation tank quick connector 2-5, circulation pump quick connector 3-4, water gun 3-3, power socket 2-3 and air nozzle 2-4, so that the fermentation tank quick connector 2 -5 While docking with the circulating pump quick joint 3-4, the device can be charged. In addition, the cleaning and drying steps after the brine circulation and leveling work are more compact, saving time, and the joint docking-circulation leveling ( charging)-cleaning-drying process to improve work efficiency.

The specific working process of this device is:

First, the control room sets the parameters of the position of the fermentation tank 1 for the device, including the number of the fermentation tank 1 that needs to be operated and the operation time, and then the omnidirectional mobile navigation vehicle carries the robot to find the optimal road through its own positioning and path planning; as shown in Figure 3 As shown, the road surface image is obtained by the navigation camera 8 at the front end of the navigation vehicle body 6, and the road surface image is preprocessed, including image segmentation and image filtering and other image processing techniques, to obtain a clear and complete road surface guide line image, and then the road surface guide line is extracted. The discrete center point feature of the lead line is obtained by curve fitting to obtain the center line of the guide line; the navigation camera 8 is calibrated to determine the relationship between the points on the image and the corresponding points on the object. These tasks are performed by the visual navigation device 7 is completed; then calculate the navigation parameters, and calculate the angle and distance from the guide line according to the principle of visual navigation and the guide line model existing in the actual environment; analyze the kinematic model of the navigation car body 6, it is necessary to calculate the omnidirectional wheel chassis The forward and inverse kinematics model; finally, the information is integrated and processed, according to the change of the navigation parameters, the motor of the omnidirectional wheel is controlled in real time, the movement of the omnidirectional wheel is driven, the movement posture is adjusted, and the vehicle body travels along the guide line at the detected position , the above is the path planning and visual navigation process of the omnidirectional navigation vehicle. At this time, the battery carried by the vehicle body provides power for the whole vehicle.

When the omnidirectional mobile navigation vehicle arrives within the designated location of the fermentation tank 1, the distance sensor 9 measures the relative position information of the navigation vehicle body 6 and the fermenter integrated block 2 and feeds it back to the omnidirectional navigation vehicle. The navigation vehicle body 6 Adjust the position of the car body according to the position information, so that the position of the car body 6 of the navigation car reaches an ideal position.

After the navigation vehicle body 6 stops, the protective cover 2-1 on the fermenter integrated block 2 is opened, the six-degree-of-freedom mechanical arm 4 adjusts its posture according to the preset path, and the recognition camera 3-1 on the circulating pump integrated block 3 Start the operation. At this time, the marker 2-2 on the fermenter integrated block 2 has appeared in the field of view of the recognition camera 3-1. The image of the marker 2-2 is acquired by the camera 3-1, and a clear marker is extracted by image processing technology. 2-2 edge line, obtain the pixel coordinates of its center point; calibrate the recognition camera 3-1, process the position information obtained after calibration and feed it back to the six-degree-of-freedom robot arm 4, and adjust the position of the six-degree-of-freedom robot arm 4 , so that the center point of the recognition camera 3-1 coincides with the center point of the marker 2-2. At this time, the conditions for docking are met. The six-degree-of-freedom mechanical arm 4 moves and docks, and the fermenter quick connector 2-5 and the circulation pump quick connector 3- 4 can be accurately docked, and at this time the 380V power socket 2-3 and the power plug 3-2 are also accurately docked.

After the docking work is completed, the two-position two-way solenoid valve 10 is opened, and the power supply is switched, and the battery power supply of the navigation vehicle body 6 is switched to a 380V power supply. The overall state of the device at this time is shown in FIG. 1 . The circulating pump 5 is turned on, and is closed after running for a corresponding period of time, the two-position two-way solenoid valve 10 is closed, and the fermenter quick connector 2-5 is separated from the circulating pump quick connector 3-4. The power supply is switched, the cleaning work of the water gun 3-3 on the circulating pump integrated block 3 starts, the air nozzle 2-4 on the fermenter integrated block 2 is blown and dried, and the work is completed, and the protective cover 2-1 is closed. Proceed to the next task.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (10)

1. A kind of 1. automatics for soy sauce fermentation tank salt solution refining, it is characterised in that：

   Including the fermentation tank integrated package being arranged near fermentation tank, fermentation tank integrated package is provided with magnetic valve, and fermentation tank passes through setting Two pipelines in top and bottom are connected to two-position two-way solenoid valve, and fermentation tank integrated package is provided with fermentation tank snap joint, hair Fermentation tank integrated package is provided with the mark for identifying；

   Also include the all-around mobile navigation vehicle provided with circulating pump, mechanical arm and circulating pump integrated package, circulating pump integrated package The free end of mechanical arm is arranged at, circulating pump is connected to circulating pump integrated package by circulating pump pipeline, and circulating pump integrated package is set There is the circulating pump snap joint coordinated for fermentation tank snap joint, circulating pump integrated package is provided with the vision for distinguishing mark thing Identification device.
2. 2. according to a kind of automatics for soy sauce fermentation tank salt solution refining described in claim 1, it is characterised in that：Quan Fang Displacement moves navigation vehicle and is provided with water tank, and water tank is provided with water pump and tank pipe, and circulating pump integrated package is provided with hydraulic giant, and hydraulic giant passes through water Case pipeline is connected to water tank.
3. 3. according to a kind of automatics for soy sauce fermentation tank salt solution refining described in claim 1, it is characterised in that：Fermentation Tank integrated package is provided with blow-off pipe.
4. 4. according to a kind of automatics for soy sauce fermentation tank salt solution refining described in claim 3, it is characterised in that：Blowdown Pipe is connected with waste liquid storage device.
5. 5. according to a kind of automatics for soy sauce fermentation tank salt solution refining described in claim 1, it is characterised in that：Quan Fang Navigation vehicle is moved in displacement includes navigation vehicle car body, and navigation vehicle car body is provided with vision guided navigation device, wheel and range sensor, wheel For omni-directional wheel, each wheel connects single motor, is driven and operated by single motor.
6. 6. according to a kind of automatics for soy sauce fermentation tank salt solution refining described in claim 5, it is characterised in that：Navigation Car car body is provided with four range sensors, and four range sensors are respectively arranged at the both ends and both sides of navigation vehicle car body.
7. 7. according to a kind of automatics for soy sauce fermentation tank salt solution refining described in claim 1, it is characterised in that：Fermentation Tank integrated package is provided with power outlet, and fermentation tank integrated package is connected to power supply, and circulating pump integrated package is provided with and fermentation tank integrated package The attaching plug that power outlet coordinates.
8. 8. according to a kind of automatics for soy sauce fermentation tank salt solution refining described in claim 1, it is characterised in that：Fermentation Tank integrated package is provided with valve, and valve is connected to source of the gas.
9. 9. according to a kind of automatics for soy sauce fermentation tank salt solution refining described in claim 1, it is characterised in that：Fermentation Tank integrated package is provided with protective cover.
10. 10. according to a kind of automatics for soy sauce fermentation tank salt solution refining described in claim 1, it is characterised in that：Depending on Feel that identification device includes identification camera.