CN116242249A - Wine retort vision correction system and control method and device thereof - Google Patents
Wine retort vision correction system and control method and device thereof Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention relates to the technical field of laser measurement, and provides a wine retort vision correction system and a control method and a control device thereof, wherein the wine retort vision correction system comprises a round retort pot and a laser device for emitting linear laser into the round retort pot; the control method of the wine retort vision correction system comprises the following steps: acquiring a reference coordinate system of the circular steamer; controlling the laser device to emit linear laser to the bottom wall surface of the circular steamer; acquiring initial coordinates of an intersection point of the linear laser and the edge of the bottom wall surface of the circular steamer according to the reference coordinate system; and monitoring the offset state of the circular steamer according to the initial coordinates. In the invention, the linear laser can generate an intersection point with the edge of the bottom wall surface of the circular steamer, the initial coordinate of the intersection point is obtained through the reference coordinate system, if the position and the state of the circular steamer deviate, the position of the intersection point can be changed at the moment, and the deviation can be judged by comparing the position with the initial coordinate.
Description
Technical Field
The invention relates to the technical field of laser measurement, in particular to a wine retort vision correction system and a control method and device thereof.
Background
The wine retort is a process of concentrating and separating fermented grains which are fermented and ripe into alcohol through a retort pot. The retort pot is usually a barrel-shaped or round-table-shaped distiller, in the working process, because of the production process requirement, the retort pot needs to be lifted from a working position to other working positions, and then the retort pot is repeatedly adjusted back to the working position after the process is completed, so that the position of the wine retort can be deviated, problems can occur between the matching of various devices in the subsequent operation process, and the devices cannot accurately operate.
In the prior art, the work pieces are often adjusted continuously through the manual following procedure, or the cooperation detection is carried out between the positioning device and the induction device, however, the precision is not high, and as the working environment of the wine retort is often worse, various induction devices cannot accurately sense, and the service life is also lower. In summary, in the prior art, the offset of the retort cannot be accurately measured.
Disclosure of Invention
The invention provides a wine retort vision correction system and a control method and device thereof, which are used for solving the problem that the deflection of a wine retort cannot be accurately detected in the prior art and realizing the accurate positioning of the wine retort.
The invention provides a control method of a wine retort vision correction system, which comprises a round retort pot and a laser device for emitting linear laser into the round retort pot;
the control method of the wine retort vision correction system comprises the following steps:
acquiring a reference coordinate system of the circular steamer;
controlling a laser device to emit linear laser to the bottom wall surface of the circular steamer;
acquiring initial coordinates of an intersection point of the linear laser and the edge of the bottom wall surface of the circular steamer according to a reference coordinate system;
and monitoring the offset state of the circular steamer according to the initial coordinates.
According to the control method of the wine retort vision correction system provided by the invention, the step of obtaining the reference coordinate system of the circular retort comprises the following steps:
and taking the center position of the bottom wall surface of the circular steamer pot as the origin of coordinates to acquire a reference coordinate system.
According to the control method of the wine retort vision correction system provided by the invention, the step of monitoring the offset state of the circular retort according to the initial coordinates comprises the following steps:
after the circular steamer pot moves, acquiring the offset coordinate of the intersection point;
and detecting the offset state of the circular steamer according to the relation between the initial coordinate and the offset coordinate.
According to the control method of the wine retort vision correction system provided by the invention, the wine retort vision correction system further comprises a detection camera for detecting the length of the linear laser;
the control method of the wine retort vision correction system further comprises the following steps:
acquiring a length-height corresponding relation;
acquiring the detection length of linear laser irradiated on a material to be detected in a circular steamer;
and acquiring the height of the material to be detected according to the corresponding relation between the detection length and the length and height.
According to the control method of the wine retort vision correction system provided by the invention, the step of obtaining the length-height corresponding relation further comprises the following steps:
acquiring a reference height of a reference material;
acquiring the reference length of the linear laser irradiated on the reference material in the circular steamer;
and acquiring a length-height corresponding relation according to the relation between the reference height and the reference length.
According to the control method of the wine retort vision correction system provided by the invention, the linear laser comprises any one of linear laser or cross laser.
According to the control method of the wine retort vision correction system provided by the invention, the step of controlling the laser device to emit linear laser to the bottom wall surface of the circular retort comprises the following steps:
acquiring the material color of the material to be detected in the circular steamer;
and obtaining the laser color of the linear laser according to the material color.
The invention also provides a control device of the wine retort vision correction system, which comprises a memory, a processor and a control program of the wine retort vision correction system, wherein the control program of the wine retort vision correction system is stored on the memory and can run on the processor, and the control program of the wine retort vision correction system is configured to realize the control method of the wine retort vision correction system according to any one of the above.
The invention also provides a wine retort vision correction system, which comprises:
the fixing frame is provided with a placement area;
the circular steamer pot is arranged on the arranging area and is used for accommodating materials;
the laser device is fixedly arranged on the fixed frame and is used for emitting linear laser to the bottom wall surface of the circular steamer; the method comprises the steps of,
and the control device is the control device and is electrically connected with the laser device.
According to the wine retort vision correction system provided by the invention, the wine retort vision correction system further comprises a detection camera, wherein the detection camera is fixedly arranged on the fixing frame and is electrically connected with the control device, and the detection camera is used for detecting the length of the linear laser.
In the control method of the wine retort vision correction system provided by the invention, the laser device is used for forming the shaped linear laser on the bottom wall surface of the circular retort, the linear laser can generate an intersection point with the edge of the bottom wall surface of the circular retort, the initial coordinate of the intersection point is obtained through the reference coordinate system, after the circular retort moves and returns to the original position, if the position and the state of the circular retort generate offset, the position of the intersection point can be changed, the comparison with the initial coordinate can be used for judging what offset is generated in the circular retort, and further the adjustment can be performed according to the initial coordinate, so that the detection of the position of the circular retort is more accurate, and the accuracy of equipment operation is ensured.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart diagram of a control method of a retort vision correction system provided by the invention;
FIG. 2 is a schematic diagram of a reference coordinate system in the present invention;
FIG. 3 is a block diagram of a control device according to the present invention;
fig. 4 is a schematic structural diagram of the visual deviation rectifying system of the retort provided by the invention.
Reference numerals:
100. a wine retort vision correction system; 1. round steamer pot; 2. a laser device; 3. and detecting a camera.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides a control method of a wine retort vision correction system, the control method of the wine retort vision correction system includes:
s10, acquiring a reference coordinate system of a circular steamer;
s20, controlling a laser device to emit linear laser to the bottom wall surface of the circular steamer;
s30, acquiring an initial coordinate of an intersection point of the linear laser and the edge of the bottom wall surface of the circular steamer according to a reference coordinate system;
s40, monitoring the offset state of the circular steamer according to the initial coordinates.
In the control method of the wine retort vision correction system provided by the invention, the laser device is used for forming the shaped linear laser on the bottom wall surface of the circular retort, the linear laser can generate an intersection point with the edge of the bottom wall surface of the circular retort, the initial coordinate of the intersection point is obtained through the reference coordinate system, after the circular retort moves and returns to the original position, if the position and the state of the circular retort generate offset, the position of the intersection point can be changed, the comparison with the initial coordinate can be used for judging what offset is generated in the circular retort, and further the adjustment can be performed according to the initial coordinate, so that the detection of the position of the circular retort is more accurate, and the accuracy of equipment operation is ensured.
It should be noted that, there are various generation modes of the reference coordinate system of the circular retort, for example, an external reference of the retort is used as the coordinate system, so as to detect the coordinate of the intersection point; specifically, referring to fig. 2, in the present embodiment, step S10 includes:
s11, taking the center position of the bottom wall surface of the circular steamer pot as an origin of coordinates to acquire a reference coordinate system.
In the embodiment, the circle center of the bottom wall surface of the circular steamer pot is used as the origin of coordinates, so that the reference system is directly fixed in the circular steamer pot, the position change of the intersection point is more convenient to display, and the judgment of what kind of offset is generated by the circular steamer pot is facilitated.
In the embodiment, the center position of the bottom wall surface of the circular steamer is taken as the origin of coordinates O (0, 0), and two mutually perpendicular diameters of the bottom wall surface of the circular steamer are taken as XY axes, so that a rectangular coordinate system is formed, and the arrangement mode is simple.
At this time, an intersection point is formed at the edge of the bottom wall surface of the linear laser and the circular retort, and the initial coordinates (x, y) of the intersection point are planned by a rectangular coordinate system.
On the other hand, step S40 includes:
s41, after the circular steamer pot moves, acquiring the offset coordinates of the intersection point;
s42, detecting the offset state of the circular steamer according to the relation between the initial coordinate and the offset coordinate.
According to the production process, the round steamer needs to be lifted from the steamer feeding working position to other working positions, and then lifted back to the steamer feeding working position after the working procedure is completed.
Specifically, in the present embodiment, the intersection point initial coordinates of the line laser are (X1, Y1), and the offset coordinates are (X2, Y2); the judgment is performed by positive and negative values of X1-X2 and Y1-Y2, and whether the deviation along the positive direction or the deviation along the negative direction of the coordinate system is generated is judged by the values.
For example, in the specific embodiment provided by the invention, when the values of X1-X2 and Y1-Y2 are all 0, the circular steamer pan is not deviated; when X1-X2 are positive numbers, the circular steamer generates negative offset on the X axis, and when X1-X2 are negative numbers, the circular steamer generates positive offset on the X axis, and the offset can be judged according to the absolute value; similarly, the offset direction and the offset amount of the circular steamer on the Y axis can be judged by the values of Y1-Y2.
Further, according to the offset direction and the offset amount, the circular steamer is controlled to carry out position adjustment so as to restore to the original position; or controlling the subsequent process components to adjust according to the offset direction and the offset amount so as to align; there is no particular limitation herein.
In addition, the control method of the wine retort vision correction system further comprises the following steps:
s50, acquiring a length-height corresponding relation;
s60, acquiring the detection length of the linear laser irradiated on the material to be detected in the circular steamer;
s70, acquiring the height of the material to be detected according to the corresponding relation between the detection length and the length and height.
After placing the material in the circular steamer, need detect the inside height of waiting to detect the material to judge whether to reach the high requirement of material, in this embodiment, after waiting to detect the material and settling in circular steamer, the line laser can shine on waiting to detect the material, leave the line image on waiting to detect the material, through detecting the length of the line pattern on waiting to detect the material at this moment, can calculate according to the length to the relation, so as to obtain the actual height of material, measure through the proportional relation, can avoid steam etc. to the interference that the range finding brought.
Specifically, in this embodiment, step S50 further includes:
s51, acquiring a reference height of a reference material;
s52, acquiring the reference length of the linear laser irradiated on the reference material in the circular steamer;
s53, acquiring a length-height corresponding relation according to the relation between the reference height and the reference length.
In this embodiment, in order to form a relationship between the length of the line laser on the material and the height of the material, a reference material is placed in the circular steamer, the line laser irradiates the reference material, a line pattern is left on the reference material, and the length of the line pattern is detected to obtain a proportional relationship between the reference height and the reference length, so that the length-height correspondence is determined.
In the specific embodiment provided by the invention, the reference height is H1, and the reference length is L1; the height of the material to be detected is H2, and the detection length of the laser on the material to be detected is L2; h2=h1 (L2/L1).
On the other hand, the line-shaped laser light includes either a line-shaped laser light or a cross-shaped laser light.
In this embodiment, in order to more intuitively display the offset of the circular retort, the line-shaped laser includes a straight-line-shaped laser or a cross-shaped laser, so that the line-shaped laser forms a plurality of intersections with the bottom wall surface of the circular retort, so that the offset of the circular retort is displayed more accurately.
In the specific embodiment provided by the invention, the linear laser comprises the linear laser, two intersection points are formed between the linear laser and the edge of the bottom wall surface of the circular steamer, and the initial coordinates of the two intersection points are obtained at the same time, so that the offset state of the circular steamer is monitored according to the two initial coordinates, and the monitoring is more accurate.
In addition, step S20 includes:
s21, acquiring the material color of the material to be detected in the circular steamer;
s22, acquiring the laser color of the linear laser according to the material color.
In order to facilitate accurate identification of the intersection point between the line-shaped laser and the bottom wall surface of the circular steamer, it is necessary to ensure that the laser generates obvious chromatic aberration relative to the material. For example, in the embodiment provided by the invention, the whole material in the retort is biased to a gray color system, so that the laser irradiates green in order to improve the identification degree of the laser.
The embodiment of the invention also provides a control device of the wine retort vision correction system, fig. 3 illustrates a physical structure schematic diagram of the control device, and as shown in fig. 3, the control device may include: a processor (processor) 1001, a communication interface (communication interface) 1002, a memory (memory) 1003, and a communication bus 1004, wherein the processor 1001, the communication interface 1002, and the memory 1003 complete communication with each other through the communication bus 1004.
The processor 1001 may call logic instructions in the memory 1003 to perform the method described above: acquiring a reference coordinate system of the circular steamer; controlling a laser device to emit linear laser to the bottom wall surface of the circular steamer; acquiring initial coordinates of an intersection point of the linear laser and the edge of the bottom wall surface of the circular steamer according to a reference coordinate system; and monitoring the offset state of the circular steamer according to the initial coordinates.
Further, the logic instructions in the memory 1003 described above may be implemented in the form of software functional units and sold or used as a separate product, and may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, randomAccessMemory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that, the control device in this embodiment may be a server, a PC, or other devices in the specific implementation, so long as the structure includes a processor 1001, a communication interface 1002, a memory 1003, and a communication bus 1004 as shown in fig. 3, where the processor 1001, the communication interface 1002, and the memory 1003 complete communication with each other through the communication bus 1004, and the processor 1001 may call logic instructions in the memory 1003 to execute the above method. The present embodiment is not limited to a specific implementation form of the control device.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, are capable of executing the control method of the retort vision correction system provided in the above method embodiments, the method comprising: acquiring a reference coordinate system of the circular steamer; controlling a laser device to emit linear laser to the bottom wall surface of the circular steamer; acquiring initial coordinates of an intersection point of the linear laser and the edge of the bottom wall surface of the circular steamer according to a reference coordinate system; and monitoring the offset state of the circular steamer according to the initial coordinates.
In yet another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor is implemented to perform the control method of the retort vision correction system provided by the above method embodiments.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Referring to fig. 4, the invention further provides a wine retort vision correction system 100, which comprises a fixing frame, a circular retort 1, a laser device 2 and a control device; a placement area is formed on the fixing frame; the circular steamer pot 1 is arranged on the arranging area, and the circular steamer pot 1 is used for accommodating materials; the laser device 2 is fixedly arranged on the fixed frame and is used for emitting linear laser to the bottom wall surface of the circular steamer pot 1; the control device is the control device of the wine retort vision correction system, and the control device is electrically connected with the laser device 2.
In the wine retort vision correction system provided by the invention, the linear laser emitted by the laser device 2 generates an intersection point with the edge of the bottom wall surface of the circular retort 1, the coordinates of the intersection point are obtained by constructing a coordinate system, and the offset state of the circular retort 1 is further judged according to the coordinates.
Further, the wine retort vision correction system 100 further includes a detecting camera 3, the detecting camera 3 is fixedly mounted on the fixing frame and electrically connected to the control device, and the detecting camera 3 is used for detecting the length of the line laser. In this embodiment, by detecting the length of the line-shaped laser, the height of the material in the circular retort 1 is obtained, and since the circular retort 1 generates steam during use, various reflection parameters in the circular retort 1 are different from common atmospheric parameters, so that the test deviation caused by the reflection type depth test (such as the reflection laser or the reflection ultrasonic wave) is avoided, the length parameters cannot be changed due to the change of the temperature, air and humidity in the circular retort 1, and the height of the material in the circular retort 1 can be accurately obtained through the proportional relationship.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The control method of the wine retort visual deviation correcting system is characterized in that the wine retort visual deviation correcting system comprises a round retort pot and a laser device for emitting linear laser into the round retort pot;
the control method of the wine retort vision correction system comprises the following steps:
acquiring a reference coordinate system of the circular steamer;
controlling the laser device to emit linear laser to the bottom wall surface of the circular steamer;
acquiring initial coordinates of an intersection point of the linear laser and the edge of the bottom wall surface of the circular steamer according to the reference coordinate system;
and monitoring the offset state of the circular steamer according to the initial coordinates.
2. The method of controlling a visual deviation rectifying system for retort of wine according to claim 1, wherein the step of obtaining a reference coordinate system of the circular retort pan comprises:
and taking the center position of the bottom wall surface of the circular steamer pot as an origin of coordinates to acquire the reference coordinate system.
3. The method of controlling a visual deviation correcting system for retort of wine according to claim 1, wherein the step of monitoring the deviation status of the circular retort according to the initial coordinates comprises:
after the circular steamer pot moves, acquiring the offset coordinate of the intersection point;
and detecting the offset state of the circular steamer according to the relation between the initial coordinate and the offset coordinate.
4. The control method of a retort vision correction system according to claim 1, characterized in that the retort vision correction system further comprises a detection camera for detecting a length of the line laser;
the control method of the wine retort vision correction system further comprises the following steps:
acquiring a length-height corresponding relation;
acquiring the detection length of the linear laser irradiated on the material to be detected in the circular steamer;
and acquiring the height of the material to be detected according to the corresponding relation between the detection length and the length.
5. The method for controlling a visual deviation correcting system for retort of claim 4, wherein the step of obtaining the correspondence of length to height comprises:
acquiring a reference height of a reference material;
acquiring a reference length of the linear laser irradiated on the reference material in the circular steamer;
and acquiring the length-height corresponding relation according to the relation between the reference height and the reference length.
6. The method for controlling a visual deviation rectifying system for retort of wine according to claim 1, wherein the line-shaped laser comprises any one of a straight-line-shaped laser and a cross-shaped laser.
7. The method of controlling a visual deviation rectifying system for retort of wine according to claim 1, wherein the step of controlling the laser device to emit the line-shaped laser light toward the bottom wall surface of the circular retort pan comprises:
acquiring the material color of the material to be detected in the circular steamer;
and acquiring the laser color of the linear laser according to the material color.
8. A control device of a retort vision correction system, characterized by comprising a memory, a processor and a control program of a retort vision correction system stored on the memory and operable on the processor, the control program of the retort vision correction system being configured to implement the control method of the retort vision correction system according to any one of claims 1 to 7.
9. A wine retort vision correction system, comprising:
the fixing frame is provided with a placement area;
a circular retort pot arranged on the arrangement area, wherein the circular retort pot is used for accommodating materials;
the laser device is fixedly arranged on the fixing frame and is used for emitting linear laser to the bottom wall surface of the circular steamer; the method comprises the steps of,
a control device as claimed in claim 8, wherein the control device is electrically connected to the laser device.
10. The retort vision correction system of claim 9 further comprising a detection camera fixedly mounted to the mount and electrically connected to the control device, the detection camera configured to detect the length of the line laser.
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