Multi-motor Drive Control Method of Upper-Retort-Robot Based on Machine Vision

Abstract

A research on the multi-motor drive control method of the upper-retort-robot based on machine vision is proposed in this paper for wine brewing automation to suffice the demand of military areas situated in cold regions as wine is recommended to keep the body temperature of soldiers normal in highly cold regions of China. Based on machine vision, the target is converted into an image signal by an image pickup device and is sent to the image processing system. The pixel distribution, brightness, color and other information are converted into digital signals and the target features are extracted to control the actions of the field equipment. The Monte-Carlo method is exploited to randomly generate joint variables within the variation range of each joint. The positive aspects of kinematics model are utilized and the working space of the upper-retort-robot is calculated using multi-motor drive control method. The multi-motor drive compensates the harmonic ripple torque, and establishes the fault-tolerant automatic control of the system to maintain quality of the liquor. The experimental results show that the robot arm can reach at any position in the barrel within the defined range. The robot will work in an automated mode to control the quality of the liquor. The transmission performance of the robot can meet the requirements of the automated quality control of the liquor during processing of wine from grapes. The results are obtained for robot transmission performance and robot dexterity which proves the robustness and viability of the proposed multi-motor drive control method (MMDCM).