CN108782797B - Control method for stir-frying tea leaves by arm type tea frying machine and arm type tea frying machine - Google Patents
Control method for stir-frying tea leaves by arm type tea frying machine and arm type tea frying machine Download PDFInfo
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- CN108782797B CN108782797B CN201810622407.6A CN201810622407A CN108782797B CN 108782797 B CN108782797 B CN 108782797B CN 201810622407 A CN201810622407 A CN 201810622407A CN 108782797 B CN108782797 B CN 108782797B
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23F—COFFEE; TEA; THEIR SUBSTITUTES; MANUFACTURE, PREPARATION, OR INFUSION THEREOF
- A23F3/00—Tea; Tea substitutes; Preparations thereof
- A23F3/06—Treating tea before extraction; Preparations produced thereby
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
Abstract
The invention relates to the field of tea frying robots, in particular to a control method for frying tea leaves by an arm type tea frying machine, which comprises the following steps: shooting tea leaves in a round frying pan in real time in a tea frying process to obtain a first image of the upper surface of the tea leaves, which is initially fried, and a second image of the tea leaves, which is fried in a preset time; determining that the distribution shape of the tea leaves in the second image is not circular, and performing ROI overlapping processing on the first image and the second image to obtain a third image; carrying out Canny edge detection processing on the third image to obtain coordinates of edge points and calculating to obtain a rotation matrix; controlling a motor to enable the left paw and the right paw to rotate according to the rotation matrix and stir-fry the tea. The invention also provides an arm type tea frying machine. The tea leaf stir-frying machine judges the distribution condition of tea leaves in the pot by combining machine vision, controls the robot to rotate by a specific angle according to the distribution condition of the tea leaves to stir and fry the tea leaves, can ensure that the tea leaves in the pot are uniformly stir-fried, and ensures that all the tea leaves are fully de-enzymed.
Description
Technical Field
The invention relates to the field of tea frying robots, in particular to a control method for frying tea leaves by an arm type tea frying machine and the arm type tea frying machine.
Background
The fixation is a key process for forming the shape and quality of green tea and the like. Most of the existing tea frying robots in the current market are drum-type or pot-type enzyme deactivating machines, the work of the existing tea frying robots is continuous and single simple and repeated movement, tea leaves cannot be well controlled to be uniformly fried, and therefore partial tea leaves which are fried are possibly subjected to enzyme deactivating deficiency.
Disclosure of Invention
Embodiments of the present invention are directed to solving at least one of the technical problems occurring in the prior art. Therefore, the embodiment of the invention needs to provide a control method for stir-frying tea leaves by an arm type tea frying machine and the arm type tea frying machine.
The invention provides a control method for stir-frying tea leaves by an arm type tea frying machine, which is characterized in that the arm type tea frying machine is provided with a left paw and a right paw, and the arm type tea frying machine controls the rotation of the left paw and the right paw through a motor, and the control method comprises the following steps:
step 1, shooting tea leaves in a round frying pan in a tea frying process in real time to obtain a first image of the upper surface of the tea leaves, which is initially fried, and a second image of the upper surface of the tea leaves, which is fried in a preset time;
step 3, Canny edge detection processing is carried out on the third image to obtain the coordinates of the edge points, and then a rotation matrix is obtained through calculation according to the coordinates of the edge points;
and 4, controlling a motor to enable the left paw and the right paw to rotate according to the rotation matrix, and stir-frying the tea.
In one embodiment, the method comprises the step of,
in one embodiment, the method comprises the step of,
the arm-type tea frying machine provided by the embodiment of the invention is characterized by comprising a left paw and a right paw, wherein the left paw and the right paw are arranged on the arm-type tea frying machine, and the arm-type tea frying machine controls the rotation of the left paw and the right paw through a motor, and comprises:
the industrial camera is used for shooting the tea leaves in the round frying pan in real time in the tea frying process to obtain a first image of the upper surface of the tea leaves, which is initially fried, and a second image of the upper surface of the tea leaves, which is fried in a preset time;
the computer is used for determining that the distribution shape of the tea leaves in the second image is not circular, and performing ROI overlapping processing on the first image and the second image to obtain a third image;
the computer is also used for carrying out Canny edge detection processing on the third image to obtain the coordinates of the edge points, and then calculating according to the coordinates of the edge points to obtain a rotation matrix;
and the control cabinet is used for controlling the motor to enable the left and right claws to rotate according to the rotation matrix and stir and fry the tea.
In one embodiment, the control cabinet is specifically configured to control the motor to rotate the left and right claws according to the rotation matrix and stir-fry the tea leaves when determining that the sinking height of the upper surface of the tea leaves reaches a preset sinking threshold.
In one embodiment, the control cabinet is further configured to flip the left and right paws when determining that the area of the second image is no longer changed.
According to the control method for stir-frying tea leaves by the arm type tea frying machine and the arm type tea frying machine, disclosed by the embodiment of the invention, the distribution condition of tea leaves in a pot is judged by utilizing real-time shooting of an industrial camera in combination with machine vision, and the robot is controlled to rotate by a specific angle to stir-fry the tea leaves in real time according to the distribution condition of the tea leaves.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of embodiments of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a control method for stir-frying tea leaves by an arm type tea frying machine according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the arm-type tea frying machine according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of the operation of the arm-type tea frying machine according to the embodiment of the present invention;
FIG. 4 is a schematic view of the upper surface of a tea leaf taken by an industrial camera in accordance with an embodiment of the present invention;
FIG. 5 is a schematic illustration of an image after ROI overlay according to an embodiment of the present invention;
FIG. 6 is a schematic view of the upper surface of yet another tea leaf taken by an industrial camera according to an embodiment of the present invention;
fig. 7 is a side view showing the posture adjustment of the end of the tea frying robot according to the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only and should not be construed as limiting the embodiments of the present invention.
Referring to fig. 1 to 7, in a method for controlling an arm-type tea frying machine to fry tea leaves, according to an embodiment of the present invention, the arm-type tea frying machine is provided with left and right claws, and the arm-type tea frying machine controls the rotation of the left and right claws through a motor, the method includes:
step 1, shooting tea leaves in a round frying pan in a tea frying process in real time to obtain a first image of the upper surface of the tea leaves, wherein the first image is initially stir-fried and a second image of the tea leaves, wherein the second image is stir-fried after a preset time.
And 2, determining that the distribution shape of the tea leaves in the second image is not circular, and performing ROI overlapping processing on the first image and the second image to obtain a third image.
And 3, carrying out Canny edge detection processing on the third image to obtain the coordinates of the edge points, and then calculating according to the coordinates of the edge points to obtain a rotation matrix.
And 4, controlling a motor to enable the left paw and the right paw to rotate according to the rotation matrix, and stir-frying the tea.
The embodiment of the invention also provides an arm type tea frying machine, wherein the arm type tea frying machine is provided with a left paw and a right paw, and the arm type tea frying machine is controlled by a motor to rotate the left paw and the right paw, and the arm type tea frying machine is characterized by comprising:
the industrial camera is used for shooting the tea leaves in the round frying pan in real time in the tea frying process to obtain a first image of the upper surface of the tea leaves, which is initially fried, and a second image of the upper surface of the tea leaves, which is fried in a preset time;
the computer is used for determining that the distribution shape of the tea leaves in the second image is not circular, and performing ROI overlapping processing on the first image and the second image to obtain a third image;
the computer is also used for carrying out Canny edge detection processing on the third image to obtain the coordinates of the edge points, and then calculating according to the coordinates of the edge points to obtain a rotation matrix;
and the control cabinet is used for controlling the motor to enable the left and right claws to rotate according to the rotation matrix and stir and fry the tea.
In this embodiment, the control method for stir-frying tea leaves by the arm type tea frying machine takes the arm type tea frying machine as an execution object of the step, or takes each component of the arm type tea frying machine as an execution object of the step. Specifically, step 1 is performed by an industrial camera, step 2 and step 3 are performed by a computer, and step 4 is performed by a control cabinet.
In step 1, the industrial camera shoots the tea leaves in the round wok in real time in the tea frying process to obtain a first image of the upper surface of the initial stir-fried tea leaves and a second image of the upper surface of the stir-fried tea leaves after a preset time. In the figure 3, firstly, a computer is shown, secondly, a control cabinet is shown, and the middle part of the figure 3 is provided with an industrial camera, a mechanical arm, a left paw, a right paw and a round wok for frying tea from top to bottom in sequence. In the tea frying process, the industrial camera shoots the change condition of the tea leaves in the frying pan in real time. The tea leaves are imaged on the upper surface, the left image of fig. 4, i.e. the first image taken by the industrial camera, is obtained when the stir-frying is started, and the right image of fig. 4, i.e. the second image taken by the industrial camera, is obtained after the stir-frying is carried out for a period of time. Here, the interval of the photographing of the industrial camera may be preset as a preset time. Both figures in fig. 4 are round, but the area of the left figure of fig. 4 is larger than that of the right figure because the tea leaves lose water and become less during stir-frying. As the left and right claws of the arm type tea frying machine stir-fry tea for a plurality of times along a certain direction of the pot edge, the tea in the pot can present an image of figure 8, as shown in the right picture of figure 4.
In step 2, the computer determines that the distribution shape of the tea leaves in the second image is not a circle, and performs ROI overlapping processing on the first image and the second image to obtain a third image. In the field of image processing, it is often necessary to set a region of interest (ROI) to concentrate on or simplify our work process. I.e. an image area selected from the image, which is the focus of our image analysis, is delineated for further processing. In addition, the ROI is used for specifying the target which is wanted to be read in, so that the processing time can be reduced, the precision is increased, and the image processing is not convenient. There are two ways to define the ROI area, the first is to use cv: Rect. cv:: Rect represents a rectangular area. Specifying the coordinates of the upper left corner of the rectangle (the first two parameters of the constructor) and the length and width of the rectangle (the last two parameters of the constructor) defines a rectangular area. Another way to define the ROI is to specify a Range of rows or columns of interest (Range). Range refers to a contiguous sequence of segments from a start index to an end index (excluding the end index). cv:rangecan be used to define Range. In this embodiment, the region defining the ROI region is not limited, the ROI superimposition process is performed on the first image on the left side and the second image on the right side of fig. 4 to obtain fig. 5, and the image in fig. 5 is the third image.
In step 3, the computer performs Canny edge detection processing on the third image to obtain coordinates of edge points, and then calculates according to the coordinates of the edge points to obtain a rotation matrix.
The Canny edge detection operator is a multi-level detection algorithm. In 1986, John f.canny proposed three major criteria for edge detection:
edge detection with low error rate: the detection algorithm should accurately find as many edges in the image as possible, reducing missed and false detections as possible.
Optimal positioning: the detected edge point should be located exactly at the center of the edge.
Any edge in the image should be marked only once, while image noise should not create a false edge. The computer performs Canny edge processing on the third image in fig. 5 to obtain the edge of the image, and records the coordinates (X, Y) of the edge point in the image. The edge coordinate is specifically realized by using an opencv algorithm, and the following steps are performed:
from the above, the edge point coordinates X ═ a [ m ] [0] ═ i, and Y ═ a [ m ] [1] ═ j are obtained. I.e. the coordinates are (X, Y).
According to edge point coordinatesBy the formula d ═ X2+Y2)1/2The distance from the origin to the edge point can be obtained, the farthest distance is obtained by comparison, and the corresponding edge point of the farthest distance is recorded as D (X)D,YD) And (4) point. Assuming initial left and right paw positions at A, B, the coordinates of point B (X) are recordedB，YB) When the robot turns over the tea in the pan for a period of time and the image transmitted by the camera is not circular, the included angle theta between the CD and the AB is calculated, and the coordinate (X) of the point D is obtainedD，YD) And B point coordinates (X)B，YB) Then the formula cos beta is XD/(XD 2+YD 2)1/2And cos α ═ XB/(XB 2+YB 2)1/2And obtaining an included angle beta between the CD and the X axis and an included angle alpha between the AB and the X axis, and then obtaining the included angle theta between the CD and the AB according to a formula theta-beta-alpha. This results in a rotation matrix T.
The rotation matrix T is specifically as follows:
the arm type tea frying machine rotates a certain angle theta around the z axis in a 3-axis coordinate system formed by xyz, and then the rotation angles around the x axis and the y axis are both 0. The code is T-rotz (θ) roty (0) rotx (0), which yields a rotation matrix, where rotx, roty, rotz represent instructions for rotation about the x, y, z axes, respectively.
In step 4, the control cabinet controls the motor to enable the left and right claws to rotate according to the rotation matrix and stir and fry the tea. Specifically, the computer transmits the rotation matrix T to a controller in the control cabinet, the controller controls the upper end motor to rotate, the rotation angle is theta, the positions of the two paws are changed to C, D points, and the robot starts to stir and fry tea leaves in the pot from C, D points. The above processes are continuously repeated in the tea frying process, the rotation angle of the arm is changed in real time to stir and fry the tea leaves in the pot from different angles, so that the tea leaves are uniformly stirred and fried, and the tea leaves can be fully de-enzymed.
Further, step 4 comprises: and when the sinking height of the upper surface of the tea leaves reaches a preset sinking threshold value, controlling the motor to enable the left and right claws to rotate according to the rotation matrix and stir-frying the tea leaves. For example, the dip threshold is set in advance to 2 cm: stir-frying industrial phaseRadius R of the second image taken by the camera2+2<＝R1，R1The radius of a first image shot by an industrial camera on the upper surface of the initial tea leaves is shown, the radius is the standard for judging the sinking of the paw, namely when the sinking height of the upper surface of the tea leaves reaches a preset sinking threshold value of 2cm, the control cabinet starts to adjust the tail end posture, namely the tea leaves are stir-fried through the sinking of the paw.
When determining the sinking height of the tea leaves as shown in fig. 6, the left image of fig. 6 is an image of the tea leaves at the beginning of the stir-frying process, which is named as a fourth image, and the right image of fig. 6 is an image of the tea leaves after a certain time of stir-frying process, which is named as a fifth image. And calculating and obtaining the sinking height of the upper surface of the tea leaves by the computer according to the fourth image and the fifth image.
Specifically, step 2 comprises:
respectively calculating the areas of the fourth image and the fifth image according to the number of pixels in the fourth image and the fifth image; calculating to obtain respective radiuses of the fourth image and the fifth image according to respective areas of the fourth image and the fifth image; and calculating according to the respective radiuses of the fourth image and the fifth image to obtain the sinking height of the upper surface of the tea.
And the computer respectively obtains the areas of the fourth image and the fifth image by calculating the number of pixels in the fourth image and the fifth image. The left image of FIG. 6, i.e. the fourth image, has an area S1＝N1Theta; the right image of FIG. 6, i.e. the fifth image, has an area S2＝N2θ。N1,N2The number of pixels of the circular image in the left image of fig. 6 and the right image of fig. 6, respectively, and θ is a predetermined scale factor.
Then by the formula R1＝(S1/pi)1/2And R2＝(S2/pi)1/2The radii of the circular images in the left image of fig. 6 and the right image of fig. 6 are obtained, respectively. R1And R2The radii of the circular images in the left and right diagrams of fig. 6 and 6 are shown, respectively, and pi represents the circumferential ratio. Because the frying pan for frying tea is semi-ellipsoidal, the side view of the frying pan is an ellipse, as shown in figure 7, according to R1And R2The positions in the side view are found to be EF and GH, respectively.
Assuming that the claw of the tea frying robot starts at the EF point (the left claw starts at the E point and the right claw starts at the F point), the EF point sinks to the GH point after a while, and then the distance H from the O to the GH is calculated. Because the side surface of the pan is elliptical, the curve equation is
Previously obtained R2Is the X coordinate of the point H in the XZ plane, -R2Is the X coordinate of the G point. The Z coordinate of point G, H is-H. R is to be2and-H into elliptic equation
The value of the distance H is calculated. Wherein a and b are respectively the half-major axis length and the half-minor axis length of the ellipse, because the side surface of the frying pan is the half ellipse, the curve equation is the ellipse equation, and different pans correspond to different a and b values. For example, the corresponding a and b of the wok are 45cm and 60cm respectively, and after the used wok is determined, the a and b values are correspondingly determined.
The distance H between the point O and the point EF can be obtained by the same method1。
Further, the method comprises the steps of: and when the control cabinet determines that the area of the second image is not changed any more, the left paw and the right paw are turned over. Initially the tea leaves are circular in shape in the pan and the shape of the tea leaves changes continuously by the time stir-frying begins (the final state will take the shape of the numeral 8). In the shape gradual change process of the tea leaves in the pot, the farthest distance between two points in the graph obtained by the previous processing is the distance between the point C and the point D in the graph 5, when the farthest distance approaches a certain value (namely the distance between the two points of the CD is not changed any more), the shape of the tea leaves in the pot is judged to be basically unchanged and is in the shape of the figure 8, and the left paw and the right paw of the tea frying robot are turned over.
In the description of the embodiments of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or the first and second features being in contact, not directly, but via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The following disclosure provides many different embodiments or examples for implementing different configurations of embodiments of the invention. In order to simplify the disclosure of embodiments of the invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, embodiments of the invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, embodiments of the present invention provide examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of embodiments of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (4)
1. The utility model provides a control method that tea was fried in arm type fried tea machine turned over stir-fry tealeaves, the arm type is fried and is provided with about the paw on the tea machine, and the arm type is fried and is gone up the rotation of controlling the paw through motor control on the tea machine, a serial communication port, include:
step 1, shooting tea leaves in a round frying pan in a tea frying process in real time to obtain a first image of the upper surface of the tea leaves, which is initially round and fried, and a second image of the tea leaves, which is fried in a preset time;
step 2, determining that the distribution shape of the tea in the second image is not circular, and performing ROI overlapping processing on the first image and the second image to obtain a third image;
step 3, Canny edge detection processing is carried out on the third image to obtain the coordinates of the edge points, and then a rotation matrix is obtained through calculation according to the coordinates of the edge points;
step 4, controlling a motor to enable the left paw and the right paw to rotate according to the rotation matrix, and stir-frying the tea;
step 4 comprises the following steps: and when the sinking height of the upper surface of the tea leaves reaches a preset sinking threshold value, controlling the motor to enable the left and right claws to rotate according to the rotation matrix and stir-frying the tea leaves.
2. The method for controlling the arm-type tea frying machine to fry tea leaves as claimed in claim 1, wherein the method further comprises the steps of: and when the area of the second image is determined not to change any more, turning over the left paw and the right paw.
3. The utility model provides a hand claw about arm-type is fried tea machine, arm-type are fried tea machine is last to be provided with, arm-type are fried tea machine and are gone up the rotation of controlling the hand claw through motor control, and its characterized in that, this arm-type are fried tea machine includes:
the industrial camera is used for shooting the tea leaves in the round frying pan in real time in the tea frying process to obtain a first image of the upper surface of the tea leaves, which is initially round and fried, and a second image of the tea leaves, which is fried in preset time;
the computer is used for determining that the distribution shape of the tea leaves in the second image is not circular, and performing ROI overlapping processing on the first image and the second image to obtain a third image;
the computer is also used for carrying out Canny edge detection processing on the third image to obtain the coordinates of the edge points, and then calculating according to the coordinates of the edge points to obtain a rotation matrix;
and the control cabinet is used for controlling the motor to enable the left and right claws to rotate according to the rotation matrix and stir-fry the tea leaves, and is also used for controlling the motor to enable the left and right claws to rotate according to the rotation matrix and stir-fry the tea leaves when the sinking height of the upper surface of the tea leaves reaches a preset sinking threshold value.
4. The arm tea frying machine as claimed in claim 3, wherein the control cabinet is further configured to turn the left and right paws when it is determined that the area of the second image is no longer changed.
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