CN109142628A - Dark tea piling automatic detection control method, apparatus and system - Google Patents
Dark tea piling automatic detection control method, apparatus and system Download PDFInfo
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- CN109142628A CN109142628A CN201810873610.0A CN201810873610A CN109142628A CN 109142628 A CN109142628 A CN 109142628A CN 201810873610 A CN201810873610 A CN 201810873610A CN 109142628 A CN109142628 A CN 109142628A
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- tealeaves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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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
- A23F3/08—Oxidation; Fermentation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention discloses a kind of dark tea piling automatic detection control methods, apparatus and system.This method comprises: scanning tealeaves heap generates the point cloud data of tealeaves heap；Threedimensional model according to point cloud data building tealeaves heap；Obtain the essential information of rail type mobile tool and its manipulator for grabbing tealeaves, the relative positional relationship of rail type mobile tool and tealeaves heap；The relative coordinate system including at least manipulator and threedimensional model is constructed according to essential information, relative positional relationship and threedimensional model；Obtain the fermentation information of tealeaves heap；According to fermentation information and relative coordinate system, it is determined for compliance with the windrow routing information of preset requirement；According to windrow routing information, controls rail type mobile tool operation and turning operation is completed by the tealeaves that manipulator grabs tealeaves heap.The present invention has low in cost, and can control the advantages of realizing automatic turning by automatic detection according to tea leaf fermentation situation during dark tea piling.
Description
Technical field
The present invention relates to tea processing field of automation technology more particularly to a kind of dark tea piling Automatic Detection and Control sides
Method, apparatus and system.
Background technique
Dark green tea is one of big teas in China six, has the multiple efficacies such as reducing blood lipid, weight-reducing.The raw material that dark green tea uses is thicker
It always, is the primary raw material of pressing compressed tea.The technique of production dark green tea generally comprises water-removing, rubs, four procedures of pile fermentation and drying.
Wherein pile fermentation is to form the critical process of black tea quality, is generally raw material using baking gross tea or solar dried green tea, by humidifying back
Finished product dark green tea is made in tide, pile-fermentation, sub-sieve deblocking, drying and other steps, and it is various that some also forms brick shape, pie etc. by compacting
The product of shape.Dark green tea kind is broadly divided into compressed tea and loose tea and steamed twisted roll three categories.Wherein, compressed tea is brick tea, mainly
There are Fu brick, ornamental slab for paving the floor, black brick, green brick tea, be commonly called as four bricks, loose tea mainly has day point, tribute point, raw point to be referred to as tricuspid, Hua-juan tea
There are ten liang, hundred liang, thousand liang etc..By taking green brick tea as an example, green brick tea pile fermentation operation at present is generally all controlled by manual operation
System, the process of manual control stacker are as follows: operator opens the mobile tool of gantry rail formula according to the instruction of middle control personnel
To after designated position, manipulation gantry overhead traveling crane drops to suitable height, and overhead traveling crane opens steel pawl and held with a firm grip again to pick up tealeaves, to overhead traveling crane
Steel pawl collapse completely after, operator manipulates overhead traveling crane and rises to initial position, and then, the mobile tool of mobile track type is to selected
Position, overhead traveling crane opens steel pawl, puts down tealeaves, so far complete the windrow work of tealeaves, can be realized repeatedly to whole
The windrow of a tea heap works.
In the windrow operation process of above-mentioned pile fermentation, finished from operation is started to operation, entirely the finger in middle control personnel
It enables and by operator manually controls gantry overhead traveling crane under transferring to complete.Although controlling the mobile work of gantry rail formula in the above process
Tool walking may be implemented to automate, but observe the step of windrow is at a distance from the overhead traveling crane of gantry with steel pawl opening, the operation held with a firm grip
Need to rely on the judgement of operator, this is also the maximum reason that the operation of tealeaves windrow cannot achieve always Automatic Control.
In existing dark green tea manufacturing technology, tealeaves would generally ferment insufficient when piling up pile fermentation processing, need at least 2 times or more
Stirring windrow again is carried out, is in the prior art usually according to artificial experience, observation fermentation situation carries out to ferment sufficiently
Manual windrow again, whole process human factor is very big, and operation takes time and effort, and not only cannot totally guarantee black tea quality, and
And it is unfavorable for large-scale production.
Recently, in tea making industry, the technology for carrying out brakingization to tea making also occurs.As notification number is
The patent document of CN207266585U discloses a kind of dark tea piling automatic production line, specifically includes that material conveyer, humidification
Machine, Z-type conveyer I, pile fermentation machine, belt put down defeated machine I, Z-type conveyer II, screening machine, screening machine, belt and put down defeated machine II, belt
Put down defeated machine II, Z-type conveyer III, Z-type conveyer III, dryer, Z-type conveyer IV and spreading for cooling platform, and screening machine outlet end
It is connected with Z-type conveyer V, deblocking machine, Z-type conveyer VI and Z-type conveyer III.It is grasped in each link of pile fermentation using mechanical
Make, is monitored and controls by PLC control cabinet or computer.However, in the automatic technology of above-mentioned existing dark tea piling,
The equipment of use is excessive, and manufacturing cost is high, and is not monitored and controls to using PLC control cabinet or computer
Aspect does not provide technology explanation.
Furthermore CN101744065A discloses a kind of Pu'er tea (ripe tea) fermentation processing system, it is according to Pu'er tea (ripe tea)
Processing sequence successively by even shut-down system, flow control system, humidification system, cabinet type storage fermentation system, Temperature and Humidity
System, transportation system, automatic control system are constituted.Automatic temperature measurement hygrometric is provided in each stuff chest in fermentation processing system
Equipment ensure that tealeaves, always in constantly detecting state, is more than setting value when detecting signal in entire pile-fermentation process
When, automatic control system will start corresponding container automatically and enter discharge state, realize the technique mistake of tealeaves turning cooling
Journey.The fermentation process of above-mentioned Pu'er tea needs to design more system construction, with high costs, and its automatic control system
Specific introduction is not provided.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of low in cost and can be according to tealeaves during dark tea piling
Situation of fermenting controls dark tea piling automatic detection control method, the apparatus and system for realizing turning by automatic detection.
In a first aspect, in order to solve the above technical problems, the invention discloses a kind of dark tea piling automatic detection control method,
Wherein, comprising:
Scan the point cloud data that tealeaves heap generates tealeaves heap；
Threedimensional model according to point cloud data building tealeaves heap；
Obtain the essential information of rail type mobile tool and its manipulator for grabbing tealeaves, the rail type mobile work
The relative positional relationship of tool and the tealeaves heap；
It constructs according to the essential information, the relative positional relationship and the threedimensional model including at least the machine
The relative coordinate system of tool hand and the threedimensional model；
Obtain the fermentation information of the tealeaves heap；
According to the fermentation information and the relative coordinate system, it is determined for compliance with the windrow routing information of preset requirement；
According to the windrow routing information, controls the rail type mobile tool operation and institute is grabbed by the manipulator
The tealeaves for stating tealeaves heap completes turning operation.
In a preferred embodiment, the scanning tealeaves heap generates the point cloud data of tealeaves heap, comprising:
Laser scanning is carried out to tealeaves heap using 3D laser radar and generates point cloud data, wherein the point cloud data includes:
It scans tealeaves heap and generates multiple points comprising the tealeaves heap feature, the information of each point includes three-dimensional coordinate information.
In a preferred embodiment, the information of each point further include: in colouring information and light Reflection intensity information extremely
It is one few.
In a preferred embodiment, the fermentation information for obtaining the tealeaves heap further include:
Obtain the temperature profile data of the tealeaves heap；
Obtain the moisture map data of the tealeaves heap；
The fermentation information is obtained according to the temperature profile data and the moisture map data.
In a preferred embodiment, the base for obtaining rail type mobile tool and its manipulator for grabbing tealeaves
The relative positional relationship of this information, the rail type mobile tool and the tealeaves heap further comprises:
The rail type mobile tool includes: track, the mobile vehicle that can be slided on the track, and is set to described
The manipulator, temperature sensor and humidity sensor on mobile vehicle；The temperature sensor and the humidity sensor
Device is set to first side of mobile vehicle, and the manipulator is set to second opposite with first side of the mobile vehicle
Side, the essential information include: the radius of action information of the length information of the track, the manipulator, and the rail mounted moves
The relative positional relationship of power driven tools and the tealeaves heap includes: that the track, the mobile vehicle are opposite with the tealeaves heap
Positional relationship, the manipulator top of the gripping portion apart from the tealeaves heap range information.
It is described according to the windrow routing information in a preferred embodiment, control the rail type mobile tool fortune
Turn and includes: by the tealeaves completion turning operation that the manipulator grabs the tealeaves heap
According to the windrow routing information, controls the rail type mobile tool and be moved to pre-determined bit above the tealeaves heap
It sets；
Control the track and mobile vehicle be elevated to the scheduled distance at the top of the tealeaves heap, it is described it is scheduled away from
From convenient for the mechanical manual task；
Control the tealeaves of the manipulator crawl tealeaves heap；
It controls the rail type mobile tool and returns to initial position, complete the once crawl to the tealeaves of the tealeaves heap；
It controls the rail type mobile tool and preset heap discharge position is moved to according to the windrow routing information；
It controls the manipulator and the tealeaves grabbed is placed into specified position, complete a windrow；
If above-mentioned reciprocation cycle carries out crawl and windrow, until the tealeaves to tealeaves heap realizes complete turning operation.
In a preferred embodiment, the dark green tea is green brick tea, Fu-brick tea, ornamental slab for paving the floor tea, black brick tea, day point tea, tribute point
One of tea, raw sharp tea, ten liang of tea, hundred liang of tea and thousand tael tea.
As a second aspect of the invention, the present invention also provides a kind of dark tea piling automatic detection and control devices, wherein packet
It includes:
Scan module generates the point cloud data of tealeaves heap for scanning tealeaves heap；
Threedimensional model constructs module, for the threedimensional model according to point cloud data building tealeaves heap；
Obtain module, the essential information of the manipulator for obtaining rail type mobile tool and its for grabbing tealeaves, institute
State the relative positional relationship of rail type mobile tool Yu the tealeaves heap；
Coordinate system constructs module, for according to the essential information, the relative positional relationship and the threedimensional model
Construct the relative coordinate system including at least the manipulator and the threedimensional model；
Ferment data obtaining module, for obtaining the fermentation information of the tealeaves heap；
Windrow routing information determining module, for being determined for compliance with pre- according to the fermentation information and the relative coordinate system
If it is required that windrow routing information；
Turning control module, for controlling the rail type mobile tool operation and leading to according to the windrow routing information
Cross the tealeaves completion turning operation that the manipulator grabs the tealeaves heap.
As the third aspect of the present invention, the present invention also provides a kind of dark tea piling automatic detection and control system, the systems
System includes: computer, rail type mobile tool, and the computer includes processor and memory, the rail type mobile tool
It include: track, the mobile vehicle that can be slided on the track, and manipulator, laser thunder on the mobile vehicle
It reaches, temperature sensor and humidity sensor, the processor call the computer program stored in the memory to control institute
It states rail type mobile tool and realizes mentioned-above dark tea piling automatic detection control method.
In a preferred embodiment, the laser radar is 3D laser radar, and it is pre- to control 3D laser radar interval
The threedimensional model of dynamic construction of fixing time tealeaves heap.
Dark tea piling automatic detection control method provided by the invention, apparatus and system have low in cost, automation inspection
Horizontal height is surveyed, the product quality of dark green tea especially green brick tea can be effectively ensured.
Detailed description of the invention
Fig. 1 shows the knot of the rail type mobile tool of dark tea piling automatic detection and control system in one embodiment of the invention
Structure schematic diagram.
Fig. 2 shows the flow diagrams of dark tea piling automatic detection control method in one embodiment of the invention.
Fig. 3 shows the structural schematic diagram of dark tea piling automatic detection and control device in one embodiment of the invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.It should be noted that if do not conflicted, this hair
Each feature in bright embodiment and embodiment can be combined with each other, within the scope of the present invention.
Embodiment 1
As shown in Figure 1, the present invention develops a set of new dark tea piling Automatic Detection and Control system in prior art basis
System, specifically includes that rail type mobile tool (such as overhead traveling crane) 1, manipulator 2, laser radar 3, temperature sensor 4 and humidity sensor
Device 5.In a preferred embodiment, 6 side of tealeaves heap is provided with a mobile vehicle in overhead traveling crane 1, is arranged on mobile vehicle
Above-mentioned temperature sensor 4 and humidity sensor 5, laser radar 3 and manipulator 2.Wherein temperature sensor 4 is in the present embodiment
Noncontacting proximity sensor detects the Temperature Distribution of tealeaves heap 6, the mainly Temperature Distribution above tealeaves heap.Humidity sensor 5 with
Temperature sensor 4 is disposed adjacent, for detecting the moisture distribution of tealeaves heap 6, the mainly moisture distribution of 6 top of tealeaves heap.Swash
Optical radar 3 is set on mobile vehicle, is preferably placed at right above tealeaves heap, and the height of tealeaves heap 6 is mainly measured, and obtains manipulator
Relative distance between 2 and tealeaves heap 6 grabs the entire roboticized work that tealeaves realizes tealeaves heap windrow in order to control manipulator 2.
Preferably, laser scanning is carried out to tealeaves heap using 3D laser radar 3 and generates point cloud data, wherein the point cloud data includes:
It scans tealeaves heap and generates multiple points comprising the tealeaves heap feature, each point includes three-dimensional coordinate information.Manipulator 2 is preferably
Steel pawl, naturally it is also possible to be other designs, as carbon fibre material be made or flexible material made of manipulator.Overhead traveling crane can
To be that gantry rail formula moves tool, the track including portal frame and on portal frame, track is equipped with mobile vehicle (as slided
The sliding parts such as wheel), above-mentioned manipulator 2 is set on mobile vehicle.According to height value, manipulator and the tealeaves of the tealeaves heap of acquisition
Relative positional relationship (including relative distance, relative displacement etc.) between heap and the temperature above the tealeaves heap detected point
Cloth situation and moisture distribution situation select the windrow path for meeting preset requirement for being suitble to tealeaves heap to carry out pile fermentation (can select
Best windrow path), to realize tealeaves windrow entire roboticized work.After being determined for compliance with the windrow path of preset requirement, control
Manipulator 2 is mobile, and the tealeaves for grabbing the tealeaves heap completes turning operation.
In one embodiment, which includes: three-dimensional laser radar, Temperature Humidity Sensor, gantry overhead traveling crane and computer.
Three-dimensional laser radar, Temperature Humidity Sensor are connected with gantry overhead traveling crane.The three-dimensional laser radar is used to scan tealeaves heap profile,
And resulting point cloud data will be scanned and be sent to the computer；The Temperature Humidity Sensor is certain above tealeaves heap for detecting
Temperature and humidity data in space；The mobile tool of the gantry rail formula includes gantry overhead traveling crane and steel pawl, and gantry overhead traveling crane can be into
The controlled horizontal movement of row, steel pawl, which can open, to be held with a firm grip, to pick up tealeaves and to put down tealeaves；The computer is for controlling dragon
Door track formula moves movement of tool, and handles all data, and point cloud data can be such as converted into the threedimensional model of tealeaves heap, and
According to the positions and dimensions information of the overhead traveling crane come the distance between calculating machine hand (steel pawl) and each wave crest of tealeaves heap information, together
When in conjunction with the temperature and humidity distribution above tealeaves heap arrange windrow route, optimal pile fermentation effect.
As shown in Fig. 2, the present invention also provides a kind of dark tea piling automatic detection control methods, mainly
Include:
S1, scanning tealeaves heap generate the point cloud data of tealeaves heap；
S2, the threedimensional model that tealeaves heap is constructed according to the point cloud data；
S3, the essential information for obtaining rail type mobile tool and its manipulator for grabbing tealeaves, the rail mounted move
The relative positional relationship of power driven tools and the tealeaves heap；
S4, it constructs according to the essential information, the relative positional relationship and the threedimensional model including at least institute
State the relative coordinate system of manipulator Yu the threedimensional model；
S5, the fermentation information for obtaining the tealeaves heap；
S6, according to the fermentation information and the relative coordinate system, be determined for compliance with the windrow routing information of preset requirement；
S7, according to the windrow routing information, control the rail type mobile tool operation and grabbed by the manipulator
The tealeaves of the tealeaves heap is taken to complete turning operation.
Preferably, the scanning tealeaves heap generates the point cloud data of tealeaves heap, comprising:
Laser scanning is carried out to tealeaves heap using 3D laser radar and generates point cloud data, wherein the point cloud data includes:
It scans tealeaves heap and generates multiple points comprising the tealeaves heap feature, each point includes three-dimensional coordinate information.That is it scans
The profile of tealeaves heap records in dots, and the packet of each point contains three-dimensional coordinate, some may contain colouring information
(RGB) or Reflection intensity information (Intens i ty).
In a preferred embodiment, Mei Gedian further include: at least one of colouring information and light Reflection intensity information.
In another preferred embodiment, the fermentation information for obtaining the tealeaves heap further include:
Obtain the temperature profile data of the tealeaves heap；
Obtain the moisture map data of the tealeaves heap；
The fermentation information is obtained according to the temperature profile data and the moisture map data.
In a preferred embodiment, the base for obtaining rail type mobile tool and its manipulator for grabbing tealeaves
The relative positional relationship of this information, the rail type mobile tool and the tealeaves heap further comprises:
The rail type mobile tool includes: track, the mobile vehicle that can be slided on the track, and is set to described
The manipulator, temperature sensor and humidity sensor on mobile vehicle；The temperature sensor and the humidity sensor
Device is set to first side of mobile vehicle, and the manipulator is set to second opposite with first side of the mobile vehicle
Side, the essential information include: the radius of action information of the length information of the track, the manipulator, and the rail mounted moves
The relative positional relationship of power driven tools and the tealeaves heap includes: that the track, the mobile vehicle are opposite with the tealeaves heap
Positional relationship, the manipulator top of the gripping portion apart from the tealeaves heap range information.
It is described according to the windrow routing information in a preferred embodiment, control the rail type mobile tool fortune
Turn and includes: by the tealeaves completion turning operation that the manipulator grabs the tealeaves heap
According to the windrow routing information, controls the rail type mobile tool and be moved to pre-determined bit above the tealeaves heap
It sets；
Control the track and mobile vehicle be elevated to the scheduled distance at the top of the tealeaves heap, it is described it is scheduled away from
From convenient for the mechanical manual task；
Control the tealeaves of the manipulator crawl tealeaves heap；
It controls the rail type mobile tool and returns to initial position, complete the once crawl to the tealeaves of the tealeaves heap；
It controls the rail type mobile tool and preset heap discharge position is moved to according to the windrow routing information；
It controls the manipulator and the tealeaves grabbed is placed into specified position, complete a windrow；
If above-mentioned reciprocation cycle carries out crawl and windrow, until the tealeaves to tealeaves heap realizes complete turning operation.This hair
The bright Temperature Distribution that can automatically detect above tealeaves heap and moisture distribution situation calculate manipulator (such as overhead traveling crane steel pawl) and tea
Distance between leaf heap wave crest calculates optimal windrow path in conjunction with data of the Temperature and Humidity module and range data, and is by path integration
Instruction control rail type mobile movement of tool, realizes the full-automatic heap tealeaves operation of unmanned intervention.By taking green brick tea as an example, utilize
Dark tea piling automatic detection control method provided by the invention, computer automatically select rail type mobile work according to preset condition
The working path of tool, control rail type mobile movement of tool are automatically lowered conjunction to tealeaves heap top predetermined position, subsequent overhead traveling crane
Open steel pawl after suitable height, overhead traveling crane continues traveling downwardly steel pawl of holding with a firm grip after certain distance and carries out material grasping, and overhead traveling crane is up to initial position, complete
At material grasping process；Then computer controls rail type mobile movement of tool to preset heap discharge position, puts down tealeaves, that is, completes one
Secondary windrow operation.
In a preferred embodiment, the dark green tea is green brick tea, Fu-brick tea, ornamental slab for paving the floor tea, black brick tea, day point tea, tribute point
One of tea, raw sharp tea, ten liang of tea, hundred liang of tea and thousand tael tea.
Fig. 3 is referred to, the embodiment of the present invention provides a kind of dark tea piling automatic detection and control device, comprising:
Scan module 10 generates the point cloud data of tealeaves heap for scanning tealeaves heap；
Threedimensional model constructs module 20, for the threedimensional model according to point cloud data building tealeaves heap；
Acquisition module 30, the essential information of the manipulator for obtaining rail type mobile tool and its for grabbing tealeaves,
The relative positional relationship of the rail type mobile tool and the tealeaves heap；
Coordinate system constructs module 40, for according to the essential information, the relative positional relationship and the three-dimensional mould
Type constructs the relative coordinate system including at least the manipulator and the threedimensional model；
Ferment data obtaining module 50, for obtaining the fermentation information of the tealeaves heap；
Windrow routing information determining module 60, for being determined for compliance with according to the fermentation information and the relative coordinate system
The windrow routing information of preset requirement；
Turning control module 70, for controlling the rail type mobile tool operation simultaneously according to the windrow routing information
Turning operation is completed by the tealeaves that the manipulator grabs the tealeaves heap.
In addition, the present invention also provides a kind of dark tea piling automatic detection and control systems, which is characterized in that the system packet
Include: computer, rail type mobile tool, the computer include processor and memory, and the rail type mobile tool includes:
Track, the mobile vehicle that can be slided on the track, and the manipulator on the mobile vehicle, laser radar, temperature
Sensor and humidity sensor are spent, the processor calls the computer program stored in the memory to control the track
The mobile tool of formula realizes mentioned-above dark tea piling automatic detection control method.
Preferably, the laser radar is 3D laser radar, 3D laser radar interval predetermined time dynamic structure is controlled
Build the threedimensional model of tealeaves heap.For example after completing 5 times or 10 tealeaves to the crawl of tealeaves, it is current to recreate tealeaves heap
Threedimensional model, so that manipulator accurately promptly grabs, promoted working efficiency.
It should be noted that the present invention is not due to accounting for the situation of change of flora in opposite confined space environment,
Mainly dark tea piling situation is considered from some essential informations such as Temperature Distribution and moisture distribution of tealeaves heap.
Detailed Jie has been carried out to dark tea piling automatic detection control method provided by the present invention, apparatus and system above
It continues, used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only
It is to be used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to this hair
Bright thought, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is only this
The embodiment of invention, is not intended to limit the scope of the invention, all to utilize description of the invention and accompanying drawing content institute
The equivalent structure or equivalent flow shift of work is applied directly or indirectly in other relevant technical fields, and is similarly included in
In scope of patent protection of the invention, it should not be construed as limiting the invention.
Claims (10)
1. a kind of dark tea piling automatic detection control method characterized by comprising
Scan the point cloud data that tealeaves heap generates tealeaves heap；
Threedimensional model according to point cloud data building tealeaves heap；
Obtain the essential information of rail type mobile tool and its manipulator for grabbing tealeaves, the rail type mobile tool with
The relative positional relationship of the tealeaves heap；
It constructs according to the essential information, the relative positional relationship and the threedimensional model including at least the manipulator
With the relative coordinate system of the threedimensional model；
Obtain the fermentation information of the tealeaves heap；
According to the fermentation information and the relative coordinate system, it is determined for compliance with the windrow routing information of preset requirement；
According to the windrow routing information, controls the rail type mobile tool operation and the tea is grabbed by the manipulator
The tealeaves of leaf heap completes turning operation.
2. dark tea piling automatic detection control method according to claim 1, which is characterized in that the scanning tealeaves heap is raw
At the point cloud data of tealeaves heap, comprising:
Laser scanning is carried out to tealeaves heap using 3D laser radar and generates point cloud data, wherein the point cloud data includes: scanning
Tealeaves heap generates multiple points comprising the tealeaves heap feature, and the information of each point includes three-dimensional coordinate information.
3. dark tea piling automatic detection control method according to claim 2, which is characterized in that the information of each point is also wrapped
It includes: at least one of colouring information and light Reflection intensity information.
4. dark tea piling automatic detection control method according to claim 1, which is characterized in that described to obtain the tealeaves
The fermentation information of heap further include:
Obtain the temperature profile data of the tealeaves heap；
Obtain the moisture map data of the tealeaves heap；
The fermentation information is obtained according to the temperature profile data and the moisture map data.
5. dark tea piling automatic detection control method according to claim 1, which is characterized in that the acquisition rail mounted moves
The essential information of power driven tools and its manipulator for grabbing tealeaves, the rail type mobile tool are opposite with the tealeaves heap
Positional relationship further comprises:
The rail type mobile tool includes: track, the mobile vehicle that can be slided on the track, and is set to the movement
The manipulator, temperature sensor and humidity sensor on carrier；The temperature sensor is set with the humidity sensor
In first side of mobile vehicle, the manipulator is set to second side opposite with first side of the mobile vehicle, institute
State the radius of action information of length information, the manipulator that essential information includes: the track, the rail type mobile tool
Relative positional relationship with the tealeaves heap includes: that the relative position of the track, the mobile vehicle and the tealeaves heap is closed
It is, the range information at top of the gripping portion of the manipulator apart from the tealeaves heap.
6. dark tea piling automatic detection control method according to claim 5, which is characterized in that described according to the windrow
Routing information controls the rail type mobile tool operation and is turned over by the tealeaves completion that the manipulator grabs the tealeaves heap
Heap operation includes:
According to the windrow routing information, controls the rail type mobile tool and be moved to predetermined position above the tealeaves heap；
It controls the track and mobile vehicle is elevated to the scheduled distance at the top of the tealeaves heap, the scheduled distance is just
In the mechanical manual task；
Control the tealeaves of the manipulator crawl tealeaves heap；
It controls the rail type mobile tool and returns to initial position, complete the once crawl to the tealeaves of the tealeaves heap；
It controls the rail type mobile tool and preset heap discharge position is moved to according to the windrow routing information；
It controls the manipulator and the tealeaves grabbed is placed into specified position, complete a windrow；
If above-mentioned reciprocation cycle carries out crawl and windrow, until the tealeaves to tealeaves heap realizes complete turning operation.
7. dark tea piling automatic detection control method according to any one of claims 1 to 6, which is characterized in that described black
Tea is in green brick tea, Fu-brick tea, ornamental slab for paving the floor tea, black brick tea, day point tea, gongjian tea, raw sharp tea, ten liang of tea, hundred liang of tea and thousand tael tea
One kind.
8. a kind of dark tea piling automatic detection and control device characterized by comprising
Scan module generates the point cloud data of tealeaves heap for scanning tealeaves heap；
Threedimensional model constructs module, for the threedimensional model according to point cloud data building tealeaves heap；
Obtain module, the essential information of the manipulator for obtaining rail type mobile tool and its for grabbing tealeaves, the rail
The relative positional relationship of road formula mobile tool and the tealeaves heap；
Coordinate system constructs module, for constructing according to the essential information, the relative positional relationship and the threedimensional model
The relative coordinate system of the manipulator and the threedimensional model is included at least out；
Ferment data obtaining module, for obtaining the fermentation information of the tealeaves heap；
Windrow routing information determining module, for according to the fermentation information and the relative coordinate system, being determined for compliance with default want
The windrow routing information asked；
Turning control module, for controlling the rail type mobile tool operation and passing through institute according to the windrow routing information
State the tealeaves completion turning operation that manipulator grabs the tealeaves heap.
9. a kind of dark tea piling automatic detection and control system, which is characterized in that the system comprises: computer, rail type mobile
Tool, the computer include processor and memory, and the rail type mobile tool includes: track, can be on the track
The mobile vehicle of sliding, and manipulator, laser radar, temperature sensor and humidity sensor on the mobile vehicle
Device, the processor call the computer program stored in the memory to control the rail type mobile tool and realize that right is wanted
Dark tea piling automatic detection control method described in asking any one of 1 to 7.
10. dark tea piling automatic detection and control system according to claim 9, which is characterized in that the laser radar is
3D laser radar controls the threedimensional model of 3D laser radar interval predetermined time dynamic construction tealeaves heap.
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