Black tea pile automatic detection control method, device and system

Abstract

The invention discloses an automatic detection and control method, device and system for dark tea piles. The method includes: scanning the tea heap to generate point cloud data of the tea heap; constructing a three-dimensional model of the tea heap based on the point cloud data; The relative positional relationship of the heap; construct a relative coordinate system including at least the manipulator and the 3D model based on the basic information, relative positional relationship and 3D model; obtain the fermentation information of the tea heap; determine the one that meets the preset requirements based on the fermentation information and the relative coordinate system Stacking path information: According to the stacking path information, control the operation of the orbital mobile tool and use the manipulator to grab the tea leaves in the tea pile to complete the stacking operation. The invention has the advantages of low cost, and can realize automatic stack turning through automatic detection and control according to the fermentation condition of tea leaves in the black tea stacking process.

Description

technical field [0001] The invention relates to the technical field of tea processing automation, in particular to a method, a device and a system for automatic detection and control of black tea piles. Background technique [0002] Dark tea is one of the six major types of tea in my country, and has various effects such as lowering blood lipids and losing weight. The raw materials used in dark tea are relatively rough and old, and are the main raw materials for pressing and pressing tea. The process of making dark tea generally includes four processes: fixing, rolling, stacking and drying. Among them, stacking is the key process for forming the quality of dark tea. Generally, roasted green tea or sun-dried green tea is used as raw material, and the finished dark tea is made into finished dark tea after humidification and moisture regaining, stacking fermentation, sieving and deblocking, and drying. Press to form products of various shapes such as brick-shaped and cake-sha...

AI Technical Summary

Problems solved by technology

The above-mentioned fermentation process of Pu’er tea requires the design of many system structures, which is costly, and the automatic control system does not give a clear introduction

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