Gypsum material blending system and method based on three-dimensional holder scanning recognition system

Abstract

The invention discloses a gypsum material blending system and method based on a three-dimensional holder scanning recognition system. The method comprises the steps that the quality of gypsum materials needing gypsum material blending and the blending weight of each gypsum material are input; determining the position of the gypsum material pile of each quality in combination with the gypsum material warehousing work information and the material pile three-dimensional model, selecting the gypsum material pile for blending based on the quality of the gypsum materials needing to be blended and the blending weight of each gypsum material, and planning the blending moving track of the warehousing travelling crane; regulating and controlling the weight of the gypsum material grabbed by the warehousing travelling crane on the selected gypsum material pile every time and the material taking frequency of the selected gypsum material pile according to the proportion of all the gypsum materials needing to be blended, so as to blend the gypsum material piles with different qualities according to a cross laying mode; the corresponding gypsum material piles are automatically screened out from the gypsum warehouse, and the warehousing travelling crane is regulated and controlled to carry out automatic gypsum material blending work.

Description

Technical Field

[0001] The present invention relates to the technical field of gypsum material mixing, and in particular to a gypsum material mixing system and method based on a three-dimensional pan-tilt scanning and recognition system. Background Art

[0002] The operation and management of the desulfurization gypsum storage in traditional gypsum board production plants require the configuration of corresponding personnel and forklift machinery. The degree of automation is very low and the operating cost is high. During the operation of the forklift, there are problems such as exhaust pollution, regular warranty maintenance, safety hazards, and operator negligence affecting production. It can no longer meet the requirements of intelligent, efficient and stable operation of the production line. In the waste incineration industry, steel production industry, cement and other industries, the application of manual driving or semi-automatic garages has been carried out to replace loading machinery.

[0003] The gypsum warehouse is generally divided into three areas. The batching area stores low-quality desulfurized gypsum, and the use area stores high-quality desulfurized gypsum or mixes gypsum in the warehouse for direct loading and use. However, the current mixing process in the warehouse is mostly manual and lacks automated processing methods. Summary of the invention

[0004] The purpose of the present invention is to provide a gypsum material mixing system and method based on a three-dimensional pan-tilt scanning and recognition system to solve the technical problem that the current mixing process in the prior art is mostly manual operation and lacks automated processing methods.

[0005] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0006] A gypsum material mixing system based on a three-dimensional pan-tilt scanning and recognition system, comprising:

[0007] The storage crane is installed at the top of each partition of the gypsum warehouse and is used to grab and move the gypsum materials to be stored into the material pit of the gypsum warehouse partition;

[0008] A laser scanning module is installed on the warehouse-entering vehicle, and can scan objects in each partition of the gypsum warehouse as the warehouse-entering vehicle moves, thereby obtaining a surface point cloud set of objects in each partition of the gypsum warehouse;

[0009] A processing system is respectively connected to the warehouse-entering vehicle and the laser scanning module in communication, wherein the processing system forms scanning position information based on the movement of the warehouse-entering vehicle, and models the gypsum pile in each partition of the gypsum warehouse in combination with the scanning position information of the warehouse-entering vehicle and the scanning work of the laser scanning module, so as to construct a three-dimensional model of the pile with the position and volume information of the gypsum pile;

[0010] The processing system determines the relationship between the location of the gypsum material pile and the quality of the gypsum material according to the gypsum material warehousing work, and the processing system determines the volume of each gypsum material pile and the quality of each gypsum material based on the constructed three-dimensional model of the material pile, and controls the warehousing vehicle to mix gypsum materials for gypsum material piles of different qualities.

[0011] As a preferred solution of the present invention, the three-dimensional model of the stockpile constructed by the processing system is updated in real time as the storage vehicle moves in a cycle;

[0012] A positioning module is installed on the entry vehicle or the laser scanning module, and the processing system forms the position distribution information of the entry vehicle in each partition of the gypsum warehouse through the positioning module;

[0013] The processing system determines the horizontal position corresponding to the surface point cloud set of the object scanned by the laser scanning module based on the position distribution information of the laser scanning module, and determines the quality of the gypsum material formed by the surface point cloud set of the object according to the relationship between the gypsum material pile position and the gypsum material quality determined by the gypsum material warehousing work.

[0014] As a preferred solution of the present invention, it further includes a mixing information input module, the processing system determines the quality of gypsum materials required for gypsum mixing and the weight of gypsum materials of each quality based on the mixing information input module, the processing system determines the quality of each gypsum material pile and the stacking time of each gypsum material pile from the gypsum material storage work, and the processing system determines the quality of gypsum materials required for gypsum mixing according to the mixing information input module, and the processing system selects the gypsum material piles required for gypsum mixing based on the stacking time of each gypsum material pile and in a first-in-first-out order;

[0015] The processing system compares the volume of the selected gypsum material pile that needs to be mixed with the gypsum material, and controls the storage vehicle to mix the gypsum material.

[0016] As a preferred solution of the present invention, a weighing unit is installed on the grab bucket of the warehouse-entering crane, and the weighing unit is used to weigh the gypsum material grabbed by it. The warehouse-entering crane mixes all kinds of gypsum materials according to the weight of the material picked up each time and the number of grab buckets required to grab the material.

[0017] As a preferred solution of the present invention, when the processing system controls the warehouse-entering vehicle to mix the gypsum materials, the gypsum material piles of different qualities are mixed in a cross-laying manner, so that multiple gypsum material piles of different qualities are evenly mixed and mixed.

[0018] As a preferred solution of the present invention, the processing system determines the proportion of all qualities of gypsum materials according to the quality of gypsum materials to be prepared and the weight of gypsum materials of each quality;

[0019] The processing system controls the grab bucket of the warehouse-entering crane to take the full bucket of each quality of gypsum material pile in turn according to the proportion of all qualities of gypsum materials, and the warehouse-entering crane cross-lays the gypsum materials after taking the full bucket;

[0020] The processing system determines the number of times the grab bucket of the warehouse entry vehicle grabs the gypsum material pile of each quality based on the weight corresponding to each time the grab bucket of the warehouse entry vehicle takes out a full bucket of material.

[0021] As a preferred solution of the present invention, the processing system determines the proportion of all qualities of gypsum materials according to the quality of gypsum materials to be prepared and the weight of gypsum materials of each quality;

[0022] The processing system determines the weight of gypsum materials of other qualities to be taken each time under the condition of the grabbing number according to the grabbing number corresponding to the grabbing number when the grabbing bucket of the storage vehicle takes the maximum gypsum material weight;

[0023] The processing system controls the entry crane to grab gypsum piles of all qualities in sequence according to the weight of each quality of gypsum material grabbed by the grab bucket of the entry crane, and cross-lays the gypsum materials after grabbing.

[0024] In addition, in order to solve the above technical problems, the present invention also provides a gypsum material mixing method based on a three-dimensional pan-tilt scanning and recognition system, comprising the following steps:

[0025] Step 100: input the quality of the gypsum material to be prepared and the mixing weight of each gypsum material;

[0026] Step 200: The processing system determines the location of each quality of gypsum pile based on the gypsum material storage work information and the three-dimensional model of the material pile, selects the gypsum pile for mixing based on the quality of the gypsum material to be mixed and the mixing weight of each gypsum material, and plans the mixing operation track of the storage vehicle;

[0027] Step 300, the processing system controls the weight of gypsum material grabbed by the storage vehicle from the selected gypsum material pile each time and the number of times the selected gypsum material pile is taken according to the proportion of all gypsum materials that need to be prepared, so as to prepare gypsum material piles of different qualities in a cross-laying manner.

[0028] As a preferred solution of the present invention, in step 200, the processing system determines the gypsum material quality and gypsum material pile volume of each material pit in the gypsum warehouse according to the gypsum material storage work information and the three-dimensional model of the material pile, and determines the stacking time of each gypsum material pile;

[0029] The processing system selects corresponding gypsum material piles from the gypsum warehouse based on the quality of the gypsum material to be prepared, compares the stacking time of the gypsum material piles corresponding to the gypsum material piles of the same quality, and selects the gypsum material pile with the longest stacking time as the preparation object;

[0030] The processing system controls the warehouse-entering vehicle to sequentially retrieve the gypsum material piles that are the objects of allocation, thereby forming an allocation operation track of the warehouse-entering vehicle.

[0031] As a preferred solution of the present invention, in step 300, the processing system determines the proportion of all types of gypsum materials based on the input gypsum material quality and the mixing weight of each type of gypsum material;

[0032] The weight of the gypsum material taken out by the grab bucket of the warehouse-entering crane each time is used as a benchmark to determine the number of times the grab bucket of the warehouse-entering crane grabs each quality of the gypsum pile, and the warehouse-entering crane is regulated to grab each quality of the gypsum pile according to the proportion of the gypsum material based on the principle of cross-laying, so as to evenly mix the gypsum materials of different qualities;

[0033] Based on the same number of times that the grab bucket of the warehouse-entering crane takes gypsum materials of different qualities, the weight of each quality of gypsum material pile taken by the grab bucket of the warehouse-entering crane is determined each time. Based on the principle of cross-laying, the warehouse-entering crane is controlled to grab and take materials from each quality of gypsum material pile in turn, and all the grabbed gypsum materials of different qualities are cross-laid.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The present invention automatically selects corresponding gypsum material piles from the gypsum warehouse according to the required gypsum material quality, and further selects gypsum material piles that need to be prepared according to the first-in-first-out principle. When the selected gypsum material piles are mixed and prepared, all kinds of quality of the grabbed gypsum materials are cross-prepared layer by layer according to the principle of uniform mixing, so as to ensure quick and convenient mixing and use when the gypsum materials are taken out of the warehouse for use. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0037] Figure 1 is a structural block diagram of a gypsum material mixing system according to an embodiment of the present invention;

[0038] Figure 2 It is a schematic diagram of a process of a gypsum material preparation method according to an embodiment of the present invention;

[0039] The numbers in the figure represent the following:

[0040] 1-Warehousing crane; 2-Laser scanning module; 3-Processing system; 4-Positioning module; 5-Weighing unit; 6-Dispatching information input module. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] like Figure 1 As shown, the present invention provides a gypsum material mixing system based on a three-dimensional pan-tilt scanning and recognition system, including a storage vehicle 1, a laser scanning module 2, a mixing information input module 6 and a processing system 3.

[0043] The storage crane 1 is installed at the top of each partition of the gypsum warehouse, and is used to grab the gypsum material to be stored and move it to the material pit of the gypsum warehouse partition.

[0044] The laser scanning module 2 is installed on the warehouse-entering vehicle 1. As the warehouse-entering vehicle 1 moves, it can scan objects in each partition of the gypsum warehouse and obtain a point cloud set of the object surface in each partition of the gypsum warehouse.

[0045] The processing system 3 is respectively communicated with the warehouse-entering vehicle 1 and the laser scanning module 2. The processing system 3 forms scanning position information based on the movement of the warehouse-entering vehicle 1, and models the gypsum pile in each partition of the gypsum warehouse in combination with the scanning position information of the warehouse-entering vehicle 1 and the scanning work of the laser scanning module 2, and constructs a three-dimensional model of the pile with the location and volume information of the gypsum pile.

[0046] The processing system 3 determines the relationship between the location of the gypsum material pile and the quality of the gypsum material according to the gypsum material warehousing work, and the processing system 3 determines the volume of each gypsum material pile and the quality of each gypsum material based on the constructed three-dimensional model of the material pile, and controls the warehousing crane 1 to mix the gypsum materials of gypsum material piles of different qualities.

[0047] Furthermore, the three-dimensional model of the stockpile constructed by the processing system 3 is updated in real time as the storage vehicle 1 moves in a cycle.

[0048] Furthermore, a positioning module 4 is installed on the warehouse-entering vehicle 1 or the laser scanning module 2 , and the processing system 3 forms the position distribution information of the warehouse-entering vehicle 1 in each partition of the gypsum warehouse through the positioning module 4 .

[0049] The processing system 3 determines the horizontal position corresponding to the surface point cloud set of the object scanned by the laser scanning module 2 based on the position distribution information of the laser scanning module 2, and determines the quality of the gypsum material formed by the surface point cloud set of the object according to the relationship between the gypsum material pile position and the gypsum material quality determined by the gypsum material storage work.

[0050] In this embodiment, in order to identify the stacking and distribution of gypsum materials in each partition of the gypsum warehouse, a three-dimensional pan-tilt scanning system is deployed on the warehouse-entering vehicle 1. The movement of the warehouse-entering vehicle 1 can realize the scanning of the gypsum material pile in the entire warehouse area, thereby obtaining a point cloud set of the surface of objects in the warehouse area, and obtaining the position information of the gypsum material pile based on the movement information of the warehouse-entering vehicle 1, so as to guide the warehouse-entering vehicle 1 to allocate and stack materials.

[0051] Specifically, the laser scanner in this embodiment uses a German SICK or American Quanergy laser scanner, and the three-dimensional scanning system is not affected by light changes, and the measurement error is <±50mm.

[0052] This embodiment uses a laser scanner device to obtain point cloud data in the material pit area of ​​each partition of the gypsum warehouse. The laser scanner device is mounted on the warehouse entry crane 1 to complete the point cloud data collection in the material pit area, and performs data processing to complete the pile modeling and display, providing data guidance for the gypsum material mixing operation control of the warehouse entry crane.

[0053] When the entry crane 1 grabs the gypsum material and puts it into the warehouse, it is used to move the gypsum material to be entered into the material pit of the gypsum warehouse partition. At this time, based on the laser scanning module 2, all the gypsum material piles in each partition of the gypsum warehouse can be formed into a three-dimensional model of the material pile, and the position of each gypsum material pile, the corresponding gypsum material pile volume, the gypsum material pile outline and the gypsum material quality can be determined, and then the weight and stacking time of each gypsum material pile can be determined.

[0054] When modeling the three-dimensional material recognition system, the scanner timestamp is used as the benchmark, combined with the positioning data from the vehicle positioning module 4 and the scanner's own installation position information, to determine the corresponding position information of the gypsum pile scanned by the laser scanning module 2, and to build a three-dimensional model of the pile through the corresponding point cloud algorithm model and cluster segmentation algorithm. The technology of building a three-dimensional model based on the laser scanning module 2 is an existing technology. It adopts the point cloud dimension reduction through PCA fusion downsampling based on its own patent "a three-dimensional laser scanning visible light confirmation method for steel plant driving scheduling", and then uses edge detection, Meanshift cluster segmentation and improved Pointnet neural network to achieve accurate classification and identification and positioning of different object point clouds. It effectively solves the problems of adaptive identification and positioning, adaptive verification and intelligent calibration of different transport objects, and realizes the adaptive identification, high-precision positioning, adaptive verification and intelligent calibration of complex and different objects by a large field of view and wide range three-dimensional scanning and positioning instrument under complex and variable lighting and low scanning resolution conditions.

[0055] When the gypsum material is to be mixed, the processing system 3 determines the quality of the gypsum material that needs to be mixed and the weight of each quality of gypsum material based on the mixing information input module 6, the processing system 3 determines the quality of each gypsum pile and the stacking time of each gypsum pile from the gypsum material warehousing work, and the processing system 3 determines the quality of the gypsum material that needs to be mixed according to the mixing information input module 6, the processing system 3 selects the gypsum pile that needs to be mixed based on the stacking time of each gypsum pile and in a first-in-first-out order, the processing system 3 compares the volume of the selected gypsum pile that needs to be mixed, and controls the warehousing crane 1 to mix the gypsum material.

[0056] That is to say, in this embodiment, after the user inputs the quality of the gypsum material to be mixed and the weight of each quality of gypsum material in the mixing information input module 6, the processing system 3 determines the quality of each gypsum material pile in the current gypsum warehouse and the stacking time of each gypsum material pile based on the gypsum material warehousing work, and screens out the gypsum material pile to be mixed and the location information of the gypsum material pile based on the quality of the gypsum material pile.

[0057] After determining the location information of the gypsum material pile to be allocated, the warehouse-entering vehicle is controlled to move to the gypsum material pile to be allocated according to the location information to pick up the material, and the operation trajectory of the warehouse-entering vehicle is planned.

[0058] Furthermore, in order to improve the uniformity of mixing and blending of multiple gypsum materials, the present embodiment mixes and blends multiple gypsum materials in a hierarchical cross-blending manner, and the specific implementation method is as follows:

[0059] A weighing unit 5 is installed on the grab bucket of the storage crane 1, and the weighing unit 5 is used to weigh the gypsum material it grabs. The storage crane 1 mixes all kinds of gypsum materials according to the weight of the material picked up each time and the number of grab buckets required to grab the material.

[0060] When the processing system 3 controls the storage crane 1 to mix the gypsum materials, the gypsum material piles of different qualities are mixed in a cross-laying manner, so that the multiple gypsum material piles of different qualities are evenly mixed and mixed.

[0061] The processing system 3 determines the proportion of all qualities of gypsum according to the quality of gypsum prepared as needed and the weight of gypsum of each quality. The processing system 3 controls the grab bucket of the warehouse-entering crane 1 to take full bucket of gypsum of each quality in turn according to the proportion of gypsum of all qualities. The warehouse-entering crane 1 cross-lays the gypsum after taking full bucket of gypsum. The processing system 3 determines the number of times the grab bucket of the warehouse-entering crane 1 grabs each quality of gypsum pile based on the weight corresponding to each full bucket taken by the grab bucket of the warehouse-entering crane 1.

[0062] The processing system 3 determines the proportion of all kinds of gypsum materials according to the quality of gypsum materials prepared as needed and the weight of gypsum materials of each quality. The processing system 3 determines the weight of gypsum materials of other qualities to be grabbed each time under the condition of the grabbing number according to the corresponding grabbing times when the grab bucket of the warehouse-entering crane 1 takes full gypsum materials with the largest weight. The processing system 3 controls the warehouse-entering crane 1 to grab the gypsum piles of all qualities in turn according to the grabbing weight of each quality of gypsum materials grabbed by the grab bucket of the warehouse-entering crane 1, and cross-lays the gypsum materials after taking materials.

[0063] Based on the above, the specific implementation method of using the grab bucket of the entry crane 1 to grab the gypsum in the selected gypsum pile and evenly mix the gypsum of various qualities is: there are two types, the first type is that the number of grabbing times for gypsum of different qualities is different, and the gypsum of all qualities grabbed each time is in a full bucket state, that is, the weight is the same; the second type is that the number of grabbing times for gypsum of different qualities is the same, but the weight of gypsum of all qualities grabbed each time is different.

[0064] For the first gypsum mixing method, the specific implementation method is: mix the single gypsum according to the mixing ratio of all qualities of gypsum, and determine the different times of taking gypsum of different qualities in the single gypsum mixing. For example, when the mixing ratio of all qualities of gypsum is 3:1:1, when the gypsum is mixed in a single time, the grabbing weight of gypsum of quality A is 3a, the grabbing weight of gypsum of quality B is a, and the grabbing weight of gypsum of quality C is a. Based on the mass b of the grab bucket of the warehouse-entering crane 1 each time, it is determined that when the gypsum is mixed in a single time, the number of times the gypsum of quality A is taken is 3a / b, the number of times the gypsum of quality B is taken is a / b, and the number of times the gypsum of quality C is taken is a / b.

[0065] The gypsum materials of quality A, quality B and quality C grabbed each time are mixed in a layer-by-layer cross-blending manner to form the running track for the warehousing vehicle.

[0066] For the second gypsum material mixing method, the specific implementation method is: all gypsum materials are grabbed the same number of times during mixing, and when the gypsum material is mixed once, all qualities of gypsum materials are mixed according to the mixing ratio, and the material weight of gypsum materials of different qualities in the single gypsum material mixing is determined. Among them, when setting the number of grabbing times for gypsum material mixing, the mass b of the material taken by the grab bucket of the warehouse entry vehicle 1 each time is used as the basis to determine the number of grabbing times corresponding to the gypsum material with the largest demand, and the number of grabbing times corresponding to the gypsum material with the largest demand is used as the number of grabbing times for all gypsum materials during mixing.

[0067] For example, when the ratio of all qualities of gypsum is 3:1:1, when the gypsum is mixed once, the single weight of gypsum of quality A is b, the single weight of gypsum of quality B is b / 3, and the single weight of gypsum of quality C is b / 3.

[0068] The gypsum materials of quality A, quality B and quality C grabbed each time are mixed in a layer-by-layer cross-blending manner to form the running track for the warehousing vehicle.

[0069] Therefore, based on the input of the quality of gypsum material to be prepared and the weight of gypsum material of each quality, the gypsum material preparation system can screen out the corresponding gypsum material piles from the gypsum warehouse according to the required gypsum material quality, and further screen out the gypsum material piles that need to be prepared according to the first-in-first-out principle.

[0070] When the screened gypsum pile is mixed and deployed, all qualities of the grabbed gypsum are cross-blended layer by layer based on the principle of uniform mixing, so as to ensure quick and convenient mixing and use when it is shipped out for use.

[0071] The gypsum material mixing method of the gypsum material mixing system of the above-mentioned three-dimensional pan-tilt scanning and recognition system is as follows: Figure 2 As shown, the following steps are included:

[0072] Step 100: input the quality of the gypsum material to be prepared and the mixing weight of each gypsum material;

[0073] Step 200: The processing system determines the location of each quality of gypsum pile based on the gypsum material storage work information and the three-dimensional model of the material pile, selects the gypsum pile for mixing based on the quality of the gypsum material that needs to be mixed and the mixing weight of each gypsum material, and plans the mixing operation trajectory of the storage vehicle.

[0074] In step 200, the processing system determines the quality of gypsum materials and the volume of gypsum material piles in each material pit in the gypsum warehouse according to the gypsum material storage work information and the three-dimensional model of the material pile, and determines the stacking time of each gypsum material pile.

[0075] The processing system selects corresponding gypsum piles from the gypsum warehouse based on the quality of the gypsum material to be prepared, compares the stacking time of the gypsum piles corresponding to the gypsum piles of the same quality, and selects the gypsum pile with the longest stacking time as the preparation object.

[0076] The processing system controls the incoming crane to pick up materials from the gypsum material piles that are the objects of allocation in turn, forming the allocation operation track of the incoming crane.

[0077] Step 300: The processing system adjusts the weight of the gypsum material grabbed by the storage vehicle each time from the selected gypsum material pile and the number of times the selected gypsum material pile is taken according to the proportion of all gypsum materials that need to be prepared, so as to prepare gypsum material piles of different qualities in a cross-laying manner.

[0078] In step 300 , the processing system determines the proportion of all types of gypsum materials based on the input gypsum material quality and the mixing weight of each type of gypsum material.

[0079] Based on the weight of the gypsum material taken by the grab bucket of the warehouse crane each time when grabbing the material, the number of times the grab bucket of the warehouse crane grabs each quality of the gypsum pile is determined. Based on the principle of cross-laying, the warehouse crane is regulated to grab each quality of the gypsum pile according to the ratio of the gypsum material, and the gypsum materials of different qualities are evenly mixed.

[0080] Based on the same number of times the grab bucket of the warehouse crane takes gypsum of different qualities, the weight of each quality of gypsum pile taken by the grab bucket of the warehouse crane is determined. Based on the principle of cross-laying, the warehouse crane is controlled to grab and take materials from each quality of gypsum pile in turn, and all the grabbed gypsum qualities are cross-laid.

[0081] This embodiment selects the corresponding gypsum material piles from the gypsum warehouse according to the required gypsum material quality, and further selects the gypsum material piles that need to be prepared according to the first-in-first-out principle. When the screened gypsum material piles are mixed and prepared, all kinds of qualities of the grabbed gypsum materials are cross-mixed layer by layer according to the principle of uniform mixing, so as to ensure quick and convenient mixing and use when leaving the warehouse for use.

[0082] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A gypsum material mixing system based on a three-dimensional pan-tilt scanning and recognition system, characterized in that: include: A storage crane (1) is installed at the top of each partition of the gypsum storage, and is used to grab and move the gypsum material to be stored into the material pit of the partition of the gypsum storage; A laser scanning module (2) is installed on the warehouse entry vehicle (1), and is capable of scanning objects in each partition of the gypsum warehouse as the warehouse entry vehicle (1) moves, thereby obtaining a point cloud set of the surface of the objects in each partition of the gypsum warehouse; The processing system (3) is respectively connected to the warehouse entry vehicle (1) and the laser scanning module (2) in communication. The processing system (3) forms scanning position information based on the movement of the warehouse entry vehicle (1), and models the gypsum material pile in each partition of the gypsum warehouse in combination with the scanning position information of the warehouse entry vehicle (1) and the scanning work of the laser scanning module (2), so as to construct a three-dimensional model of the material pile with information on the location and volume of the gypsum material pile; The processing system (3) determines the relationship between the position of the gypsum material pile and the quality of the gypsum material according to the gypsum material storage work, and the processing system (3) determines the volume of each gypsum material pile and the quality of each gypsum material based on the constructed three-dimensional model of the material pile, and controls the storage vehicle (1) to mix the gypsum materials for the gypsum material piles of different qualities.

2. The gypsum material mixing system based on the three-dimensional pan-tilt scanning and recognition system according to claim 1 is characterized in that: The three-dimensional model of the stockpile constructed by the processing system (3) is updated in real time as the storage vehicle (1) moves in a cycle; A positioning module (4) is installed on the entry vehicle (1) or the laser scanning module (2), and the processing system (3) forms the position distribution information of the entry vehicle (1) in each partition of the gypsum warehouse through the positioning module (4); The processing system (3) determines the horizontal position corresponding to the surface point cloud set of the object scanned by the laser scanning module (2) based on the position distribution information of the laser scanning module (2), and determines the quality of the gypsum material formed by the surface point cloud set of the object according to the relationship between the gypsum material pile position and the gypsum material quality determined by the gypsum material storage operation.

3. The gypsum material mixing system based on the three-dimensional pan-tilt scanning and recognition system according to claim 1 is characterized in that: The system further comprises a mixing information input module (6), wherein the processing system (3) determines the quality of gypsum materials required for mixing and the weight of gypsum materials of each quality based on the mixing information input module (6), the processing system (3) determines the quality of each gypsum material pile and the stacking time of each gypsum material pile from the gypsum material storage work, and the processing system (3) determines the quality of gypsum materials required for mixing according to the mixing information input module (6), and the processing system (3) selects the gypsum material pile required for mixing based on the stacking time of each gypsum material pile and in a first-in-first-out order; The processing system (3) compares the volume of the selected gypsum material pile that needs to be mixed with the gypsum material, and controls the storage crane (1) to perform the gypsum material mixing work.

4. The gypsum material mixing system based on the three-dimensional pan-tilt scanning and recognition system according to claim 3 is characterized in that: A weighing unit (5) is installed on the grab bucket of the storage crane (1), and the weighing unit (5) is used to weigh the gypsum material grabbed by it. The storage crane (1) performs the mixing operation of all kinds of gypsum materials according to the weight of the material taken each time and the number of grab buckets required to grab the material.

5. The gypsum material mixing system based on the three-dimensional pan-tilt scanning and recognition system according to claim 3 is characterized in that: When the processing system (3) controls the storage crane (1) to mix the gypsum materials, the gypsum material piles of different qualities are mixed in a cross-laying manner, so that the multiple gypsum material piles of different qualities are evenly mixed and mixed.

6. The gypsum material mixing system based on the three-dimensional pan-tilt scanning and recognition system according to claim 5 is characterized in that: The processing system (3) determines the proportion of all qualities of gypsum materials according to the quality of the gypsum materials to be prepared and the weight of each quality of gypsum materials; The processing system (3) controls the grab bucket of the storage vehicle (1) to take the full bucket of each quality of gypsum material pile in turn according to the proportion of all qualities of gypsum materials, and the storage vehicle (1) cross-lays the gypsum materials after taking the full bucket; The processing system (3) determines the number of times the grab bucket of the entry vehicle (1) grabs gypsum material piles of each quality based on the weight corresponding to each full bucket of material taken by the grab bucket of the entry vehicle (1).

7. The gypsum material mixing system and method based on the three-dimensional pan-tilt scanning and recognition system according to claim 5 is characterized in that: The processing system (3) determines the proportion of all qualities of gypsum materials according to the qualities of the gypsum materials to be prepared and the weight of each quality of gypsum materials; The processing system (3) determines the weight of gypsum materials of other qualities to be taken each time under the condition of the grabbing number according to the grabbing number corresponding to the grabbing number when the grabbing bucket of the storage vehicle (1) takes the maximum gypsum material weight; The processing system (3) controls the storage vehicle (1) to grab the gypsum piles of all qualities in turn according to the weight of the material picked up by the grab bucket of the storage vehicle (1), and cross-lays the gypsum materials after picking up the materials.

8. A gypsum material mixing method based on the gypsum material mixing system of the three-dimensional pan-tilt scanning and recognition system according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 100: input the quality of the gypsum material to be prepared and the mixing weight of each gypsum material; Step 200: The processing system determines the location of each quality of gypsum pile based on the gypsum material storage work information and the three-dimensional model of the material pile, selects the gypsum pile for mixing based on the quality of the gypsum material to be mixed and the mixing weight of each gypsum material, and plans the mixing operation track of the storage vehicle; Step 300, the processing system controls the weight of gypsum material grabbed by the storage vehicle from the selected gypsum material pile each time and the number of times the selected gypsum material pile is taken according to the proportion of all gypsum materials that need to be prepared, so as to prepare gypsum material piles of different qualities in a cross-laying manner.

9. A gypsum material preparation method according to claim 8, characterized in that: In step 200, the processing system determines the quality of the gypsum material and the volume of the gypsum material pile of each material pit in the gypsum warehouse according to the gypsum material storage work information and the three-dimensional model of the material pile, and determines the stacking time of each gypsum material pile; The processing system selects corresponding gypsum material piles from the gypsum warehouse based on the quality of the gypsum material to be prepared, compares the stacking time of the gypsum material piles corresponding to the gypsum material piles of the same quality, and selects the gypsum material pile with the longest stacking time as the preparation object; The processing system controls the warehouse-entering vehicle to sequentially retrieve the gypsum material piles that are the objects of allocation, thereby forming an allocation operation track of the warehouse-entering vehicle.

10. A gypsum material preparation method according to claim 8, characterized in that: In step 300, the processing system determines the proportion of all types of gypsum materials based on the input gypsum material quality and the mixing weight of each type of gypsum material; The weight of the gypsum material taken out by the grab bucket of the warehouse-entering crane each time is used as a benchmark to determine the number of times the grab bucket of the warehouse-entering crane grabs each quality of the gypsum pile, and the warehouse-entering crane is regulated to grab each quality of the gypsum pile according to the proportion of the gypsum material based on the principle of cross-laying, so as to evenly mix the gypsum materials of different qualities; Based on the same number of times that the grab bucket of the warehouse-entering crane takes gypsum materials of different qualities, the weight of each quality of gypsum material pile taken by the grab bucket of the warehouse-entering crane is determined each time. Based on the principle of cross-laying, the warehouse-entering crane is controlled to grab and take materials from each quality of gypsum material pile in turn, and all the grabbed gypsum materials of different qualities are cross-laid.

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