CN104521435B - Auto-cutting type tea picking machine ceding of Taiwan method for automatically leveling and device - Google Patents
Auto-cutting type tea picking machine ceding of Taiwan method for automatically leveling and device Download PDFInfo
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- CN104521435B CN104521435B CN201410582767.XA CN201410582767A CN104521435B CN 104521435 B CN104521435 B CN 104521435B CN 201410582767 A CN201410582767 A CN 201410582767A CN 104521435 B CN104521435 B CN 104521435B
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Abstract
The invention discloses a kind of auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device, integrality and uniformity for improving the harvesting of tealeaves young sprout, improve tealeaves total quality and picking efficiency, the ceding of Taiwan for fixing cutter is ensured by the displacement of two support bars of the Synchronization Control ceding of Taiwan highly consistent from the ground, cause that shape of the shape of cutter substantially with tea tree tree crown matches by the displacement difference of two support bars of the heeling condition adjustment ceding of Taiwan of the inclination sensor perception ceding of Taiwan；Enable the popularization and application in the tea place of hilly country well of auto-cutting type tea picking machine.The invention also discloses auto-cutting type tea picking machine ceding of Taiwan method for automatically leveling.
Description
Technical field
The invention belongs to tealeaves agronomic technique, electromechanical integration technology, the levelness control technology of cutting tool and calculating
A kind of application of the machine control technology in intelligent tea picking mechanical aspects, and in particular to auto-cutting type tea picking machine ceding of Taiwan automatic leveling
Method and apparatus.
Background technology
Tea picking has very strong seasonality, and plucking cycle is short, and labour intensity is high, belongs to labour-intensive operation.Mesh
Before, the contradiction of China's tea picking and recruitment has become the bottleneck of Development of Tea Industry.The current tea picking machine promoted the use of is big
Many to pluck fresh leaf both for large tea and produce, it utilizes machine power to drive blade movement, and THE ADIABATIC SHEAR IN simultaneously collects tea
Leaf.This kind of tea picking machine has picking efficiency high, can reduce labor cost and labour intensity, and tea picking people is alleviated to a certain extent
The not enough contradiction of work.
Though tea picking machine can improve picking efficiency, it lacks selectivity, regardless of old tender during work, under single solution for diverse problems so that bud
Leaf is not of uniform size, and integrality is poor, and larger to the mechanical injuries of tea tree；Harvesting leaf is always tender simultaneously mixes, and old leaf is obstructed always
It is higher with blade breakage content, promoting the use of for tea picking machine is have impact on to a certain extent.
The tea picking machinery of automation and intelligentification is the active demand of tealeaves industry.Intelligent tea picking technology and dress
Standby, the automation for being mainly used in large tealeaves such as finishing and spring tea later stage and the Summer-autumn tea of tea tree is plucked, by tealeaves agronomy skill
Tea tree grooming function can be unified tea tree top contour shape by art, can be that provides convenient is plucked in the automation of large tealeaves.Carry
Integrality and uniformity that young sprout high is plucked, improve tealeaves total quality.
" inter-bank walks riding type tea picking machine to the patent of invention of the applications such as Nanjing Agriculturing Mechanization Inst., Ministry of Agriculture's Xiao Hong scholars certainly
And its method of work " (publication number：CN103098617A. publication date：2013.05.15), disclose a kind of inter-bank and walk riding type certainly
Crawler belt tea picking machine.Tea picking machine whole process operation can be by driver's one man operation, and using full hydraulic drive technology, motor is directly arranged
Among the driving wheel of crawler belt, it is adapted to the tea picking operation of 1.5 meters of level land tea place line-spacing and prunes operation, it has 25 ° of climbing energy
Power and certain obstacle climbing ability, and dynamic according to different tea tree height the height and position of picking mechanism can be adjusted to adapt to not
Same working condition (tea tree height, degree surface evenness) demand.The dark brownish green collecting mechanism of the tea picking machine can in picking process Automatic sieve
Except the larger old leaf of profile and base of leaf, and energy Automatic sieve removes disintegrating slag, to reduce the man-hour of fresh leaf needed for subsequent artefacts' screening；It is this
The major defect of tea picking machine is a lack of selectivity, regardless of old tender during work, under single solution for diverse problems so that bud-leaf is not of uniform size, and integrality
It is poor and larger to the mechanical injuries of tea tree.
Patent of invention " tea-leaf pick-up robot " (publication number of the applications such as Nanjing Forestry University Chen Yong：CN102487667A.
Publication date：2012.06.13), a kind of tea-leaf pick-up robot is disclosed.The robot includes vision system, treatment control electricity
Road, executing agency and collection device, its space mechanism arm mechanism can realize that accurately left and right side blade can ensure in place
The integrality of blade, whole picking process full automation.This tea-leaf pick-up robot is not suitable for the automatic of large tealeaves
Change and pluck, be adapted only to the harvesting of Famous High-quality Tea.
The riding shape tea picking machine that foreign countries produce at present, such as Luo Heren things Industrial Co., Ltd of Japan and Kawasaki Machinery Co., Ltd.
The riding shape tea picking machine for producing, the technical merit tea place high for being relatively specific for tree plant cultivation management carries out Mechaniaed harvest.Japan
The technical merit of tree plant cultivation management is very high, and tea place specification, tea row are straight, tea is fluffy neat, and standardization, machinery have been carried out completely
Metaplasia is produced.The standardization level in its tea field especially allows people to speak approvingly of, the ridge of a ridge one, very beautiful, and tea field is with regard to two sizes,
Amplitude with tea machinery matches, also without terraced fields, entirely depositional gradient, its gradient all in the range of the several years, very just
It is easy to do mechanization operation.On the other hand, current riding shape tea picking machine, because riding seat is too high and side is partial at seat,
Some difficulties are existed to the longitudinal tea Gansu Province center line of height and alignment for holding cutting tool in picking process.
China's tea picking mode is from the artificial transformation plucked towards Mechaniaed harvest mode, but the current tea of China
Set cultivation management technical merit also in, from now on a period of time in will also be chronically at the beginning of intermediate stage.This is due to China
What the geomorphological environment of tea tree planting was determined.China is vast in territory, tea tree planting area often all in hilly country, tea place
Slope change is more increasingly complex than the landforms of Japanese tea tree planting, and the riding shape that this feature result in current foreign-made is picked tea-leaves
Machine technology can not the popularization and application in the tea place of China hilly country.Shown in accompanying drawing 6 led due to the slope change in tea place
The excessively cutting of part tea hat is caused, and a part of tea hat does not obtain cutting and plucks；Shown in accompanying drawing 6 is to employ circular arc type design
Cutter situation, and can more be protruded for cutter such case of flat design.
Not yet retrieve at present both at home and abroad in terms of tea picking machine on how to be applied to what hilly country automation was plucked
How Patents, effectively aid in tea picking machine operating personnel effectively to adjust cutting tool using the video image in front of tea picking machine
Height and the longitudinal tea Gansu Province center line of alignment, and how to allow the ceding of Taiwan of tealeaves cutter and the earth horizontal plane to be consistent document report
Road.
The content of the invention
In order to overcome riding shape tea picking machine to lack a unification due to the slope change in tea place in hilly country operation
Picking surface level height benchmark cause the fluffy face in tea Gansu Province according to the heeling condition of tea picking machine will under old tender single solution for diverse problems the drawbacks of, this hair
It is bright to overcome this problem from two aspects of agronomic technique and picked technology.In terms of agronomic technique, former years winter to tea Gansu Province
The machine face of adopting of a unified picking surface level height benchmark carry out pruning, the fluffy face in tea Gansu Province be shaped as unification with one
The circular arc ridge crown of individual unified picking surface level height benchmark, adds fertile training management measure, makes the tender tea shoot that spring sends
Length is basically identical, and a tender tea shoot layer for unified picking surface level height benchmark is formed on the fluffy face in tea Gansu Province；When machine is adopted,
More than 70% tender shoots highly carries out harvesting operation in time up to 1.5-2.0cm；In terms of picked technology, wished to one during tea picking
Individual unified picking surface level height benchmark cuts to the tender shoots layer on the fluffy face in tea Gansu Province, and what is so cut down is substantially all
It is tender tea.
The technical solution adopted for the present invention to solve the technical problems is：
In order to improve the integrality and uniformity of the harvesting of tealeaves young sprout, tealeaves total quality and picking efficiency, this hair are improved
It is bright middle using a kind of standardized tealeaves agronomic technique；Pruning is carried out to the machine face of adopting in tea Gansu Province by tea picking machine so that whole
The fluffy face in tea Gansu Province of the often row tea tree in individual tea place is shaped as unified circular arc Gansu Province crown.Standardized tealeaves agronomic technique is logical
Following 4 uniformity are crossed to realize；Cutter parameter used by tea picking machine when the tea picking machine and machine of pruning are adopted is consistent,
The ceding of Taiwan of fixed cutter is highly consistent from the ground, and the ceding of Taiwan of fixed cutter is consistent with the earth horizontal plane, the central track of cutter
Trace is consistent with the center line in the fluffy face in tea Gansu Province for plucking row；By using standardized pruning agronomic measures, cultivate and adapt to automatic
The tea tree crown that change machine is adopted.
Cutter parameter used by tea picking machine when ensureing that the tea picking machine and machine of pruning are adopted is consistent, is by using big
The small identical cutter of shape is realized.
Ensure that the ceding of Taiwan of fixed cutter is highly consistent from the ground, be by the displacement of two support bars of the Synchronization Control ceding of Taiwan come
Realize.
Because tea place is uneven, it is ensured that it is very crucial that the ceding of Taiwan of fixed cutter is consistent with horizontal plane.If
The horizontal adjustment of the ceding of Taiwan is not carried out, and the undue cutting tea tree tree crown of a cutter part as shown in Figure 6, another part just occurs
Occurs the phenomenon do not cut or cut less again；The heeling condition of the ceding of Taiwan is perceived here by inclination sensor, then adjustment is cut
The displacement difference of two support bars of platform is realized；By after the levelness for adjusting the ceding of Taiwan, the shape of cutter substantially with tea tree tree
The shape of hat matches, as shown in Figure 7 so that picking surface is substantially the tender tea shoot layer of tea tree tree crown.
The self adaptation dynamic equilibrium ceding of Taiwan is fixed in the frame of tea picking machine by two support bars, one end of Left-side support bar
It is hinged with ceding of Taiwan left side, one end of Right side support bar carries out slip and is hinged with ceding of Taiwan right side, the height of left and right sidesing post
Degree is controlled by two linear servo-actuators respectively, while two linear servo-actuators of control are used to adjust height of the ceding of Taiwan with respect to ground
Degree and the levelness of the control ceding of Taiwan.
Central track trace on cutter is consistent with the center line in the fluffy face in tea Gansu Province for plucking row to be adjusted, present invention generally provides
A kind of man-machine interface mode, shows the shaped position of cutter and the moving rail trace at cutter center on a display screen, passes through
Described video camera is demarcated and installation site adjustment so that the moving rail trace at cutter center and described video camera
Primary optical axis is overlapped；The operating personnel of tea picking machine are aided in accurately to set the cutting-height of tea tree tree crown and be micro-adjusted to it, it is right
The travel direction of tea picking machine is adjusted so that the center line in the fluffy face in tea Gansu Province and the motion track line overlap at cutter center.
Cutter is fixed by screws on cutter fixed support, and cutter is shaped as circular arc, and power reaches by flexible axle and cut
Knife, drives cutter and collection leaf device reciprocating；Tealeaves under cutting is sent into fresh tea leaf in the case where tea fan action is collected and is received
In header.
The auto-cutting type tea picking machine ceding of Taiwan method for automatically leveling that the present invention is provided, including step：
1) height and center line of tea tree tree crown are obtained；
2) height according to sets the cutting-height H of tea tree tree crowns, according to described adjusting of centerline cutter center
Moving rail trace；
3) inclination sensor is used, the tilt angle alpha of the ceding of Taiwan is perceived；
4) the distance between strong point according to ceding of Taiwan both sides W, calculates the ceding of Taiwan and is adjusted to each strong point during horizontality
Height Adjustment value, and according to Height Adjustment value to ceding of Taiwan leveling；
5) utilize the displacement sensor strong point to ground apart from Ha, according to the inclined angle alpha on ground, after calculating leveling
The liftoff plane of cutter central point height H "C,
6) according to formula Δ H=H "C-HsAltimetric compensation is carried out to cutter, make after harvesting tea hat center line peak perpendicular to
The height on ground is Hs。
A kind of intelligent automatic cutting type tea picking machine ceding of Taiwan self-level(l)ing device, including for during tea picking to the ceding of Taiwan
The highly operation and control system of control and ceding of Taiwan levelness, display control screen, video camera and the ceding of Taiwan；
Described video camera configures the front of the direction in the middle part of tea picking machine, overlooks 10 ° of inclination angles and was being picked tea-leaves for obtaining
The situation of front tea tree tree crown in journey, the operating personnel of auxiliary tea picking machine are easily observed that the height and center line of tea tree tree crown,
Described video camera is connected by USB interface with described operation and control system；
Described display control screen, the operating personnel for showing tea picking machine are set by described operation and control system
Tea tree tree crown cutting-height, show the video image of front tea tree tree crown as acquired in described video camera；Tea picking machine
Operating personnel according to tea picking machine and the growing state of tea tree tree crown to be cut, the setting tea tree tree crown of appropriate adjustment tea picking machine
Cutting-height；The key light axis of video camera of the operating personnel of tea picking machine according to described display screen display with it is vertical
The travel direction of tea picking machine is adjusted to the center line degree of agreement of tea tree tree crown to be cut so that the cutter center of tea picking machine
The center line of the moving rail trace tea tree tree crown to be cut with longitudinal direction coincide；
The described ceding of Taiwan, the cutter for performing to being fixed on tea picking machine carries out cutting for Height Adjustment and Level-adjusting
Platform action module, described ceding of Taiwan action module is main to be controlled by cutter height control unit and ceding of Taiwan levelness control unit；
Described ceding of Taiwan action module is mainly made up of two support bars, ceding of Taiwan body, cutter；Ceding of Taiwan body is consolidated by two support bars
It is scheduled in the frame of tea picking machine, one end and the ceding of Taiwan left side of ceding of Taiwan Left-side support bar are hinged, one end of Right side support bar
Slip is carried out with ceding of Taiwan right side to be hinged, the height of left and right sidesing post is controlled by two linear servo-actuators respectively, while control
Two linear servo-actuators are used to adjust the ceding of Taiwan with respect to the height on ground and the levelness of the control ceding of Taiwan；Ceding of Taiwan body is adopted with cutter
Connected with removably, cutter is fixed on ceding of Taiwan body by fixing screws；
Described operation and control system also includes：
Cutter height control unit, for set by the operation and control system according to the operating personnel of tea picking machine for described in
Tea tree tree crown cutting-height value adjust automatically cutter height so that cut tea tree tree crown height control setting
In the range of value so that the tender shoots layer on the circular arc line of cut alignment fluffy face in circular arc tea Gansu Province of cutter；
Ceding of Taiwan levelness control module, mainly includes ceding of Taiwan tilt detection unit and ceding of Taiwan level control unit, for solid
The ceding of Taiwan and the earth horizontal plane for determining cutter are consistent；
Display output module, for the tea for showing the operating personnel of tea picking machine set by described operation and control system
The cutting-height of tree crown is set, the video image of the front tea tree tree crown as acquired in described video camera is shown, video image
Middle part shows the primary optical axis of described video camera, the travel direction for representing current tea picking machine；
Cutter cut-sytle pollination unit produces reciprocating motion by driving blade, by the cut-out of the tea tree germ tip.
The ceding of Taiwan tilt detection unit, described cutter water is perceived by the inclination sensor installed in the described ceding of Taiwan
Level state；Described inclination sensor is fixed on the centre on the ceding of Taiwan top, the heeling condition for perceiving the ceding of Taiwan；Incline and pass
Sensor use SCA103T chips, SCA103T series employ highly integrated electronics and maturation MEMS sensor technology, be for
What high-precision tilt angle was measured and designed, can be used in more severe industrial and agricultural production environment, it is especially insensitive to vibrating, very
It is useful on the levelling device of intelligent tea picking machine, its functional block diagram is as shown in Figure 3；
SCA103T series has two simulation outputs, respectively OUT_1 and OUT_2, and carrying out difference with the two signals is carried out
Signal input, as shown in Figure 4, improves the sensitivity of inclination measurement and is substantially reduced common-mode noise, and the chip contains inside
Stably measured and compensation, with environmental suitability higher；SCA103T series in SCA103T-D05 type differential sensitivities be
8V/g, the inclination information of the ceding of Taiwan is gathered from simulation output, and simulation output is carried out with the corresponding relation at the inclination angle of the ceding of Taiwan by formula (1)
Calculate；
In formula, VoutIt is measurement two difference of simulation output of chip, i.e. OUT_1-OUT_2；Sensiticity is measurement
The susceptibility of chip, its value is 8V/g；α is the inclination angle of the ceding of Taiwan, and it is the visual angle ceding of Taiwan to define with the preceding line direction of riding shape tea picking machine
Clockwise inclination alpha for just, otherwise be negative；The Left-side support point of the ceding of Taiwan is defined as A points, and the Right side support point of the ceding of Taiwan is defined as
B points, as shown in Figure 5；Firstly the need of being returned to zero to inclination sensor and demarcated when actually used.
Ceding of Taiwan level control unit, the ceding of Taiwan for fixing cutter is consistent with the earth horizontal plane；Control support is described
The ceding of Taiwan left side and Right side support bar linear servo-actuator action so that the described ceding of Taiwan keeps water with the earth horizontal plane
It is flat；Using datum mark leveling algorithm is heightened in the present invention to realize that the level of the ceding of Taiwan is controlled；During so-called datum mark refers to cutter
To the vertical range between level ground near heart point, the value is the plucking height value that user is set on a display screen, that is, after plucking
The vertical height of tea hat；Obtained because the datum mark is not easy direct measurement, the central point of cutter is used as benchmark during calculating
Point.
In addition to adjusting the level of the ceding of Taiwan, in addition it is also necessary to which the height of cutter central point is controlled in a specified value Hs, Hs
Value is input into by man-machine interface by the man-machine interface of console, HsValue represent pluck after tea hat center line peak perpendicular to
Ground level to ground distance, as shown in Figure 5.
When whole tea picking machine is with inclined angle alpha run-off the straight, the ceding of Taiwan include cutter also can run-off the straight therewith, if pick tea-leaves
If machine is cut in a slanted state, the vertical height of tea hat is calculated with formula (3) after harvesting,
H'C=Hs×cosα (3)
Therefore, by after harvesting tea be preced with center line peak perpendicular to ground level to ground apart from HCControl is given at one
Fixed value Hs, it is necessary to HCSlope compensation is carried out with formula (4)；
HC=H'C+Hs×(1-cosα) (4)
So that compensation after harvesting after tea be preced with center line peak perpendicular to ground level to ground apart from HCWith it is given
Value HsUnanimously；
In the present invention, displacement transducer is mounted with the Left-side support point A points of the ceding of Taiwan, for measuring Left-side support point A
Point uses H along the distance of support bar to ground in accompanying drawing 5aRepresent；Strong point A points are perpendicular to ground level to ground apart from H'aWith
Formula (5) is calculated；
H'a=Ha×cosα (5)
If with displacement measurement HaLeveling is carried out as datum mark, will HaControl is in Hs≈Ha, it is contemplated that the inclination on ground
Angle, can calculate the height H of the liftoff plane of cutter central point "C；
Plane that cutter central point is liftoff height H "CIt is H with the height of the preferable liftoff plane of cutter central pointsBetween
Difference, here as datum mark controlled estimation error, are calculated with relational expression (7)；
Simulation calculation is carried out to formula (7), is found in inclined angle alpha in the range of 15 °, use displacement measurement HaAs benchmark
Point carries out cutter Height Adjustment and meets engineering technology requirement.
The above analysis, the height of the ceding of Taiwan is watched by carrying out ceding of Taiwan height and position on the basis of the Left-side support point A points of the ceding of Taiwan
Clothes control, the leveling of the ceding of Taiwan is controlled by the positional servosystem of the left and right strong point.
Described ceding of Taiwan level control unit, the ceding of Taiwan for fixing cutter is consistent with the earth horizontal plane；Control branch
The linear servo-actuator action in the left side and Right side support bar of the described ceding of Taiwan of support so that the described ceding of Taiwan is protected with the earth horizontal plane
Water holding is put down；
The left side of the described ceding of Taiwan and the displacement of Right side support bar are calculated with formula (2)；
δ=W × sin α/2 (2)
In formula, α is the inclination angle of the ceding of Taiwan, and W is the distance between two strong points of the ceding of Taiwan, here in two strong points of definition
Meta is set to datum mark；With datum mark be coordinates computed origin according to formula (2), be calculated the ceding of Taiwan is adjusted to it is horizontal
State, the adjustment shift value of the Left-side support point A points of the ceding of Taiwan is-sgn (α) × δ, the adjustment displacement of the Right side support point B points of the ceding of Taiwan
It is sgn (α) × δ to be worth.
According to the site error of calculating each strong point of the ceding of Taiwan to datum mark；The position of each strong point to datum mark is missed respectively
Difference is given the positional servosystem of each strong point and carries out uneoupled control, is calculated moving displacement and the movement of each strong point
The related datas such as speed, then drive respective motor to turn over certain angle with some movement velocity pattern, make each strong point
Position rise or decline given distance so that each strong point is in same elevation of water, the ceding of Taiwan reaches horizontal
State.
During actual leveling, the adjustment speed of inclined angle alpha is determined first according to formula (2), when the adjustment of ceding of Taiwan inclined angle alpha
Just terminate leveling action when in some threshold value δ α, the size of threshold value δ α is to come true according to the horizontal control accuracy requirement of the ceding of Taiwan
Fixed；So that the strong point A, B are moved together with positive and negative different adjustment displacement and identical speed and to reach datum mark horizontal
State.
In leveling, the calculating difference according to the strong point and datum mark controls its direction of motion and displacement, with benchmark
Point alignment, when each strong point reaches reference point location, the ceding of Taiwan is in horizontality；It is noted herein that each strong point
Action must be coordinated, that is, need to carry out uneoupled control to two strong points for supporting the ceding of Taiwan, and so-called decoupling and controlling system is just
It is that the relation that intercouples in leveling system between each position SERVO CONTROL is eliminated using suitable control law, makes each
Input only controls a corresponding output, each output only to be acted on by a control again.
Concrete methods of realizing is：The signal at the inclination angle detected according to inclination sensor, by the length of ceding of Taiwan crossbeam
The highs and lows of the ceding of Taiwan strong point are calculated, and then each of the ceding of Taiwan is calculated as the origin of coordinate system using datum mark
Site error of the support point to datum mark；The position that the site error value of each strong point to datum mark gives each strong point is watched respectively
Dress system simultaneously carries out uneoupled control, is calculated the related datas such as the moving displacement and translational speed of each strong point, then drives
Respective motor turns over certain angle with some movement velocity pattern, the position of each strong point is increased or declines what is given
Distance, so that each strong point is in same elevation of water, the ceding of Taiwan reaches horizontality.
Ceding of Taiwan support feet position servo control driver element, for receiving described cutter height control unit or described
The displacement of the support feet that ceding of Taiwan level control unit sends and rate travel data, by the conversion of servomotor signals of rotating transformer
The actual position signal and actual speed signal for going out realize closed loop respectively as position ring feedback signal and loop feedback signal
Control, and system is quickly and smoothly followed position setting value, realize the leveling of the ceding of Taiwan or the adjustment of height.
Described cutter height control unit, for being described operation and control system according to the operating personnel of tea picking machine
The height of the cutting-height value adjust automatically cutter of set tea tree tree crown so that the height control of cut tea tree tree crown
In the range of setting value, point on the basis of cutter height is defined here.
Direct measurement value is difficult to because cutter height is one, it is measurement to use here to the Left-side support point A points of the ceding of Taiwan
Benchmark, indirect control cutter is carried out highly with Synchronization Control ceding of Taiwan support feet position servo control driver element.
Described cutter height control unit is felt indirectly by the displacement transducer being placed on the Left-side support bar of the ceding of Taiwan
Know cutter highly.
In actual cutter height adjustment process, the measured value H of the displacement transducer on Left-side support bar according to the ceding of TaiwanaWith
The cutting-height value H of tea tree tree crown of the operating personnel set by described operation and control systemsBetween difference so that this two
Difference between person is less than δ H, i.e.,
Hs-Ha≤δH (8)
Just terminate Height Adjustment action when difference in height is adjusted in some threshold value δ H, the size of threshold value δ H is that basis is cut
The Height Adjustment precision controlling of platform requires to determine；So that the strong point A, B are moved and are reached described together with identical speed
Operation and control system set by tea tree tree crown cutting height.
Described display output module, the operating personnel for showing tea picking machine are set by described operation and control system
The cutting-height of fixed tea tree tree crown, as shown in Figure 8；The front tea as acquired in described video camera is shown on a display screen
The video image of tree crown is set, the primary optical axis of described video camera is shown on the middle part vertical direction of video image, for representing
The travel direction of current tea picking machine；Here the effective coverage of image is carried out into multiwindow division first；So-called multiwindow is divided, just
Be by complete image segmentation into rule geometry subgraph, each subgraph is used as a rectangular window.
It is right in order to the operating personnel for aiding in tea picking machine accurately set the cutting-height of tea tree tree crown and it is micro-adjusted
The travel direction of tea picking machine is adjusted so that the center line in the fluffy face in tea Gansu Province and the motion track line overlap at cutter center；Aobvious
The shaped position of cutter and the moving rail trace at cutter center are shown in display screen, is demarcated by described video camera
Adjusted with installation site so that the moving rail trace at cutter center is Chong Die with the primary optical axis of described video camera.
Brief description of the drawings
Fig. 1 is the design concept figure of intelligent automatic cutting type tea picking machine；
Fig. 2 is the physical model of intelligent automatic cutting type tea picking machine, wherein 1 is intelligent automatic cutting type tea picking machine
Frame, 2 is the right support bar of the support ceding of Taiwan, and 3 is the left support bar of the support ceding of Taiwan, and 4 is the ceding of Taiwan, and 5 is cutter, and 6 is visual sensing
Device；
Fig. 3 is the built-in function block diagram of inclination sensor SCA103T；
Fig. 4 is the typical output characteristic curve and external circuit figure of inclination sensor SCA103T；
Fig. 5 is the ceding of Taiwan under intelligent automatic cutting type tea picking machine run-off the straight state status, cutter and each strong point
Geometrical relationship figure；
Fig. 6 is cutting with respect to tea tree tree crown when the cutter under intelligent automatic cutting type tea picking machine run-off the straight state status
Cut state diagram；
Fig. 7 is when under intelligent automatic cutting type tea picking machine run-off the straight state status after carrying out level control to the ceding of Taiwan
Cut state figure of the cutter with respect to tea tree tree crown；
Fig. 8 is the control display screen of intelligent automatic cutting type tea picking machine.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Embodiment 1
Reference picture 1~8, intelligent automatic cutting type tea picking machine ceding of Taiwan self-level(l)ing device, adopts for improving tealeaves young sprout
The integrality and uniformity plucked, improve tealeaves total quality and picking efficiency, and a kind of standardized tealeaves agriculture is used in the present invention
Skill technology；Pruning is carried out to the machine face of adopting in tea Gansu Province by tea picking machine so that tea Gansu Province of the often row tea tree in whole tea place is fluffy
Face is shaped as unified circular arc Gansu Province crown.Standardized tealeaves agronomic technique is realized by following 4 uniformity；It is whole
Cutter parameter used by tea picking machine when the tea picking machine and machine of shape pruning are adopted is consistent, the ceding of Taiwan of fixed cutter height one from the ground
Cause, the ceding of Taiwan of fixed cutter is consistent with the earth horizontal plane, in the central track trace of cutter and the fluffy face in tea Gansu Province of harvesting row
Heart line is consistent；By using standardized pruning agronomic measures, cultivate and adapt to the tea tree crown that automation machine is adopted.
Cutter parameter used by tea picking machine when ensureing that the tea picking machine and machine of pruning are adopted is consistent, is by using big
The small identical cutter of shape is realized；Ensure that the ceding of Taiwan of fixed cutter is highly consistent from the ground, be by Synchronization Control
The displacement of two support bars of the ceding of Taiwan is realized.
Because tea place is uneven, it is ensured that it is very crucial that the ceding of Taiwan of fixed cutter is consistent with horizontal plane；If
The horizontal adjustment of the ceding of Taiwan is not carried out, and the undue cutting tea tree tree crown of a cutter part as shown in Figure 6, another part just occurs
Occurs the phenomenon do not cut or cut less again；The heeling condition of the ceding of Taiwan is perceived here by inclination sensor, then adjustment is cut
The displacement difference of two support bars of platform is realized；By after the levelness for adjusting the ceding of Taiwan, the shape of cutter substantially with tea tree tree
The shape of hat matches, as shown in Figure 7 so that picking surface is substantially the tender tea shoot layer of tea tree tree crown.
The self adaptation dynamic equilibrium ceding of Taiwan is fixed in the frame of tea picking machine by two support bars, such as accompanying drawing 1 and the institute of accompanying drawing 2
Show.Intelligent automatic cutting type tea picking machine includes many wheels anti-jolt walking mechanism 11, the self adaptation dynamic equilibrium ceding of Taiwan and cutter 12,
Operation and control system 13, collection tea blower fan 14, power drive system 15 and fresh tea leaf collecting box.Ceding of Taiwan left side in accompanying drawing 2
One end of support bar is hinged with ceding of Taiwan left side, and one end of Right side support bar carries out slip and is hinged with ceding of Taiwan right side, left
The height of right support bar is controlled by two linear servo-actuators respectively, while two linear servo-actuators of control are used to adjust the ceding of Taiwan
With respect to the height and the levelness of the control ceding of Taiwan on ground.
Cutter is fixed by screws on cutter fixed support, and cutter is shaped as circular arc, and power reaches by flexible axle and cut
Knife, drives cutter and collection leaf device reciprocating；Tealeaves under cutting is sent into fresh tea leaf in the case where tea fan action is collected and is received
In header.
Intelligent automatic cutting type tea picking machine ceding of Taiwan self-level(l)ing device, including for during tea picking to the ceding of Taiwan highly
Control and the operation and control system of ceding of Taiwan levelness, display control screen, video camera and the ceding of Taiwan.
Video camera configures the front of the direction in the middle part of tea picking machine, before overlooking 10 ° of inclination angles for obtaining during tea picking
The situation of square tea tree tree crown, the operating personnel of auxiliary tea picking machine are easily observed that the height and center line of tea tree tree crown, video camera
It is connected with described operation and control system by USB interface；
Display control screen, the operating personnel for showing tea picking machine are the tea tree tree crown set by operation and control system
Cutting-height, as shown in Figure 8；The video image of front tea tree tree crown of the display screen display as acquired in video camera；Pick tea-leaves
The operating personnel of machine are according to tea picking machine and the growing state of tea tree tree crown to be cut, the setting tea tree tree of appropriate adjustment tea picking machine
The cutting-height of hat；The operating personnel of tea picking machine are to be cut with longitudinal direction according to the key light axis of described display screen display video camera
The center line degree of agreement of the tea tree tree crown for cutting adjusts the travel direction of tea picking machine so that the moving rail at the cutter center of tea picking machine
The center line of the trace tea tree tree crown to be cut with longitudinal direction coincide；
Inclination sensor is fixed on the centre on the ceding of Taiwan top, the heeling condition for perceiving the ceding of Taiwan；Inclination sensor
Using SCA103T chips, SCA103T series employs the MEMS sensor technology of highly integrated electronics and maturation, is for high-precision
Spend measurement of dip angle and design, can be used in more severe industrial and agricultural production environment, it is especially insensitive to vibrating, it is applicable very much
On the levelling device of intelligent tea picking machine, its functional block diagram is as shown in Figure 3.
SCA103T series has two simulation outputs, respectively OUT_1 and OUT_2, and carrying out difference with the two signals is carried out
Signal input, as shown in Figure 4, improves the sensitivity of inclination measurement and is substantially reduced common-mode noise, and the chip contains inside
Stably measured and compensation, with environmental suitability higher；SCA103T series in SCA103T-D05 type differential sensitivities be
8V/g, the inclination information of the ceding of Taiwan is gathered from simulation output, and simulation output is carried out with the corresponding relation at the inclination angle of the ceding of Taiwan by formula (1)
Calculate；
In formula, VoutIt is measurement two difference of simulation output of chip, i.e. OUT_1-OUT_2；Sensiticity is measurement
The susceptibility of chip, its value is 8V/g；α is the inclination angle of the ceding of Taiwan, and it is the visual angle ceding of Taiwan to define with the preceding line direction of riding shape tea picking machine
Clockwise inclination alpha for just, otherwise be negative；The Left-side support point of the ceding of Taiwan is defined as A points, and the Right side support point of the ceding of Taiwan is defined as
B points, as shown in Figure 5；Firstly the need of being returned to zero to inclination sensor and demarcated when actually used.
Ceding of Taiwan level control unit, the levelness for controlling the ceding of Taiwan is main to be calculated including ceding of Taiwan support feet site error
Module and ceding of Taiwan support feet position servo control module.
Ceding of Taiwan support feet site error computing module, horizontal level is adjusted to and given for calculating by the ceding of Taiwan
Algorithm is heightened in the displacement of each strong point of the ceding of Taiwan under tea tree cutting-height state of value, i.e. leveling；Benchmark is used in the present invention
Algorithm is heightened in point leveling；So-called datum mark refer to the vertical range between level ground near the central point of cutter, the value be
The plucking height value that user is set on display screen, that is, the vertical height of tea hat after plucking；Because the datum mark is not easy directly
Measurement is obtained, and used as datum mark, two central points of the strong point according to the design ceding of Taiwan are to cutting for the central point of cutter during calculating
Vertical range between the central point of knife is Δ h, and the distance between two strong points of the ceding of Taiwan are W, and the ceding of Taiwan is calculated with formula (2)
The site error value that support feet is caused due to inclination；
δ=W × sin α/2 (2)
Can be calculated according to formula (2) and the ceding of Taiwan is adjusted to horizontality, the adjustment of the Left-side support point A points of the ceding of Taiwan
Error amount is-sgn (α) × δ, and the alignment error value of the Right side support point B points of the ceding of Taiwan is sgn (α) × δ.
In addition to adjusting the level of the ceding of Taiwan, in addition it is also necessary to which the height of cutter central point is controlled in a specified value Hs, Hs
Value is input into by man-machine interface by the man-machine interface of console, HsValue represent pluck after tea hat center line peak perpendicular to
Ground level to ground distance, as shown in Figure 5.
When whole tea picking machine is with inclined angle alpha run-off the straight, the ceding of Taiwan include cutter also can run-off the straight therewith, if pick tea-leaves
If machine is cut in a slanted state, the vertical height of tea hat is calculated with formula (3) after harvesting,
H'C=Hs×cosα (3)
Therefore, by after harvesting tea be preced with center line peak perpendicular to ground level to ground apart from HCControl is given at one
Fixed value Hs, it is necessary to HCSlope compensation is carried out with formula (4)；
HC=H'C+Hs×(1-cosα) (4)
So that compensation after harvesting after tea be preced with center line peak perpendicular to ground level to ground apart from HCWith it is given
Value HsUnanimously；
In the present invention, displacement transducer is mounted with the Left-side support point A points of the ceding of Taiwan, for measuring Left-side support point A
Point uses H along the distance of support bar to ground in accompanying drawing 5aRepresent；Strong point A points are perpendicular to ground level to ground apart from H'aWith
Formula (5) is calculated；
H'a=Ha×cosα (5)
If with displacement measurement HaLeveling is carried out as datum mark, will HaControl is in Hs≈Ha, it is contemplated that the inclination on ground
Angle, can calculate the height H of the liftoff plane of cutter central point "C；
Plane that cutter central point is liftoff height H "CWith the height of the preferable liftoff plane of cutter central point between Hs
Difference, here as datum mark controlled estimation error, are calculated with relational expression (7)；
Simulation calculation is carried out to formula (7), is found in inclined angle alpha in the range of 15 °, use displacement measurement HaAs benchmark
Point carries out cutter Height Adjustment and meets engineering technology requirement.
Ceding of Taiwan level control unit, the ceding of Taiwan for fixing cutter is consistent with the earth horizontal plane；Control support is described
The ceding of Taiwan left side and Right side support bar linear servo-actuator action so that the described ceding of Taiwan keeps water with the earth horizontal plane
It is flat.
The left side of the ceding of Taiwan and the displacement of Right side support bar are calculated with formula (2)；
δ=W × sin α/2 (2)
In formula, α is the inclination angle of the ceding of Taiwan, and W is the distance between two strong points of the ceding of Taiwan, here in two strong points of definition
Meta is set to datum mark；With datum mark be coordinates computed origin according to formula (2), be calculated the ceding of Taiwan is adjusted to it is horizontal
State, the adjustment shift value of the Left-side support point A points of the ceding of Taiwan is-sgn (α) × δ, the adjustment displacement of the Right side support point B points of the ceding of Taiwan
It is sgn (α) × δ to be worth.
According to the site error of calculating each strong point of the ceding of Taiwan to datum mark；The position of each strong point to datum mark is missed respectively
Difference is given the positional servosystem of each strong point and carries out uneoupled control, is calculated moving displacement and the movement of each strong point
The related datas such as speed, then drive respective motor to turn over certain angle with some movement velocity pattern, make each strong point
Position rise or decline given distance so that each strong point is in same elevation of water, the ceding of Taiwan reaches horizontal
State.
During actual leveling, the adjustment speed of inclined angle alpha is determined first according to formula (2), when the adjustment of ceding of Taiwan inclined angle alpha
Just terminate leveling action when in some threshold value δ α, the size of threshold value δ α is to come true according to the horizontal control accuracy requirement of the ceding of Taiwan
Fixed；So that the strong point A, B are moved together with positive and negative different adjustment displacement and identical speed and to reach datum mark horizontal
State.
In leveling, the calculating difference according to the strong point and datum mark controls its direction of motion and displacement, with benchmark
Point alignment, when each strong point reaches reference point location, the ceding of Taiwan is in horizontality；It is noted herein that each strong point
Action must be coordinated, that is, need to carry out uneoupled control to two strong points for supporting the ceding of Taiwan, and so-called decoupling and controlling system is just
It is that the relation that intercouples in leveling system between each position SERVO CONTROL is eliminated using suitable control law, makes each
Input only controls a corresponding output, each output only to be acted on by a control again.
Concrete methods of realizing is：The signal at the inclination angle detected according to inclination sensor, by the length of ceding of Taiwan crossbeam
The highs and lows of the ceding of Taiwan strong point are calculated, and then each of the ceding of Taiwan is calculated as the origin of coordinate system using datum mark
Site error of the support point to datum mark；The position that the site error value of each strong point to datum mark gives each strong point is watched respectively
Dress system simultaneously carries out uneoupled control, is calculated the related datas such as the moving displacement and translational speed of each strong point, then drives
Respective motor turns over certain angle with some movement velocity pattern, the position of each strong point is increased or declines what is given
Distance, so that each strong point is in same elevation of water, the ceding of Taiwan reaches horizontality.
Ceding of Taiwan support feet position servo control driver element, for receiving cutter height control unit or the control of ceding of Taiwan level
The displacement of the support feet that unit sends and rate travel data, the physical location that servomotor signals of rotating transformer is conversed
Signal and actual speed signal realize closed-loop control respectively as position ring feedback signal and loop feedback signal, and make system
Position setting value is quickly and smoothly followed, the leveling of the ceding of Taiwan or the adjustment of height is realized.
Cutter height control unit, for set by the operation and control system according to the operating personnel of tea picking machine for described in
Tea tree tree crown cutting-height value adjust automatically cutter height so that cut tea tree tree crown height control setting
In the range of value, point on the basis of cutter height is defined here.
Direct measurement value is difficult to because cutter height is one, it is measurement to use here to the Left-side support point A points of the ceding of Taiwan
Benchmark, indirect control cutter is carried out highly with Synchronization Control ceding of Taiwan support feet position servo control driver element.
Cutter height control unit perceives cutter indirectly by the displacement transducer being placed on the Left-side support bar of the ceding of Taiwan
Highly.
In actual cutter height adjustment process, the measured value H of the displacement transducer on Left-side support bar according to the ceding of TaiwanaWith
Operating personnel are the cutting-height value H of the tea tree tree crown set by operation and control systemsBetween difference so that between both
Difference be less than δ H, i.e.,
Hs-Ha≤δH (8)
Just terminate Height Adjustment action when difference in height is adjusted in some threshold value δ H, the size of threshold value δ H is that basis is cut
The Height Adjustment precision controlling of platform requires to determine；So that the strong point A, B are moved and are reached described together with identical speed
Operation and control system set by tea tree tree crown cutting height.
Display output module, for the tea tree tree crown for showing the operating personnel of tea picking machine set by operation and control system
Cutting-height, as shown in Figure 8；The video of the front tea tree tree crown as acquired in described video camera is shown on a display screen
Image, shows the primary optical axis of video camera on the middle part vertical direction of video image, the traveling side for representing current tea picking machine
To；Here the effective coverage of image is carried out into multiwindow division first；So-called multiwindow is divided, and is exactly by complete image segmentation
Into the subgraph of the geometry of rule, each subgraph is used as a rectangular window.
It is right in order to the operating personnel for aiding in tea picking machine accurately set the cutting-height of tea tree tree crown and it is micro-adjusted
The travel direction of tea picking machine is adjusted so that the center line in the fluffy face in tea Gansu Province and the motion track line overlap at cutter center；Aobvious
The shaped position of cutter and the moving rail trace at cutter center are shown in display screen, is demarcated and is installed by video camera
Position adjustment so that the moving rail trace at cutter center is Chong Die with the primary optical axis of video camera.
Embodiment 2
Other are identical with embodiment 1, except that using linear pattern cutter, the tea tree tree crown after cutting is plane
Type；Here circular arc type cutter is replaced with linear pattern cutter, other leveling control strategies and cutter height control strategy are and circular arc
Type cutter Softening is identical.
Claims (7)
1. a kind of auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device, it is characterised in that including for being controlled during tea picking
The operation and control system of the ceding of Taiwan processed height and levelness, display control screen and video camera and ceding of Taiwan action module；
Described video camera, positioned at the middle part of the ceding of Taiwan, and overlooks 10 ° of inclination angles installations, the video for obtaining front tea tree tree crown
Image；
Described display control screen, for showing the cutting-height of the tea tree tree crown set in operation and control system and described
Video image, and the moving rail trace at cutter center is determined according to the center line of tea tree tree crown in video image；
Described operation and control system, including tilt detection unit, ceding of Taiwan levelness control unit, cutter height control unit
With the displacement transducer for measuring ceding of Taiwan lateral support point height；
Described tilt detection unit, to be fixed on the inclination sensor in the middle part of the ceding of Taiwan, the tilt angle alpha for measuring the ceding of Taiwan；
Described ceding of Taiwan levelness control unit, according between described tilt angle alpha, and the strong point of ceding of Taiwan both sides away from
From W, the Height Adjustment value needed for calculating each strong point leveling；
Described cutter height control unit, the strong point height obtained according to displacement sensor and tilt angle alpha, obtain
The liftoff plane of cutter central point after leveling height H "C, then by height H "CCutting-height with the tea tree tree crown of setting is carried out
Compare, obtain cutter altimetric compensation value；
Ceding of Taiwan action module, for the Height Adjustment value described in basis and cutter altimetric compensation value, adjust the ceding of Taiwan levelness and
Highly；Specific regulative mode is as follows：
Define point on the basis of two strong point centre positions, Height Adjustment value computing formula according to support bar is with datum mark to count
The origin of coordinates is calculated, is calculated and the ceding of Taiwan is adjusted to horizontality, the adjustment shift value of the side strong point A of the ceding of Taiwan is-sgn
The adjustment shift value of (α) × δ, the opposite side strong point B of the ceding of Taiwan is sgn (α) × δ, and δ is the Height Adjustment value of the ceding of Taiwan；
According to site error of each strong point of the ceding of Taiwan to datum mark is calculated, respectively by the site error value of each strong point to datum mark
Give the positional servosystem of each strong point and carry out uneoupled control, be calculated the moving displacement and mobile speed of each strong point
Degree, then drive respective motor to turn over certain angle with some movement velocity pattern, make each strong point position rise or
Person declines given distance, so that each strong point is in same elevation of water, the ceding of Taiwan reaches horizontality；
During actual leveling, it is first determined the adjustment speed of ceding of Taiwan inclined angle alpha, when ceding of Taiwan inclined angle alpha is adjusted to some threshold
Just terminate leveling action when in value δ α, the size of threshold value δ α is the horizontal control accuracy requirement according to the ceding of Taiwan to be determined so that
The strong point A, B are moved and are reached datum mark horizontality together with positive and negative different adjustment displacement and identical speed.
2. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 1, it is characterised in that the described ceding of Taiwan
Action module includes ceding of Taiwan body, cutter and support bar, and ceding of Taiwan body is arranged in the frame of tea picking machine by two support bars,
With the ceding of Taiwan by being hinged, the height of two support bars is controlled the strong point of support bar top by two linear servo-actuators respectively,
Two linear servo-actuators of control are used to adjust the ceding of Taiwan with respect to the height on ground and the levelness of the control ceding of Taiwan simultaneously.
3. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 2, it is characterised in that described inclination
Sensor uses SCA103T chips, and differential sensitivity is 8V/g, and the inclination information of the ceding of Taiwan, simulation output are gathered from simulation output
Corresponding relation with the inclination angle of the ceding of Taiwan is calculated by formula (1)；
In formula, VoutIt is measurement two difference of simulation output of chip, i.e. OUT_1-OUT_2；Sensiticity is measurement chip
Susceptibility, its value be 8V/g, α for the ceding of Taiwan inclination angle.
4. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 3, it is characterised in that the ceding of Taiwan
The Height Adjustment value of support bar is calculated with formula (2)；
δ=W × sin α/2 (2)
In formula, α is the inclination angle of the ceding of Taiwan, and W is the distance between two strong points of the ceding of Taiwan.
5. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 1, it is characterised in that the described ceding of Taiwan
Action module in height adjustment process, the measured value H according to the displacement transducer on the support bar of the ceding of TaiwanaIt is with operating personnel
The cutting-height value H of the tea tree tree crown set by described operation and control systemsBetween difference so that the difference between both
Less than δ H, i.e.,
Hs-Ha≤δH
Just terminate Height Adjustment action when difference in height is adjusted in some threshold value δ H, the size of threshold value δ H is according to the ceding of Taiwan
Height Adjustment precision controlling requires to determine；So that the strong point of both sides is moved and reaches described together with identical speed
The height of the cutting of the tea tree tree crown set by operation and control system.
6. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 5, it is characterised in that described cuts
Knife, for the cutting profile of the use circular arc type in the fluffy face in single-strain planting tea Gansu Province.
7. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 5, it is characterised in that described cuts
Knife, for two plants and more than the two plants linear cutting profiles of use in the plantation fluffy face in tea Gansu Province.
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| CN106303389B (en) * | 2015-06-02 | 2023-05-09 | 安顺市晶英科技研发有限责任公司 | Intelligent monitoring device of tea-leaf picker based on three-dimensional image |
| CN107771524A (en) * | 2016-08-26 | 2018-03-09 | 漳州速锐智能科技有限公司 | The automatic picking machine of tealeaves and its picking method |
| CN106508451B (en) * | 2016-11-15 | 2019-11-05 | 河南科技大学 | A kind of tobacco leaf topping machine |
| CN106584446B (en) * | 2017-03-14 | 2023-04-25 | 四川农业大学 | Tea-leaf picking manipulator |
| CN107340712B (en) * | 2017-07-03 | 2023-03-14 | 西安工业大学 | Control system for adaptively adjusting operation height of farming cutter and control method thereof |
| CN108781741A (en) * | 2018-06-22 | 2018-11-13 | 安徽农业大学 | Automatic self-propelled tea picking machine |
| CN108534693B (en) * | 2018-06-28 | 2023-10-27 | 四川农业大学 | Tea gathering depth and height measuring device |
| CN109220202B (en) * | 2018-11-30 | 2024-03-12 | 中国农业科学院茶叶研究所 | Famous tea picking machine and picking method thereof |
| CN110402682A (en) * | 2019-08-09 | 2019-11-05 | 上海电机学院 | A kind of automatic tea picker |
| CN110514229A (en) * | 2019-09-25 | 2019-11-29 | 哈工大机器人（合肥）国际创新研究院 | A kind of level device and leveling method measuring instrument of surveying and mapping |
| CN113455180B (en) * | 2021-06-25 | 2022-06-03 | 山东省农业机械科学研究院 | Circular cutting harvesting device with auxiliary advancing operation function |
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| JPH084418B2 (en) * | 1993-05-19 | 1996-01-24 | 矢崎化工株式会社 | Tea plantation management device |
| JP2920369B2 (en) * | 1997-03-14 | 1999-07-19 | 矢崎化工株式会社 | Tea plant management device |
| JP2002234354A (en) * | 2001-02-09 | 2002-08-20 | Kawasaki Engineering Inc | Riding type tea field control machine provided with power transmission means using hst type transmission |
| JP4585033B1 (en) * | 2009-12-21 | 2010-11-24 | 上村 一誉 | Tea leaf picking machine and method for cutting tea leaves |
| CN103999635B (en) * | 2014-05-21 | 2016-01-06 | 浙江工业大学 | Based on intelligent automatic cutting type tea picking machine and the method for work of machine vision |
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