CN105940861B - A kind of environment-protecting intelligent tea picking - Google Patents
A kind of environment-protecting intelligent tea picking Download PDFInfo
- Publication number
- CN105940861B CN105940861B CN201610514559.5A CN201610514559A CN105940861B CN 105940861 B CN105940861 B CN 105940861B CN 201610514559 A CN201610514559 A CN 201610514559A CN 105940861 B CN105940861 B CN 105940861B
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- Prior art keywords
- knife rest
- tea
- processing module
- central processing
- module
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/04—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of tea
Abstract
The present invention has supplied a kind of environment-protecting intelligent tea picking and control system, belong to field of garden technology, it includes vehicle frame, Athey wheel, central frame beam is equipped with passageway, the Z axis thrust gear that the rear of vehicle frame is equipped with knife rest and moves up and down for knife rest, identification module is equipped in front of vehicle frame, knife rest is equipped with tilt induction module, the identification module, tilt induction module is connect with central processing module, knife rest is equipped with horizontal maintenance mechanism, the central processing module maintains mechanism to controlled level, the movement of Z axis thrust gear, the tilt induction module will send information to central processing module, central processing module controlled level maintains mechanism, the identification module will send information to central processing module, central processing module control Z axis thrust gear moves up and down.The device energy automatic identification tea is preced with fluffy face, automatically adjusts cutting angle, corrects traffic route automatically, and hommization is higher.
Description
Technical field
The invention belongs to field of garden technology, in particular to a kind of environment-protecting intelligent tea picking.
Background technique
Domestic scientist also increased riding shape tea picking machine research dynamics in recent years.Ministry of Agriculture's Nanjing agriculture mechanization research
Place publication number: a kind of inter-bank is disclosed in CN103098617A from walking riding type crawler belt tea picking machine.The tea picking machine whole process operation
Can be by driver's one man operation, using full hydraulic drive technology, motor is directly arranged among the driving wheel of crawler belt, is suitble to level land
The tea picking operation and trimming operation of 1.5 meters of tea place line-spacing, have 25 ° of climbing capacities and certain obstacle climbing ability, and can basis
Different tea tree height and dynamic adjust the height and position of picking mechanism, and to adapt to different work operating condition, (tea tree height, degree face are flat
Whole degree) demand.The dark brownish green collecting mechanism of the tea picking machine can remove the biggish old leaf of shape and base of leaf, and energy by Automatic sieve in picking process
Automatically disintegrating slag is screened out, to reduce the working hour of fresh leaf needed for subsequent artefacts screen；The major defect of this tea picking machine is a lack of selection
Property, regardless of old tender when work, under single solution for diverse problems, so that bud-leaf is not of uniform size, integrality is poor, and to the mechanical injuries of tea tree
It is larger.
A kind of tea-leaf pick-up robot is disclosed in CN102487667A.The robot includes vision system, processing control
Circuit, executing agency and collection device, space mechanism arm mechanism may be implemented accurately in place, and left and right side blade can be protected
The integrality of blade is demonstrate,proved, entire picking process is fully automated.This tea-leaf pick-up robot is not suitable for oneself of large tealeaves
Dynamicization picking, is adapted only to the picking of Famous High-quality Tea.
Existing tea tree is not only planted on level land, also has mountain planting, how largely and accurately to acquire tea tree tender leaf
Become the problem of we study instantly.
Summary of the invention
The purpose of the present invention is being directed to existing above-mentioned problem, a kind of intelligent recognition tea tree tree crown is provided, and can be
The tea picking machine structure of energy automatic righting when tea picking vehicle tilts.
Object of the invention can be realized by the following technical scheme: a kind of environment-protecting intelligent tea picking, it includes vehicle
The Athey wheel that frame, vehicle frame two sides are walked, central frame beam are equipped with passageway, and the rear of vehicle frame is equipped with knife rest and moves up and down for knife rest
Z axis thrust gear, when tea picking machine is exercised before X axis, tea tree passes through passageway, and knife rest is skimmed over from tea tree, the vehicle
Frame is equipped with driver's cabin for controlling Athey wheel walking, which is characterized in that equipped on identification module, knife rest in front of the vehicle frame
Equipped with tilt induction module, the identification module, tilt induction module are connect with central processing module, and knife rest is equipped with level
Mechanism is maintained, the central processing module maintains the movement of mechanism, Z axis thrust gear, the inclination sense to controlled level
Module is answered to will send information to central processing module, central processing module controlled level maintains mechanism, and the identification module will be believed
Breath is sent to central processing module, and central processing module control Z axis thrust gear moves up and down.
The identification module includes advancing to assist in identifying the fluffy face identification submodule of submodule, tea hat, knife rest identification submodule
Block, the advance assist in identifying submodule and feed back to identification information on one display screen, and the tea is preced with fluffy face and identifies submodule
Block identification tea, which is preced with fluffy face and feeds back to information in the processing module of centre, calculates downlink cutting width, and the knife rest identification submodule is used
To identify the height of rest position, and breath is fed back in the processing module of centre.
It is described advance assist in identifying submodule identification tea Gansu Province edge line and center line and be fitted to straight line be mapped in it is aobvious
In display screen.
The tea picking machine is additionally provided with drift system, and drift system includes air outlet, and the air outlet is located at the front of knife rest,
Can be by the tealeaves of shearing toward rear drift, the rear of knife rest is equipped with collecting bag, and collecting bag is fixed on vehicle frame, the collecting bag
Sack is towards knife rest direction.
The knife rest is equipped with the arc tool section of arcuation.
The arc tool section quantity has 2 and is superposed, and arc tool section is equipped with teeth portion, described arc tool section one end
Equipped with cam drive mechanism, arc tool section, which can do relatively reciprocating motion, makes teeth portion generate dislocation shearing.
The Z axis thrust gear left and right settings is equipped with Z-motion in the two sides at rack rear, Z axis thrust gear
Anchor point, two end-rack of the knife rest on anchor point, and be equipped with Z axis driving mechanism driving anchor point movement, the Z axis
Driving mechanism is connect with central processing module.
The horizontal maintenance mechanism includes the Y-axis guide rail being arranged at least one anchor point, and described knife rest one end is equipped with
Adjusting block, the adjusting block are slidably arranged in Y-axis guide rail, and the knife rest end and the adjusting block are rotatablely connected, knife rest it is another
End is rotatablely connected with another anchor point.
A kind of control system of environment-protecting intelligent tea picking, including traveling identification control and knife rest adjust two big portions of control
Point,
Traveling identification control:
A, advance and assist in identifying submodule and first identify tea Gansu Province edge line and center line, two sides tea Gansu Province edge line is at a distance intersection
Point determines center line according to two sides tea Gansu Province edge line and crosspoint, tea Gansu Province edge line and center line straight line fitting is fed back to aobvious
In display screen；
B, straight line is picked up by the direction that advance assists in identifying submodule and is compared with center line, determine to travel vector with this
Whether it is biased to, driver adjusts the direction of vehicle frame by straight line and with the information of center line；
Knife rest adjusts control:
A. the height of knife rest is first preset, knife rest identifies that submodule is preced with fluffy face with tea and is identified in conjunction with submodule, identifies curved knife
Tea in the edge line images above of item is preced with fluffy face, in order to enable edge line alignment arc tea is preced with the layer of the tender shoots on fluffy face, from tea
For being preced on fluffy face cross section, seek to guarantee that edge line matches with the tender leaf layer that the tea of picking row is preced on fluffy face cross section；
B. pass through the processing of central processing module, the primary color of tealeaves is characterized in green, and prospect is tealeaves, using maximum
Classification calculus of finite differences obtains the threshold value of B component in RGB component, and background is rejected from image, calculates new threshold value to reduce
Interference；
C. tea picking machine is during traveling, and it is fluffy to generate due to difference in height a tea hat in the cut place of arc tool section
Face, if tender leaf part accounts for cutting, tea is preced with 70% or more of fluffy face, and tea to be cut at this time is preced with fluffy face and determines to meet index.
Compared with prior art, which is preced with fluffy face, automatically adjusts cutting angle, automatic amendment driving
Route, hommization are higher.
Detailed description of the invention
Fig. 1, Fig. 2, Fig. 3 are the structural schematic diagrams of three different angles of the invention.
Fig. 4 is horizontal maintenance structural scheme of mechanism of the invention.
Fig. 5 is to advance to assist in identifying submodule identification gained matching line chart.
In figure, 1, Athey wheel；2, cam drive mechanism；3, outlet air orotracheal tube；4, knife rest；5, vehicle frame；6, column；7, silk
Bar；8, bracket is collected；9, collecting bag；10, positioning sliding block；11, driver's cabin；12, arc tool section；13, teeth portion；14, chain；15,
Knife rest identifies submodule；16, tea is preced with fluffy face and identifies submodule；17, adjusting block；18, Y-axis guide rail；19, point is rotated；20, passageway；
21, edge line；22, center line.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
Shown in Fig. 1,2,3, the present invention includes the Athey wheel of vehicle frame, vehicle frame two sides equipped with walking, and top is equipped with driver's cabin, vehicle
Passageway is equipped among frame.Vehicle frame rear is equipped with left and right two root posts, and column is equipped with chain and driving mechanism, and (Fig. 2 is shown often
With mechanism), chain lower section is a collection bracket, and chain can drive collection bracket to move up and down.
Column is equipped with screw rod, is threadedly coupled positioning sliding block on the screw rod, drives silk by a Z axis driving mechanism
Bar rotates and positioning sliding block is driven to move up and down, and a knife rest is connected on the positioning sliding block.In Fig. 4, one of positioning
Sliding block is equipped with Y-axis guide rail, and knife rest one end is equipped with adjusting block, which is slidably arranged in Y-axis guide rail, knife rest end with should
Adjusting block passes through rotation point rotation connection by rotation point rotation connection, the other end of knife rest and another positioning sliding block.Work as vehicle
When frame and column tilt, as long as so that positioning sliding block is in same horizontal line can guarantee knife rest level.
Knife rest is equipped with the arc tool section of arcuation, and arc tool section quantity has 2 and is superposed, and arc tool section is equipped with tooth
Portion, described arc tool section one end are equipped with cam drive mechanism, and arc tool section, which can do relatively reciprocating motion, cuts teeth portion generation dislocation
It cuts.Tea picking machine is additionally provided with drift system, and drift system includes several air outlet pipeline, before air outlet pipeline is located at knife rest
Side, can be by the tealeaves of shearing toward rear drift, and the rear of knife rest is equipped with collecting bag, and collecting bag, which is fixed on, to be collected on bracket, described
The sack of collecting bag is towards knife rest direction.
The tea picking machine further includes central processing module, advancing assists in identifying submodule, tea hat fluffy face identification submodule, knife rest
Identify submodule.Advance, which assists in identifying submodule identification tea Gansu Province edge line and center line and is fitted to straight line, is mapped in one
On display screen.Tea is preced with fluffy face identification submodule forward and tea is preced with fluffy face and information is fed back to centre processing module and falls into a trap for identification
Calculate downlink cutting width.Knife rest identifies submodule backwards and the height to identify rest position, and breath is fed back to centre processing
In module.Knife rest is equipped with tilt induction module, and whether tilt induction module is horizontal for detecting knife rest, and information is fed back to
Central processing module, central processing module control side positioning sliding block move up and down.
The control method of intelligent tea picking machine, including traveling identification control and knife rest adjust control two large divisions,
Traveling identification control:
A, advance and assist in identifying submodule and first identify tea Gansu Province edge line and center line, two sides tea Gansu Province edge line is at a distance intersection
Point determines center line according to two sides tea Gansu Province edge line and crosspoint, tea Gansu Province edge line and center line straight line fitting is fed back to aobvious
In display screen, such as Fig. 5；
B, straight line is picked up by the direction that advance assists in identifying submodule and is compared with center line, determine to travel vector with this
Whether it is biased to, driver adjusts the direction of vehicle frame by straight line and with the information of center line；
Knife rest adjusts control:
A. the height of knife rest is first preset, knife rest identifies that submodule is preced with fluffy face with tea and is identified in conjunction with submodule, identifies curved knife
Tea in the edge line images above of item is preced with fluffy face, in order to enable edge line alignment arc tea is preced with the layer of the tender shoots on fluffy face, from tea
For being preced on fluffy face cross section, seek to guarantee that edge line matches with the tender leaf layer that the tea of picking row is preced on fluffy face cross section；
B. pass through the processing of central processing module, the primary color of tealeaves is characterized in green, and prospect is tealeaves, using maximum
Classification calculus of finite differences obtains the threshold value of B component in RGB component, and background is rejected from image, calculates new threshold value to reduce
Interference；
C. tea picking machine is during traveling, and it is fluffy to generate due to difference in height a tea hat in the cut place of arc tool section
Face, if tender leaf part accounts for cutting, tea is preced with 70% or more of fluffy face, and tea to be cut at this time is preced with fluffy face and determines to meet index.
When tapping, tea ridge passes through from the passageway of vehicle frame, and in the process of moving, vehicle frame can make knife rest due to the inclination of road conditions
Inclination, this just needs tilt induction module that information is fed back to central processing module, and it is sliding that central processing module controls a side positioning
Moving up and down for block is in a horizontal position knife rest always.
Claims (5)
1. a kind of environment-protecting intelligent tea picking, it includes the Athey wheel of vehicle frame, the walking of vehicle frame two sides, and central frame beam was equipped with
Road, the Z axis thrust gear that the rear of vehicle frame is equipped with knife rest and moves up and down for knife rest, when tea picking machine is exercised before X axis, tea
Tree is across passageway, and knife rest is skimmed over from tea tree, and the vehicle frame is equipped with driver's cabin and walks for controlling Athey wheel, described
Identification module is equipped in front of vehicle frame, knife rest is equipped with tilt induction module, the identification module, tilt induction module and center
Processing module connection, knife rest are equipped with horizontal maintenance mechanism, and the central processing module maintains mechanism, Z axis to controlled level
The movement of thrust gear, the tilt induction module will send information to central processing module, and central processing module controls water
Flat to maintain mechanism, the identification module will send information to central processing module, and central processing module controls Z axis thrust gear
It moves up and down, which is characterized in that for Z axis thrust gear left and right settings on the column of rack rear two sides, column is equipped with chain
And driving mechanism, and bracket is collected, chain can drive collection bracket to move up and down, and be equipped with drift system, and drift system includes
Several air outlet pipelines, air outlet pipeline are located at the front of knife rest, can be by the tealeaves of shearing toward rear drift, the rear of knife rest
Equipped with collecting bag, collecting bag, which is fixed on, to be collected on bracket, and for the sack of the collecting bag towards knife rest direction, column is equipped with silk
Bar is threadedly coupled positioning sliding block on the screw rod, passes through a Z axis driving mechanism and drives screw rod rotation and drive positioning sliding block
It moves up and down, knife rest is connected on the positioning sliding block, one of positioning sliding block is equipped with Y-axis guide rail, and knife rest one end is equipped with
Adjusting block, the adjusting block are slidably arranged in Y-axis guide rail, and knife rest end and the adjusting block pass through rotation point rotation connection, knife rest
The other end and another positioning sliding block by rotation point rotation connection.
2. a kind of environment-protecting intelligent tea picking according to claim 1, which is characterized in that the identification module includes
Advance assists in identifying submodule, tea is preced with fluffy face identification submodule, knife rest identification submodule, and the advance assists in identifying submodule will
Identification information is fed back on a display screen, and the tea is preced with fluffy face identification submodule identification tea and is preced with fluffy face and feeds back to information
Downlink cutting width is calculated in central processing module, the knife rest identifies height of the submodule to identify rest position, and will
Breath is fed back in the processing module of centre.
3. a kind of environment-protecting intelligent tea picking according to claim 2, which is characterized in that the advance assists in identifying son
Module identification tea Gansu Province edge line and center line are simultaneously fitted to straight line mapping on a display screen.
4. a kind of environment-protecting intelligent tea picking according to claim 1 or 2 or 3, which is characterized in that on the knife rest
Arc tool section equipped with arcuation.
5. a kind of environment-protecting intelligent tea picking according to claim 4, which is characterized in that the arc tool section quantity has
It 2 and is superposed, arc tool section is equipped with teeth portion, and described arc tool section one end is equipped with cam drive mechanism, arc tool section
Can do relatively reciprocating motion makes teeth portion generate dislocation shearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610514559.5A CN105940861B (en) | 2016-07-01 | 2016-07-01 | A kind of environment-protecting intelligent tea picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610514559.5A CN105940861B (en) | 2016-07-01 | 2016-07-01 | A kind of environment-protecting intelligent tea picking |
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| Publication Number | Publication Date |
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| CN105940861A CN105940861A (en) | 2016-09-21 |
| CN105940861B true CN105940861B (en) | 2019-02-15 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106818047A (en) * | 2017-02-24 | 2017-06-13 | 四川农业大学 | A kind of efficient tealeaves tender shoots picking machine |
| CN107258227A (en) * | 2017-06-05 | 2017-10-20 | 三峡大学 | A kind of automatic picking machine of strawberry |
| CN109220197A (en) * | 2018-09-20 | 2019-01-18 | 安徽农业大学 | A kind of intelligence tea picking machine |
| CN111428712B (en) * | 2020-03-19 | 2021-11-30 | 青岛农业大学 | Famous tea picking machine based on artificial intelligence recognition and recognition method for picking machine |
| CN111937586B (en) * | 2020-07-27 | 2022-08-30 | 浙江丰凯机械股份有限公司 | Riding type tea plucking machine |
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| CN103098617A (en) * | 2013-02-22 | 2013-05-15 | 农业部南京农业机械化研究所 | Row-spanning self-walking riding type tea-leaf picker and working method thereof |
| CN203492394U (en) * | 2013-10-12 | 2014-03-26 | 农业部南京农业机械化研究所 | Intelligent tea leaf picking machine |
| CN103766076A (en) * | 2014-01-23 | 2014-05-07 | 永康市威力园林机械有限公司 | Tea picking machine with multi-wheel bump-proof walking mechanism |
| CN103999635A (en) * | 2014-05-21 | 2014-08-27 | 浙江工业大学 | Intelligent automatic cutting type tea-leaf picker based on machine vision and working method |
| CN105027830A (en) * | 2015-08-31 | 2015-11-11 | 梧州市旺捷机械制造有限公司 | Control system of tea leaf picking machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3886066B2 (en) * | 1996-10-23 | 2007-02-28 | 落合刃物工業株式会社 | Simple riding type tea leaf picking machine |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103098617A (en) * | 2013-02-22 | 2013-05-15 | 农业部南京农业机械化研究所 | Row-spanning self-walking riding type tea-leaf picker and working method thereof |
| CN203492394U (en) * | 2013-10-12 | 2014-03-26 | 农业部南京农业机械化研究所 | Intelligent tea leaf picking machine |
| CN103766076A (en) * | 2014-01-23 | 2014-05-07 | 永康市威力园林机械有限公司 | Tea picking machine with multi-wheel bump-proof walking mechanism |
| CN103999635A (en) * | 2014-05-21 | 2014-08-27 | 浙江工业大学 | Intelligent automatic cutting type tea-leaf picker based on machine vision and working method |
| CN105027830A (en) * | 2015-08-31 | 2015-11-11 | 梧州市旺捷机械制造有限公司 | Control system of tea leaf picking machine |
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| CN105940861A (en) | 2016-09-21 |
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