CN109121702B - Control system and control method for tea garden picking robot - Google Patents
Control system and control method for tea garden picking robot Download PDFInfo
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- CN109121702B CN109121702B CN201811088903.4A CN201811088903A CN109121702B CN 109121702 B CN109121702 B CN 109121702B CN 201811088903 A CN201811088903 A CN 201811088903A CN 109121702 B CN109121702 B CN 109121702B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Life Sciences & Earth Sciences (AREA)
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Abstract
A control system of a tea garden picking robot comprises a control box, a traveling device, a track device, an anti-flushing device, a traveling balancing device, a collecting and storing device and a trimming device; the control box, the anti-flushing device, the walking balancing device, the collecting and storing device and the trimming device are positioned on the walking device, the control box is connected with a wireless remote control receiver arranged at the top of the control box, and the walking device is arranged on the track device. The invention advances on the monorail, saves land resources, and is provided with the anti-impact device on the monorail and the robot to ensure that the device is stably and safely braked and stopped on the track; the walking balance device ensures the stability of the robot when walking on the monorail, thereby ensuring that the tea trees and the tea leaves are not damaged during pruning; the tea leaves are trimmed by the trimming device and blown into the collecting and storing device under the action of the air exhaust device so as to be collected, and the collecting efficiency is guaranteed.
Description
Technical Field
The invention relates to the field of picking robots, in particular to a control system and a control method of a tea garden picking robot.
Background
The tea picking is to pick tea leaves from new shoots of tea trees, the existing tea picking modes are three, the first mode is manual picking, tea picking workers pick tea leaves with different quality through fingers and break the tea leaves to pick the tea leaves into tea picking blues, the integrity of the picked tea leaves can be guaranteed, but the working efficiency is low, and the labor intensity is high; the second is cutting and picking, and the working efficiency is improved to a certain extent by picking by using tools such as small iron scrapers, sickles or picking clips, but the germination of new shoots of the lower wheel is easily affected due to slow cutting edges of the tools or slow picking speed of tea picking workers; thirdly, utilize tea garden to gather the robot and pick for, tea garden under the prior art gathers the robot and picks through the manipulator that is equipped with for general.
In the prior art, most tea garden harvesting robots are double-rail to keep stable running, but occupy large space, and a large number of single rails are arranged in tea clusters, but the running stability of the single rails is not guaranteed, so that harvesting efficiency is influenced due to the fact that the stability is not guaranteed when harvesting, and side turning occurs easily when turning; when the device runs at the tail end of the track, the braking of the robot needs to be completed within a safe distance, but the prior art does not have the function of forcing the braking of the robot to ensure that the robot does not rush away from the running track in a fault state; meanwhile, in the prior art, when the tea leaves are collected by the collecting robot, the tea leaves are generally directly collected by adopting a funnel, the containing capacity is small, the waste is caused by the fact that the tea leaves cannot be collected easily and fall to the ground, and the collecting efficiency is low; furthermore, the existing trimming device is a straight saw blade which is not matched with the natural appearance of the tea tree, and the trimming is performed under the conditions of missing and damaging the tea tree, so that the efficiency is low.
Disclosure of Invention
According to the problems of the background technology, the invention provides an improvement on a control system and a control method of a tea garden picking robot, and the invention is further described below.
The control system of the tea garden picking robot is characterized by comprising a control box, a traveling device, a track device, an anti-impact device, a traveling balancing device, a collecting and storing device and a trimming device; the control box, the anti-flushing device, the walking balancing device, the collecting and storing device and the trimming device are positioned on the walking device, the control box is connected with a wireless remote control receiver arranged at the top of the control box, and the walking device is arranged on the track device.
Further, the running gear comprises a first chassis, a control box is arranged on the first chassis, a motor and a first bearing seat are arranged on a second chassis and are arranged below the first chassis, a belt conversion shaft is arranged on the first bearing seat and is connected with the middle part of a second belt pulley, one end of the first belt is connected with the belt pulley arranged on an output shaft of the motor, the other end of the first belt is connected with the second belt pulley, one end of the second belt is connected with the belt conversion shaft, the other end of the second belt is connected with a driving wheel connecting shaft, the driving wheel is connected with the second chassis through the driving wheel connecting shaft, a travelling wheel hanger plate is connected with the first chassis through a travelling wheel hanger plate connecting shaft and the second bearing seat, the travelling wheel is connected with the travelling wheel hanger plate through the travelling wheel connecting shaft, the small wheel is connected with the wheel connecting plate through a small wheel connecting shaft, the driving wheel and the travelling wheel are respectively connected with the wheel connecting plate through corresponding shafts, the trusses are respectively fixed at the front end and the rear end of the underframe II, the left end and the right end of the trusses are respectively connected with the tea pressing roller through tea pressing roller hanging plates, the underframe I is hinged with the underframe II, two pairs of rigid spring connecting columns are arranged on the underframe I and the underframe II, the two pairs of corresponding rigid spring connecting columns are respectively connected with the two rigid springs, the two tea leaf stretching frames are respectively connected with the underframe I and the underframe II, the driving wheel, the travelling wheel and the small wheel are contained, tea tree branches and tea leaves are stretched when the tea tree branches and the tea tree branches are walked, and the tea tree branches are prevented from interfering the activities of the driving wheel, the travelling wheel and the small wheel; the driving wheel and the travelling wheel are respectively meshed with the track device through stainless steel columns on the driving wheel and the travelling wheel, and the driving wheel and the travelling wheel are respectively correspondingly arranged on small wheels which are closely attached to the lower plane of the track so as to tightly hold the track device, so that the travelling of the whole system is realized.
Further, track device, rack welding is in the middle part of side's side is managed in the side, square pipe connecting piece overlaps respectively in the both ends of side's inside, and pass through bolt and side's union coupling, the sleeve passes through bolt and side union coupling, it has bracing piece one to settle in the through-hole that side's the side was equipped with to the side pipe, bracing piece one is connected with connecting rod ring one through the hole meshing fastening that the bolt was equipped with on side's pipe, bracing piece two are connected with connecting rod ring two, connecting rod ring one is connected with connecting rod ring two through the bolt, bracing piece one and bracing piece two are respectively through the supporting seat of pole first and the supporting seat of pole second setting subaerial, bracing piece one and bracing piece two are fixed through screw and the supporting seat of pole first and the supporting seat of pole second extrusion respectively.
Further, the anti-collision device comprises a limit switch and a photoelectric rotary encoder, wherein the limit switch and the photoelectric rotary encoder are connected with a control box through serial ports, the photoelectric rotary encoder is connected with a driving wheel connecting shaft through key grooves, the limit switch is arranged at the front end of an upward baffle on one side of a bottom frame, a baffle tooth bar is welded on the lower side of the upper baffle, the upper baffle is meshed with a rack welded on a square pipe through the baffle tooth bar, and the lower baffle is connected with the upper baffle through four bolts, four spring washers and four nuts and is tightly pressed on the square pipe.
Further, the walking balancing device comprises a load cam arranged on the first chassis and a first motor arranged on the load cam, wherein the first motor is connected with a distance detector which is arranged on one side of the track and fixedly connected with the first chassis, and the first chassis is provided with a pressure switch respectively positioned on two sides of the load cam; still including setting up the actuating bottle on chassis one, be equipped with the solenoid valve with pressure switch electric connection on the actuating bottle, the actuating bottle passes through the first piece of detaining of high-pressure line connection and the second piece of detaining, first piece of detaining and second knot piece pass through the cantilever beam setting in chassis one's below, and first piece of detaining and second knot piece pass through reset spring and connect chassis one, first piece of detaining and second knot piece setting are at orbital both sides and clearance fit, be equipped with the relief valve on the high-pressure line, first piece of detaining is equipped with the recess towards one side of second knot piece, second knot piece is equipped with the lug towards one side of first knot piece, be equipped with low high sealing valve that lets out on the high-pressure line.
Further, the collecting and storing device comprises a storage box, the storage box is connected with a supporting beam through bolts, the supporting beam is arranged on the supporting beam, an upper shell of the storage box is arranged above the storage box, tea outlets are respectively arranged on two sides of the storage box, and outlet baffles are respectively arranged on the tea outlets and connected with the storage box through hinges; the supporting plate is arranged on the outer side of the storage box, and the bellows and the tea weighing module connected with the second motor are arranged on the supporting plate; one end of the first air guide pipe is connected with the air box, the other end of the first air guide pipe is arranged above a bottom plate of the storage box, and the bottom plate is an arc-shaped plate imitating the shape of tea tree clusters; one end of the second air guide pipe is connected with the air box, and the other end of the second air guide pipe is arranged in the storage box; the first air guide pipe valve and the second air guide pipe valve are respectively arranged on the first air guide pipe and the second air guide pipe.
Further, the trimming device comprises a control box which is arranged on the storage box and is connected with the control box, a driving motor which is connected with the control box is arranged on the upper side of the supporting beam, a belt device is arranged on the lower side of the supporting beam through a belt device shell, the driving motor is connected with a belt pulley I, the belt pulley I is connected with a belt pulley II through a belt, an eccentric shaft which is arranged in the middle of the belt pulley II penetrates through an eccentric cam I and an eccentric cam II to be connected with a bottom plate, the eccentric cam I is connected with a blade I, the eccentric cam II is connected with the blade II, elliptical holes and radiating holes which are identical in distribution rule are arranged on the blade I and the blade II, and the elliptical holes and the radiating holes are arranged in a proportion of two and at uniform intervals; the cutter teeth arranged on the first blade and the second blade are uniformly distributed, the first blade and the second blade are connected through kidney-shaped connecting grooves respectively arranged on the first blade and the second blade, the left and right cutting actions are completed through the connecting grooves, the first blade is arranged on the upper side of the bottom plate, and the second blade is arranged on the lower side of the bottom plate.
A control method of a tea garden picking robot is characterized by comprising the following steps:
s1, a robot walks on a track device;
s11, balancing is kept through a walking balancing device;
s2, the tea leaves are trimmed by the action of the trimming device;
s3, collecting the separated tea leaves after trimming by a collecting and storing device;
s4, when the robot reaches the tail end of the track, the anti-collision device acts, and the robot stops stably;
further, the step S1 further includes a step S12, in which the balancing device acts and the robot is locked on the track device in an emergency.
Further, the step S4 further includes a step S41, in which the robot is forcibly stopped on the rail by the anti-collision device in an emergency.
The beneficial effects are that: the invention advances on the monorail, saves land resources, and is provided with the anti-impact device on the monorail and the robot to ensure that the device is stably and safely braked and stopped on the track; the walking balance device ensures the stability of the robot when walking on the monorail, thereby ensuring that the tea trees and the tea leaves are not damaged during pruning; the tea leaves are trimmed by the trimming device and blown into the collecting and storing device under the action of the air exhaust device, so that the collecting efficiency is guaranteed, and meanwhile, the device can be triggered to stop advancing to collect the tea leaves when the collecting and storing device reaches a certain stock.
Drawings
Fig. 1: a control system diagram of the present invention;
fig. 2: the structure of the invention is schematically shown;
fig. 3: a walking device structure schematic diagram;
fig. 4: another structural schematic diagram of the walking device;
fig. 5: a schematic structural view of the track device;
fig. 6: schematic partial structure of the track device;
fig. 7: a structural schematic diagram of the anti-impact device;
fig. 8: a circuit connection diagram of the motor;
fig. 9: a circuit connection diagram of the photoelectric rotary encoder and the control box;
fig. 10: a partial structure schematic diagram of the walking balance device;
fig. 11: another partial structure schematic diagram of the walking balance device;
fig. 12: a schematic structure of the collection and storage device;
fig. 13: a partial structural schematic of the collection and storage device;
fig. 14: collecting a schematic diagram of circuit connection with a memory device;
fig. 15: a structural schematic diagram of the trimming device;
fig. 16: a partial schematic structure of the trimming device;
fig. 17: a schematic structural view of a blade of the trimming device;
in the figure: 1-a control box; 11-a wireless remote control receiver; 2-a walking device; 21-chassis one; 22-a travelling wheel hanging plate; 23-a travelling wheel connecting shaft; 24-travelling wheels; 25-track; 26-a stiff spring; 27-a tea leaf stretching frame; 28-tea pressing roller hanging plates; 29-tea pressing rollers; 210-truss; 211-a pulley; 212-an electric motor; 213-frame; 214-pulley two; 215-battery box; 216-a second bearing seat; 217-small wheel connecting shaft; 218—small wheels; 219-wheel connection plates; 220-second chassis; 221-a drive wheel connecting shaft; 222-a drive wheel; 223-belt two; 224-belt shift shaft; 225-a first bearing seat; 226-belt one; 227—a chassis connection shaft; 228-a stiff spring connection post; 229-a travelling wheel hanging plate connecting shaft; 3-track means; 31-square tube; 32-racks; 33-square tube connector; 34-bolts; 35-sleeve; 36-connecting rod ring I; 37-a second connecting rod ring; 38-supporting the rod I; 39-a first support seat of the rod; 310-a second supporting rod; 311-a second supporting seat of the rod; 312-pole cap; 4-anti-flushing device; 41-limit switch; 42-photoelectric rotary encoder; 43-upper baffle; 44-a baffle rack; 45-a lower baffle; 5-a walking balancing device; 51-load cam; 52-a first motor; 53-distance detector; 54-pressure switch; 55-drive bottle 55; 56-an electromagnetic valve; 57-high pressure line; 58-a first button; 581-grooves; 59-a second button; 591-bump; 510-cantilever beams; 511-a return spring; 512-pressure release valve; 513-low leakage high seal valve; 6-collecting and storing means; 61-a storage tank; 62-supporting beams; 63-a storage tank upper shell; 64-tea outlet; 65-outlet baffle; 66-hinges; 67-supporting rods; 68-a second motor; 69-bellows; 610-tea weighing module; 611-a support plate; 612-an air guide pipe I; 613-a storage tank floor; 614-second air guide pipe; 615-first air guide pipe valve; 616-second air guide pipe valve; 7-a trimming device; 71-a control box; 72-driving a motor; 73-belt means; 731-belt device housing; 74-pulley I; 75-belt pulley II; 76-a belt; 77-eccentric shaft; 78-eccentric cam one; 79-eccentric cam II; 710—blade one; 711-blade two 711; 712-elliptical holes; 713-heat dissipation holes; 714-connection slots.
Detailed Description
A specific embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
A control system of a tea garden picking robot comprises a control box 1, a traveling device 2, a track device 3, an anti-impact device 4, a traveling balancing device 5, a collecting and storing device 6, a trimming device 7 and an exhaust device 7; the control box 1 is connected with a wireless remote control receiver 11 arranged at the top of the control box 1.
The running gear 2 comprises a first chassis 21, a control box 1 is arranged on the first chassis 21, a motor 212 and a first bearing seat 225 are arranged on a second chassis 220 and are positioned below a frame 213, a belt conversion shaft 224 is arranged on the first bearing seat 225 and is connected with the middle part of a second belt pulley 214, one end of a first belt 226 is connected with a belt pulley 211 arranged on the output shaft of the motor 212, the other end of the belt 226 is connected with the second belt pulley 214, one end of a second belt 223 is connected with a belt conversion shaft 224, the other end of the belt is connected with a driving wheel connecting shaft 221, a driving wheel 22 is connected with the second chassis 220 through the driving wheel connecting shaft 221, a running wheel hanger 22 is connected with the first chassis 21 through a running wheel hanger connecting shaft 229 and a second bearing seat 216, a running wheel 24 is connected with the running wheel hanger 22 through a running wheel connecting shaft 23, a small wheel 218 is connected with a running wheel connecting plate 219 through a small wheel connecting shaft 217, the driving wheel 22 and the travelling wheel 24 are respectively connected with a wheel connecting plate 219 through corresponding shafts, the truss 210 is respectively fixed at the front end and the rear end of the chassis two 220, the left end and the right end of the truss are respectively connected with the tea pressing roller 29 through the tea pressing roller hanging plate 28, the chassis one 21 is hinged with the chassis two 220, two pairs of rigid spring connecting columns 228 are arranged on the chassis one 21 and the chassis two 220, the two pairs of corresponding rigid spring connecting columns 228 are respectively connected with the two rigid springs 26, the two tea leaf stretching frames 27 are respectively connected with the chassis one 21 and the chassis two 220, the driving wheel 22, the travelling wheel 24 and the small wheel 218 are contained, tea tree branches and tea leaves are stretched when walking are realized, and the interference on the activities of the driving wheel 22, the travelling wheel 24 and the small wheel 218 is prevented; the driving wheel 22 and the travelling wheel 24 are respectively meshed with the track device 3 through stainless steel columns 32 on the driving wheel and the travelling wheel, and the small wheels 218 are respectively correspondingly arranged on the lower plane of the clinging track so as to cling to the track device 3, so that the travelling of the whole system is realized.
In the track device 3, a rack 32 is welded in the middle of the upper side of a square tube 31, square tube connecting pieces 33 are respectively sleeved in two ends of the square tube 31 and connected with the square tube through bolts 34, a sleeve 35 is connected with the square tube through bolts, a first support rod 38 is arranged in a through hole formed in the square tube, the first support rod is fastened on the square tube 31 through a small hole formed in the side face of the sleeve 35 in a meshed mode through bolts, the first support rod 38 is connected with a first connecting rod ring 36, a second support rod 310 is connected with a second connecting rod ring 37 through bolts, the first connecting rod ring 36 is connected with the second connecting rod ring 37 through bolts, the first support rod 38 and the second support rod 310 are respectively arranged on the ground through a first support seat 39 of the rod and a second support seat 311 of the rod, and the first support rod 38 and the second support rod 310 are respectively fixed in an extrusion mode through screws and the first support seat 39 of the rod and the second support seat 311 of the rod.
The anti-impact device 4 comprises a limit switch 41 and a photoelectric rotary encoder 42, wherein the limit switch 41 and the photoelectric rotary encoder 42 are connected with the control box 1 through serial ports, the photoelectric rotary encoder 42 is connected with a driving wheel connecting shaft 221 through key grooves, the limit switch 41 is arranged at the front end of a first 21-face-up baffle 43 of a chassis, a baffle rack 44 is welded on the lower side of a second upper baffle 43, the second upper baffle 43 is meshed with racks welded on a square tube 31 through the baffle rack 44, and a lower baffle 45 is connected with the second upper baffle 43 through four bolts, four spring washers and four nuts and is tightly pressed on the square tube 31.
The walking balance device 5 comprises a load cam 51 arranged on the first chassis 21 and a first motor 52 arranged on the load cam, the first motor 52 is connected with a distance detector 53 arranged on one side of the track and fixedly connected with the first chassis 21, and the first chassis 21 is provided with a pressure switch 54 respectively positioned on two sides of the load cam 51; still including setting up the actuating bottle 55 on chassis one 21, be equipped with on the actuating bottle 55 with pressure switch 54 electrically connected's solenoid valve 56, actuating bottle 55 passes through high-pressure line 57 and connects first knot piece 58 and second knot piece 59, first knot piece 58 and second knot piece 59 set up in the below of chassis one 21 through cantilever beam 510, and first knot piece 58 and second knot piece 59 pass through reset spring 511 and connect chassis one 21, first knot piece 58 and second knot piece 59 set up in the both sides and the clearance fit of track, be equipped with relief valve 512 on the high-pressure line 57, one side that first knot piece 58 faced second knot piece 59 is equipped with recess 581, one side that second knot piece 59 faced first knot piece 58 is equipped with lug 591, be equipped with low let out high seal valve 513 on the high-pressure line 57.
The collecting and storing device 6 comprises a storing box 61, the storing box 61 is connected with a supporting beam 62 through bolts, the supporting beam 62 is arranged on a supporting beam 67, a storing box upper shell 63 is arranged above the storing box 61, tea outlets 64 are respectively arranged on two sides of the storing box 61, outlet baffles 65 are respectively arranged on the tea outlets 64 and connected with the storing box 61 through hinges 66; the supporting plate 611 is arranged outside the storage box 61, and the bellows 69 and the tea weighing module 610 which are connected with the second motor 68 are arranged on the supporting plate 611; one end of the first air guide pipe 612 is connected with an air box 69, the other end of the first air guide pipe is arranged above a bottom plate 613 of the storage box, and the bottom plate 613 is an arc-shaped plate imitating the shape of a tea tree cluster; one end of the air guide pipe II 614 is connected with an air box 69, and the other end of the air guide pipe II is arranged in the storage box 61; the first air duct valve 615 and the second air duct valve 616 are respectively disposed on the first air duct 612 and the second air duct 614.
The trimming device 7 comprises a control box 71 which is arranged on the storage box 61 and connected with the control box 1, a driving motor 72 which is connected with the control box 71 is arranged on the upper side of the supporting beam 62, a belt device 73 is arranged on the lower side of the supporting beam 62 through a belt device shell 731, the driving motor 72 is connected with a belt pulley I74, the belt pulley I74 is connected with a belt pulley II 75 through a belt 76, an eccentric shaft 77 which is arranged in the middle of the belt pulley II 75 penetrates through an eccentric cam I78 and an eccentric cam II 79 to be connected with a bottom plate 613, the eccentric cam I78 is connected with a blade I710, the eccentric cam II 79 is connected with a blade II 711, elliptical holes and radiating holes 713 with the same distribution rule are arranged on the blade I710 and the blade II 711, and the elliptical holes 712 and the radiating holes 713 are arranged according to a two-to-one ratio and uniformly spaced; the cutter teeth arranged on the first blade 710 and the second blade 711 are uniformly distributed, the first blade 710 and the second blade 711 are connected with the second blade 711 through kidney-shaped connecting grooves 714 respectively, the first blade 710 and the second blade 711 complete left and right cutting actions through the connecting grooves 714, the first blade 710 is arranged on the upper side of the bottom plate 613, and the second blade 711 is arranged on the lower side of the bottom plate 613.
A control method of a tea garden picking robot comprises the following steps:
s1, a robot walks on a track device 3;
s11, balancing is kept by the walking balancing device 5;
s12, under the sudden situation, the balancing device 5 acts, and the robot is locked on the track device 3;
s2, the pruning device 7 acts to prune the tea leaves;
s3, collecting and storing the tea leaves separated after trimming by the collecting and storing device 6;
s4, when the robot reaches the tail end of the track, the anti-collision device 4 acts, and the robot stops stably;
s41, in case of an emergency, the robot is forcibly stopped on the rail by the anti-collision device 4.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
for step S1, the robot is started, the control box 1 connects the battery box 215 to drive the belt pulley 212 to rotate, then drives the belt pulley two 214 to rotate through the belt one 226, then drives the belt two 223 to rotate through the belt conversion shaft 224, then drives the driving wheel connecting shaft 221 to rotate, and then drives the driving wheel 222 to rotate to drive the robot to engage with the track for advancing;
for step S11, for ensuring the forward stability of the robot, the robot is at the initial position when the robot is horizontal, the center of gravity of the robot is at the center of the track, the distance between the distance detector 53 and the track is at the initial value, and the electrical signal is at the zero value; if the robot leans to the left or turns to the right, the distance between the distance detector 53 and the track increases to generate a positive output electric signal, and the first motor 52 drives the load cam 51 to rotate clockwise, so that the whole gravity center of the harvesting robot is positioned on the right side of the track; if the harvesting robot leans to the right or turns left excessively, the distance between the distance detector 53 and the track is reduced, a negative phase output electric signal is generated, and the first motor 52 drives the load cam 51 to rotate anticlockwise, so that the whole gravity center of the harvesting robot is positioned at the left side of the track; the robot is made to advance within a set tilting range by continuous detection and correction.
For step S12, when the rollover risk occurs, the load cam 51 triggers the pressure switch 54, the pressure switch 54 triggers the solenoid valve 56 on the driving bottle 55 to open, the high-pressure gas pushes the first buckling block 58 and the second buckling block 59 to act and buckle on the track by the high-pressure pipeline 57, and the first buckling block 58 and the second buckling block 59 are tightly connected and dead-locked on the track under high pressure through the groove 581 and the bump 591, so as to complete the braking and rollover prevention action.
For step S2, after the tea-picking robot is started, the tea-picking robot enters a trimming speed selection state, the trimming speed of the robot is determined by manual work according to working conditions, the speed of a driving motor 72 is controlled by a control box 71, the output of the driving motor 72 drives a belt pulley I74 to rotate, the belt pulley I74 drives a belt pulley II 76 to rotate through a belt 75, the belt pulley II 76 drives a first eccentric cam 78 and a second eccentric cam 79 to rotate through an eccentric shaft 77, and therefore a first blade 710 and a second blade 711 act to finish trimming; after receiving the fast/slow running signal, the robot sends a signal to control the driving motor 72 to run fast/slow: when thick tea trees are pruned, the control box 71 outputs a signal to increase the rotating speed of the motor 4, the rotating speeds of the eccentric cam I78 and the eccentric cam II 70 are increased, the reciprocating motion frequency of the blade I71 and the blade II 712 is increased, the missing pruning rate is reduced, when sparse or thick tea trees are pruned, the control box 71 outputs a signal to decrease the rotating speed of the motor 4, so that the output moment is increased, the rotating speeds of the eccentric cam I78 and the eccentric cam II 79 are reduced, the reciprocating motion frequency of the blade I710 and the blade II 712 is reduced, but the pruning acting force is increased, the pruning effect is ensured, and the situation that branches are broken is avoided; when the robot receives the stop signal, the control box 71 sends a signal to disconnect the power supply, the motor 72 is driven to output, and the robot stops the tea-picking operation.
For step S3, the second motor 68 rotates to make the bellows 69 wind out, the first air guide pipe 612 blows the tea leaves collected by the cutter into the storage box 61, when the tea weighing module 610 detects the weight of the storage box 61 and sends a signal to the control box, the robot processor collects the weight signal and then judges whether the set value is reached, if so, the robot processor sends a signal to turn off the motor power supply; after the motor power is disconnected, the tea picking robot stops the tea picking operation, at this time, the manual tea picking operation can be performed, the outlet baffles 65 on two sides of the storage box 61 are manually turned over, a tea collecting bag is sleeved at the outlet, then the air guide pipe valve I615 is closed, the air guide pipe valve II 616 is opened, the second motor 68 is started at this time, the air guide pipe II 614 blows out tea from the storage box 61, and the collection and storage of the tea picking robot are completed.
For step S4, the anti-collision device 4 collects the rotation speed information of the driving wheel 222 through the photoelectric rotary encoder 42 provided on the driving wheel connecting shaft 221, and generates a pulse signal to be transmitted to the control box 1, and the control box 1 processes the number and phase of the received pulses and calculates and confirms the movement distance and direction of the robot when working on the track; when the travel distance reaches a preset value, the control box 2 outputs a signal to stop the operation of the motor 14 and transmits job completion information to the user through the wireless remote control receiver 11.
For step S41, the anti-impact device 4 further includes a trigger control manner of the limit switch: if the robot is in error or has too large inertia or other reasons, the device can stop at the end of the track when the device is not stopped and continues to move forward, the limit switch 41 at the front end of the robot frame 213 will contact the track baffle at the end of the track, so as to trigger the limit switch 41 to act and disconnect the power supply of the motor 212 at the same time, so that the robot stops at the end of the track.
The device of the invention moves on the monorail, saves a great amount of land resources, and the anti-collision device is arranged on the monorail and the robot to ensure that the device is stably and safely braked and stopped on the rail; the walking balance device ensures the stability of the robot when walking on the monorail, thereby ensuring that the tea trees and the tea leaves are not damaged during pruning; the tea leaves are trimmed by the trimming device and blown into the collecting and storing device under the action of the air exhaust device, so that the collecting efficiency is guaranteed, and meanwhile, the device can be triggered to stop advancing to collect the tea leaves when the collecting and storing device reaches a certain stock.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The control system of the tea garden picking robot is characterized by comprising a control box, a traveling device, a track device, an anti-impact device, a traveling balancing device, a collecting and storing device and a trimming device; the control box, the anti-flushing device, the walking balancing device, the collecting and storing device and the trimming device are positioned on the walking device, the control box is connected with a wireless remote control receiver arranged at the top of the control box, and the walking device is arranged on the track device;
the running gear comprises a first chassis, a control box is arranged on the first chassis, a motor and a first bearing seat are arranged on a second chassis and are positioned below the first chassis, a belt conversion shaft is arranged on the first bearing seat and is connected with the middle part of a second belt pulley, one end of the first belt is connected with the belt pulley arranged on an output shaft of the motor, the other end of the first belt is connected with the second belt pulley, one end of the second belt is connected with the belt conversion shaft, the other end of the second belt is connected with a driving wheel connecting shaft, the driving wheel is connected with the second chassis through the driving wheel connecting shaft, a running wheel hanger plate is connected with the first chassis through the running wheel hanger plate connecting shaft, the running wheel is connected with the running wheel hanger plate through the running wheel connecting shaft, the small wheel is connected with a wheel connecting plate through the small wheel connecting shaft, the driving wheel and the travelling wheel are respectively connected with the wheel connecting plate through corresponding shafts, the trusses are respectively fixed at the front end and the rear end of the chassis II, the left end and the right end of the trusses are respectively connected with tea pressing rollers through tea pressing roller hanging plates, the chassis I is hinged with the chassis II, two pairs of rigid spring connecting columns are arranged on the chassis I and the chassis II, the two pairs of corresponding rigid spring connecting columns are respectively connected with the two rigid springs, the two tea leaf stretching frames are respectively connected with the chassis I and the chassis II, the driving wheel, the travelling wheel and the small wheel are contained, tea tree branches and tea leaves are stretched when the tea tree branches and the small wheel are walked, and the tea tree branches and the tea leaves are prevented from interfering the activities of the driving wheel, the travelling wheel and the small wheel; the driving wheel and the travelling wheel are respectively meshed with the track device through stainless steel columns on the driving wheel and the travelling wheel, and the driving wheel and the travelling wheel are respectively correspondingly arranged on small wheels which are closely attached to the lower plane of the track so as to tightly hold the track device, so that the travelling of the whole system is realized;
the track device is characterized in that a rack is welded in the middle of the upper side of a square tube, square tube connecting pieces are respectively sleeved in two ends of the square tube and connected with the square tube through bolts, a sleeve is connected with the square tube through bolts, a first supporting rod is arranged in a through hole formed in the square tube, the first supporting rod is meshed and fastened on the square tube through a small hole formed in the side face of the sleeve through bolts, the first supporting rod is connected with a first connecting rod ring, the second supporting rod is connected with a second connecting rod ring through bolts, the first supporting rod and the second supporting rod are respectively arranged on the ground through a first supporting seat of a rod and a second supporting seat of the rod, and the first supporting rod and the second supporting rod are respectively fixed by extrusion of screws and the first supporting seat of the rod and the second supporting seat of the rod;
the anti-collision device comprises a limit switch and a photoelectric rotary encoder, wherein the limit switch and the photoelectric rotary encoder are connected with a control box through serial ports, the photoelectric rotary encoder is connected with a driving wheel connecting shaft through a key slot, the limit switch is arranged at the front end of an upward baffle on one side of a bottom frame, a baffle tooth bar is welded at the lower side of an upper baffle, the upper baffle is meshed with a rack welded on a square pipe through a baffle rack, and the lower baffle is connected with the upper baffle through four bolts, four spring washers and four nuts and is tightly pressed on the square pipe;
the walking balancing device comprises a load cam arranged on a first chassis and a first motor arranged on the load cam, wherein the first motor is connected with a distance detector which is arranged on one side of the track and fixedly connected with the first chassis, and pressure switches are respectively arranged on two sides of the load cam on the first chassis; the driving bottle is provided with an electromagnetic valve electrically connected with the pressure switch, the driving bottle is connected with a first buckling block and a second buckling block through a high-pressure pipeline, the first buckling block and the second buckling block are arranged below the first chassis through a cantilever beam, the first buckling block and the second buckling block are connected with the first chassis through a reset spring, the first buckling block and the second buckling block are arranged on two sides of a rail and are in clearance fit, a pressure release valve is arranged on the high-pressure pipeline, a groove is arranged on one side of the first buckling block, which faces the second buckling block, a convex block is arranged on one side of the second buckling block, and a low-leakage high-sealing valve is arranged on the high-pressure pipeline;
the collecting and storing device comprises a storage box, the storage box is connected with a supporting beam through bolts, the supporting beam is arranged on a supporting beam, an upper shell of the storage box is arranged above the storage box, tea outlets are respectively arranged on two sides of the storage box, and outlet baffles are respectively arranged on the tea outlets and are connected with the storage box through hinges; the supporting plate is arranged on the outer side of the storage box, and the bellows and the tea weighing module connected with the second motor are arranged on the supporting plate; one end of the first air guide pipe is connected with the air box, the other end of the first air guide pipe is arranged above a bottom plate of the storage box, and the bottom plate is an arc-shaped plate imitating the shape of tea tree clusters; one end of the second air guide pipe is connected with the air box, and the other end of the second air guide pipe is arranged in the storage box; the first air guide pipe valve and the second air guide pipe valve are respectively arranged on the first air guide pipe and the second air guide pipe;
the trimming device comprises a control box which is arranged on the storage box and connected with the control box, a driving motor which is connected with the control box is arranged on the upper side of the supporting beam, a belt device is arranged on the lower side of the supporting beam through a belt device shell, the driving motor is connected with a belt pulley I, the belt pulley I is connected with a belt pulley II through a belt, an eccentric shaft which is arranged in the middle of the belt pulley II penetrates through an eccentric cam I and an eccentric cam II to be connected with a bottom plate, the eccentric cam I is connected with a blade I, the eccentric cam II is connected with the blade II, elliptical holes and heat dissipation holes which are distributed regularly are arranged on the blade I and the blade II, and the elliptical holes and the heat dissipation holes are arranged according to a proportion of two and at uniform intervals; the cutter teeth arranged on the first blade and the second blade are uniformly distributed, the first blade and the second blade are connected through kidney-shaped connecting grooves respectively arranged on the first blade and the second blade, the left and right cutting actions are completed through the connecting grooves, the first blade is arranged on the upper side of the bottom plate, and the second blade is arranged on the lower side of the bottom plate.
2. A control method based on the control system of the tea garden picking robot as claimed in claim 1, comprising the steps of:
s1, a robot walks on a track device;
s11, balancing is kept through a walking balancing device;
s2, the tea leaves are trimmed by the action of the trimming device;
s3, collecting the separated tea leaves after trimming by a collecting and storing device;
s4, when the robot reaches the tail end of the track, the anti-collision device acts, and the robot stops by stable braking.
3. The control method according to claim 2, characterized in that: step S1 further includes step S12, where the balancing device acts and the robot is locked on the track device in the case of an emergency.
4. The control method according to claim 2, characterized in that: the step S4 further includes a step S41 of forcibly stopping the robot on the rail by the anti-collision device in an emergency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088903.4A CN109121702B (en) | 2018-09-18 | 2018-09-18 | Control system and control method for tea garden picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088903.4A CN109121702B (en) | 2018-09-18 | 2018-09-18 | Control system and control method for tea garden picking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109121702A CN109121702A (en) | 2019-01-04 |
| CN109121702B true CN109121702B (en) | 2023-04-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811088903.4A Active CN109121702B (en) | 2018-09-18 | 2018-09-18 | Control system and control method for tea garden picking robot |
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| CN (1) | CN109121702B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393087A (en) * | 2019-09-02 | 2019-11-01 | 四川省农业机械研究设计院 | Tea place tender leaf profiling picker |
| CN117206776B (en) * | 2023-11-08 | 2024-02-20 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3075662B2 (en) * | 1993-12-24 | 2000-08-14 | 落合刃物工業株式会社 | Orbital self-propelled tea leaf picking machine |
| JP3106240B2 (en) * | 1996-09-06 | 2000-11-06 | カワサキ技研株式会社 | Rail-running tea garden management system with a gentle stop structure |
| JP2000300041A (en) * | 1999-04-15 | 2000-10-31 | Ochiai Cutlery Mfg Co Ltd | Mobile type tea-plucking machine |
| CN103766076B (en) * | 2014-01-23 | 2015-08-19 | 永康市威力园林机械有限公司 | Be provided with the tea picking machine of the anti-running gear of jolting of many wheels |
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2018
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| CN109121702A (en) | 2019-01-04 |
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