CN109220202B - Famous tea picking machine and picking method thereof - Google Patents
Famous tea picking machine and picking method thereof Download PDFInfo
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- CN109220202B CN109220202B CN201811454900.8A CN201811454900A CN109220202B CN 109220202 B CN109220202 B CN 109220202B CN 201811454900 A CN201811454900 A CN 201811454900A CN 109220202 B CN109220202 B CN 109220202B
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- 238000000034 method Methods 0.000 title claims description 9
- 241001122767 Theaceae Species 0.000 title claims 7
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 120
- 239000010959 steel Substances 0.000 claims abstract description 120
- 230000010365 information processing Effects 0.000 claims description 17
- 238000013508 migration Methods 0.000 claims description 13
- 230000005012 migration Effects 0.000 claims description 12
- 238000010248 power generation Methods 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 5
- 238000005520 cutting process Methods 0.000 abstract description 18
- 244000269722 Thea sinensis Species 0.000 description 74
- 235000013616 tea Nutrition 0.000 description 74
- 239000002994 raw material Substances 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 235000009024 Ceanothus sanguineus Nutrition 0.000 description 2
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- 238000004519 manufacturing process Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000009569 green tea Nutrition 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Abstract
The utility model provides a famous tea-leaf picker, includes picking device, collection leaf device and controlling means, its characterized in that: the picking device comprises a regular triangle steel plate base with a forward bottom edge, wherein three corners of the steel plate base are respectively provided with a steel wheel with a groove connected through a steel wheel shaft, and an annular steel wire rope is arranged in the groove of the steel wheel in a matching manner; a steel wheel shaft positioned at the vertex of the regular triangle steel plate base is provided with a high-speed motor for driving the steel wheel to rotate, and two steel wheels on the bottom edge of the regular triangle steel plate base are driven to rotate by an annular steel wire rope; the steel plate base is also provided with a fixed pile, and the fixed pile is matched with a telescopic mechanical arm for driving the picking device to move; the fixing pile is provided with a positioning and height identifying camera close to the inner side of the steel plate base. The length of the bud tips to be picked is determined through the preset cutting height, the bud tips are consistent in length and good in quality, and the picking efficiency is high.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a famous tea-leaf picker and a picking method thereof.
Background
Tea is one of important economic crops in China, is an important way for increasing income of farmers in vast mountain areas, particularly in the middle and western areas, and is an important prop for rural economy in tea areas. It is counted that there are 10 tea provinces and 300 tea counties (cities) in the country, and the tea industry is classified as the agricultural post industry. However, in recent years, along with the adjustment of industrial structures and the transfer of a great deal of rural labor force to the second and third industries of coasts and towns, the 'waste of tea leaf picking' in China is increasingly strong, and famous green tea picking is in shortage and serious in loss. It is estimated that the cost of picking labor is over 50 ten thousand people only in peak time of labor in Zhejiang province, and the cost of picking work is continuously high. Some tea enterprises lack enough tea-picking workers, a large amount of tea leaves can not be picked off in time on trees, and some tea-picking enterprises even have one tenth of the shortage of the picked tea leaves, so that serious waste of resources is caused. Because tea cannot be picked in time, not only is the benefit of a tea enterprise poor, but also the tea enterprises are led to have no return on tea garden management in the year, and the production cost of the tea is further increased, the increase of labor cost becomes an important bottleneck for restricting the tea industry from going up to the step again, and the important influence is exerted on the whole tea industry.
The tea benefit in China mainly comes from famous tea and high-quality tea. The famous tea is tea with better quality prepared from one bud and one leaf or two buds and two leaves serving as raw materials. Because the famous tea picking standard is too tender, picking and separating the picked fresh tea leaves according to the standard size is very difficult according to the current non-selective mechanical picking mode.
Because the current general tea plucker is a blade reciprocating tea plucker, the plucker can only pluck all buds and leaves above the knife edge along a certain height of the crown surface when plucking, but can not distinguish that the plucked buds and leaves are single buds, one bud and one leaf, one bud and two leaves, even one bud and three and four leaves or old leaves, but all are mixed together, thereby leading to the size mixing of famous tea raw materials, even leading to the coarse and old taste of tea finished products because old leaves and stems are mixed in, and obviously reducing the quality and price of famous tea. Currently, tea pluckers are also being continuously improved by industry personnel to enable them to accommodate the picking of raw materials for famous tea. But these improvements have focused largely on the following three aspects: 1) The length of the blade is changed, for example, a long blade is changed into a short blade, so that the flexibility is improved; 2) The height adjustment of the knife edge is changed to be lifted as much as possible so as to avoid taking mature leaves into the knife edge as much as possible; 3) The gasoline engine is changed into lithium battery drive to reduce the weight of the picking machine and improve the maneuverability of the picking machine. However, all three aspects are based on the principle of back and forth picking by blades, and the problem of no selectivity is still solved. At present, although more researches are carried out in the aspect of camera identification, the efficiency is lower in the aspect of correct identification because the consistency of the colors of the tea shoots is better and the contrast of the colors is smaller. At the same time, even if the three-dimensional positioning of the picking hand is recognized, the three-dimensional positioning of the picking hand is difficult and slow, and a long path is needed to be taken away from actual production and application.
Disclosure of Invention
In order to overcome the technical problems in the background technology, the invention aims to provide a famous tea-leaf picker which is flexible and mobile and takes intelligent recognition, fine line cutting and wind suction leaf collection as cores, and a picking method thereof, so that the effects of intelligent, quick and high-quality picking can be truly achieved, and high-quality materials required by the famous tea can be obtained.
The invention is realized by the following technical scheme:
the utility model provides a famous tea-leaf picker, includes picking device, collection leaf device and controlling means, its characterized in that: the picking device comprises a regular triangle steel plate base with a forward bottom edge, wherein three corners of the steel plate base are respectively provided with a steel wheel with a groove connected through a steel wheel shaft, and an annular steel wire rope is arranged in the groove of the steel wheel in a matching manner; a steel wheel shaft positioned at the vertex of the regular triangle steel plate base is provided with a high-speed motor for driving the steel wheel to rotate, and two steel wheels on the bottom edge of the regular triangle steel plate base are driven to rotate by an annular steel wire rope; the steel plate base is also provided with a fixed pile, and the fixed pile is matched with a telescopic mechanical arm for driving the picking device to move; the fixing pile is provided with a positioning and height identifying camera close to the inner side of the steel plate base.
The famous tea picking machine is characterized in that: and triaxial fixing strips for fixing the steel wheel shafts are arranged below and above the steel plate base.
The famous tea picking machine is characterized in that: the steel plate base is provided with a clamping groove at the joint of one steel wheel shaft, a lock catch for locking the steel wheel shaft is matched with the clamping groove, and the annular steel wire rope is assembled and disassembled by moving the steel wheel shaft at two ends of the clamping groove.
The famous tea picking machine is characterized in that: the leaf collecting device mainly comprises a leaf collecting port, a vortex fan, a leaf collecting box She Fengguan, and a leaf collecting box, wherein the vortex fan is arranged on the pipe wall of a leaf collecting air pipe, and an exhaust net is arranged at the middle rear part of the leaf collecting air pipe; the lower end of the vortex fan is provided with a supporting rod connected with the telescopic mechanical arm.
The famous tea picking machine is characterized in that: the leaf collecting air pipe comprises a telescopic leaf collecting air pipe at the front middle part and a non-telescopic arc-shaped collection She Fengguan at the middle and rear parts, and the exhaust net is arranged at the outer side of the arc-shaped part of the arc-shaped collection She Fengguan.
The famous tea picking machine is characterized in that: the control device comprises an migration system for realizing the travel of the tea picking machine, and a bearing platform is arranged above the migration system; a balancing device for keeping the bearing platform horizontal is arranged between the migration system and the bearing platform; the bearing platform is fixedly connected with a lifting rod; the bearing platform is also provided with a power generation device, a storage battery set, an image information processing and picking control system and a drive-by-wire operator; the lifting rod is movably connected with the telescopic mechanical arm.
The famous tea picking machine is characterized in that: the migration system consists of four parts, namely a front pair of driving wheels, a rear pair of driving wheels, a left crawler belt, a right crawler belt, four driving wheel supporting frames and four driving wheel carrying platforms.
The famous tea picking machine is characterized in that: the balancing device is a gyroscopic balance instrument.
The famous tea picking machine is characterized in that: the telescopic mechanical arm is provided with a lifting rod control motor and a hydraulic push rod motor.
The method for picking tea leaves by the famous tea picking machine is characterized by comprising the following steps of: the picking method comprises the following steps: picking crowns of tea gardens and selecting horizontal crowns; picking proper period when the young shoots of the picked bud leaves are 70-80% of the shoots on the tree body by one bud and two buds or the average height of the shoots is 4.5-5 cm; when the tea picking machine moves to a picking position of a tea garden where picking rows are required, a positioning and height identification shooting hair command instructs a picking device to extend to crowns of the tea rows, when picking buds are shot to contact with a steel wire rope, an image information processing and picking control system instructs the picking head to stop advancing, then the heights of the buds are measured, the heights of the buds are adjusted to the picking position according to the measured heights or preset heights, then the image information processing and picking control system instructs a high-speed motor and a motor on a leaf collecting air pipe, the high-speed motor immediately drives the steel wheel and the steel wire rope to start to operate at a high speed, the buds contacted with the steel wire rope are cut off and picked, and then the picked buds are sucked into a leaf collecting box by negative pressure of a leaf collecting opening at the upper part; when the positioning and height identifying camera cannot detect the new pin, the picking device is retracted, and moves inwards to continue picking of the next section according to a set program.
The famous tea picking machine mainly aims at the technical defects that the current famous tea picking machine is short in labor, but the current round-trip tea picking machine cannot really solve the problem of mechanized picking of famous tea, and the picking mechanical equipment and the picking mode which are flexible and motorized and take' intelligent identification + fine line cutting + wind suction gathering as cores are invented, so that the technical defects that the bud tip length cannot be controlled, the bud tip base is torn by the cutting position and becomes red and the like due to the fact that the current general blade round-trip tea picking machine cannot be selectively are overcome. The invention realizes the primordial ecology of the buds and leaves in the mechanized picking of famous tea, the selectable sizes of the buds and leaves, the intelligentization of the picking process and the high efficiency of the picking speed, and has the following advantages that: (1) The original blade is replaced by a single-wire cutting and picking mode to cut back and forth, so that the damage of buds and leaves is reduced. According to the novel tea leaf cutting machine, the annular high-toughness steel wire rope arranged on the three steel wheels is used for replacing the traditional blade, the steel wire rope rotates around the three steel wheels at high speed under the drive of the high-speed motor to form cutting force, the linear cutting has the problem that the base of part of bud tips of the traditional blade is torn at the cutting position to turn red, so that the loss of picked buds She Sunshang is smaller than that of the blade, and the quality of fresh tea leaves is better; (2) The negative wind pressure collecting leaves are formed by the vortex fan to replace the blowing collecting leaves of the traditional tea-leaf picker, meanwhile, as the length of each steel wire rope is only 7cm, the number of bud leaves picked per time is generally not more than 3 and can be quickly sucked into a leaf collecting box by wind, the impact and friction among the picked bud tips are further reduced, and meanwhile, as wind can be quickly blown out from an exhaust net positioned at the rear part of a She Fengguan collecting pipeline, the picked bud leaves can not be continuously blown by wind, so that the freshness of picked raw materials is better; (3) The picking head has small volume, good flexibility and maneuverability, quick positioning and high picking efficiency. A small regular triangle steel plate structure is adopted as a base of the picking head, the thickness of the steel plate is 0.3cm, and the side length is 6cm. The bottom plate is used as a temporary collecting place of picking leaves and also used as a fixed support of the whole picking head accessory. The picking head takes the angle of the driving wheel provided with the high-speed motor as the vertex angle (backward position), the inner side of the fixed pile, which is close to the steel plate base, is provided with a positioning and height identification camera for determining the position and the height of the bud tip which is closest to the fixed pile, and the length of the bud tip to be picked is determined through the preset cutting height, so that the efficiency is high, the bud tip length is consistent, and the quality is good.
Drawings
FIG. 1 is a schematic top view of a picking apparatus of the present invention;
FIG. 2 is a schematic view of the bottom construction of the picking apparatus of the present invention;
FIG. 3 is a schematic diagram of the structure of the present invention;
FIG. 4 is an enlarged view of region M of FIG. 3;
FIG. 5 is a schematic view of the travel path of the picking apparatus during picking;
in the figure: 1-a picking device; 1-1 of a steel plate base; 1-2-steel wheels; 1-3-wire rope; 1-4-high speed motor; 1-5-positioning and highly identifying cameras; 1-6-fixing piles; 1-7-clamping grooves; 1-8-triaxial fixing strips; 1-9-a telescopic mechanical arm; 1-9-1-lifting rod control motor; 1-9-2-hydraulic push rod motor; 1-10-supporting rods; 2-leaf collecting device; 2-1-collecting leaf opening; 2-2-vortex fan; 2-3-set She Fengguan; 2-4 of an exhaust net; 2-5-leaf collecting box; 3-a control device; 3-1-migration system; 3-2-balancing means; 3-3-bearing platform; 3-4-power generation device; 3-5 storage battery units; 3-6-an image information processing and picking control system; 3-7 of lifting rods; 3-1-1-driving wheel; 3-1-2-caterpillar tracks; 3-1-3-supporting frames; 3-1-4-carrying platform; 3-1-5-wire control operators.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
The invention designs a famous tea-leaf picker (shown in figures 1-4), which mainly comprises three modules, namely a picking device 1, a leaf collecting device 2 and a control device 3. Wherein: the picking device 1 comprises a regular triangle steel plate base 1-1 with a forward bottom edge, wherein three corners of the steel plate base are respectively provided with a steel wheel 1-2 with a groove connected through a steel wheel shaft, and annular steel wire ropes 1-3 are matched in grooves of the steel wheels; a high-speed motor 1-4 for driving the steel wheel (driving wheel) to rotate is arranged on a steel wheel shaft positioned at the vertex (point A in fig. 1) of the regular triangle steel plate base, and two steel wheels on the bottom side (connecting line of two points B, C in fig. 1) of the regular triangle steel plate base are driven to rotate by an annular steel wire rope (namely, the two steel wheels are respectively positioned at points B and C in fig. 1 and are driven wheels); the specifications of the three steel wheels are preferably: the diameters are all 2cm, the outer diameters are all provided with grooves with the depth of 1mm, the grooves are used for installing and fixing annular high-toughness steel wire ropes 1-3, and the diameter of the cross section of the steel wire of the annular high-toughness steel wire ropes is preferably 0.3mm. The steel plate base is also provided with a fixed pile 1-6, and the fixed pile is matched with a telescopic mechanical arm 1-9 for driving the picking device to move; in order to obtain a more stable fixing effect, 2 fixing piles 1-6 are preferably arranged (see fig. 1 and 2); the fixing pile is provided with a lens forward (i.e. towards the midpoint of BC) positioning and height identifying cameras 1-5 (see fig. 1) near the inner side of the steel plate base. The joint of the steel plate base 1-1 and one of the steel wheel shafts is provided with a clamping groove 1-7, a lock catch for locking the steel wheel shaft is matched with the clamping groove, and the annular steel wire rope is assembled and disassembled by moving the steel wheel shaft at two ends of the clamping groove; the steel wheel at the point C (figure 1) is firstly moved to the innermost end of the clamping groove 1-7, and after the steel wire rope ring 1-3 is installed, the steel wheel is locked at the outermost end of the clamping groove so as to tighten the annular steel wire rope. Wherein the optimal dimensions of the regular triangle steel plate base 1-1 are: thickness 0.3cm and side length 6cm. The bottom plate serves as a temporary collecting place for picking leaves and a fixed supporting place for the whole picking head accessory. In order to make the steel wheel shaft have better stability, the lower part and the upper part of the steel plate base 1-1 are respectively provided with a triaxial fixing strip 1-8 for fixing the steel wheel shaft. The telescopic mechanical arm 1-9 is provided with a lifting rod control motor 1-9-1 for controlling the telescopic mechanical arm to move up and down and swing left and right on the lifting rod, and a hydraulic push rod motor 1-9-2 for regulating and controlling the picking device to move forwards and backwards.
The leaf collecting device 2 mainly comprises a leaf collecting port 2-1, a vortex fan 2-2, a leaf collecting air pipe 2-3 and a leaf collecting box 2-5, wherein the vortex fan 2-2 is arranged in the leaf collecting air pipe 2-3, and an exhaust net 2-4 is arranged at the middle rear part of the leaf collecting air pipe; the lower end of the vortex fan 2-2 is provided with a supporting rod 1-10 connected with a telescopic mechanical arm. The leaf collecting openings 2-1 (caliber 6 cm) are round and are fixedly connected with the picking device at the steel wheel shaft respectively (see figure 4). When the novel bud picking machine is in a use state, negative pressure is formed at the blade collecting opening 2-1 through the vortex fan 2-2, so that picked bud tips are sucked into the blade collecting box She Fengguan from the blade collecting opening and then enter the blade collecting box 2-5, wind generated by the vortex fan 2-2 is rapidly discharged from the air exhaust net 2-4, wind pressure of the blade collecting opening is not affected, the risk that picked new tips in the blade collecting box are continuously blown by wind is reduced, and freshness of the bud tips is maintained. The size of the leaf collecting box can be as follows: 50cm long by 50cm wide by 30cm high. Preferably, the leaf collecting air pipe 2-3 is preferably composed of a telescopic leaf collecting air pipe at the front middle part and a non-telescopic arc-shaped leaf collecting air pipe at the middle rear part, and the air exhaust net 2-4 is arranged outside the arc-shaped part of the arc-shaped collection She Fengguan (see figure 3).
The control device 3 comprises an migration system 3-1 for realizing the travel of the tea plucking machine, and a bearing platform 3-3 is arranged above the migration system and mainly consists of a piece of steel plate; a balancing device 3-2 for keeping the bearing platform horizontal is arranged between the migration system and the bearing platform; lifting rods 3-7 (used for adjusting the height of the picking device and 80cm in height) are fixedly connected to the bearing platform 3-3; the bearing platform 3-3 is also provided with a power generation device 3-4, a storage battery set 3-5, an image information processing and picking control system 3-6 and a drive-by-wire operator 3-1-5; the lifting rod 3-7 is movably connected with the telescopic mechanical arm 1-9. The power generation device 3-4 mainly provides power sources for picking devices of the tea picking machine; the storage battery unit 3-5 is mainly used for providing power for equipment such as a high-speed motor 1-4, a positioning and height identification camera 1-5, a vortex fan 2-2, an image information processing and picking device control system 3-6, driving motors of four driving wheels 3-1-1 of the tea-leaf picker, a wire control operator 3-1-5 and the like. The image information processing and picking device control system 3-6 mainly comprises a video information processing system, a picking head positioning and height regulating system and a tea picking machine motion direction signal processing system, wherein two modes of manual operation mode and automatic control mode are arranged for positioning and height control of the picking head, the tea picking machine in the manual mode can turn off the height identification camera 1-5 and control the corresponding control motor, and the front and back, left and right and up and down movements of the picking device 1 can be controlled by an operator at will; the position of the picking device 1 under automatic control is controlled by two motors (a lifting rod control motor 1-9-1 and a hydraulic push rod motor 1-9-2) in the telescopic mechanical arm 1-9, wherein the motors control the horizontal direction and the vertical direction.
As preferable: the length of the machine body of the tea-picking machine control device is 80cm (excluding picking equipment and a telescopic mechanical arm), the width is 50cm, and the height is 60cm (excluding lifting rod height). The double-track support is characterized in that a single track width is 20cm, a gap between two tracks is 10cm, the total width of the outer sides of the two tracks is 50cm, the length of the contact parts of the two tracks and the ground is 50cm, and the height between the upper row and the lower row of the tracks is 20cm, so that the trafficability and the applicability of the device in various tea gardens are improved.
Preferably, the above-mentioned migration system 3-1 is made up of front and back two pairs of driving wheels 3-1-1, a track 3-1-2 of left and right, four driving wheel supporting frames 3-1-3, four driving wheel carrying platforms 3-1-4, in order to turn to control and promote the throughput capacity wantonly, the fore-and-aft movement and turning of the tea-leaf picker are controlled by the drive-by-wire manipulator 3-1-5; the balancing device 3-2 is mainly provided with a gyroscopic balance so that the tea picking machine can adapt to picking in a sloping field tea garden.
This patent is the first time with the cutting force that the wire rope formed with high-speed operation in being applied to tealeaves and pluck and replace original blade round trip cutting to the damage of bud leaf has been reduced. The base of picking head has been adopted to small and exquisite regular triangle steel sheet structure, and three steel wheels pass through an annular high toughness wire rope and connect, and under high-speed motor's drive, wire rope high-speed round three steel wheels high-speed rotation forms cutting force to replace original blade round trip cutting with the mode of single line cutting and pick, the bud She Sunshang of picking is less than the loss of blade cutting.
The wind suction and leaf collection mode replaces the current wind blowing and leaf collection mode commonly adopted by the tea-leaf picker, and the mode can reduce the accumulation and abrasion among the leaves and simultaneously reduce the wind time of fresh leaves. The length of each steel wire rope is only 7cm, and the number of buds and leaves collected each time is generally not more than 3, and the buds and leaves can be quickly sucked into the leaf collecting box by wind, so that the impact and friction between the buds and leaves are reduced, and the freshness of bud tips is better maintained; meanwhile, wind can be blown out of the air outlet net positioned at the middle section of the leaf collecting pipeline rapidly, and buds enter the leaf collecting box in a free falling mode after losing wind suction force, so that picked buds cannot be continuously blown by the wind, the normal water content of the leaves is maintained, and the freshness of picked raw materials is better.
The position and three-dimensional characteristics of the picked buds and leaves are rapidly judged through the positioning and height identification camera, the heights of the buds and tips are calculated, the heights of the buds and tips are fed back to a telescopic mechanical arm provided with a cutting picking head through an image information processing and picking control system, the heights of the picking head are positioned, the tips of the buds are cut and picked, and the picked new tips are instantly sucked through an air suction pipe.
The working steps of the famous tea-leaf picker are as follows:
requirements of tea-picking machine on tree crowns and picking adaptation period: the equipment requires that the crowns of the tea garden are preferably horizontal crowns; picking is suitable when the first and second leaves of the new shoots of the picked bud account for 70-80% of the buds on the tree body or the average height of the buds is 4.5-5 cm.
When the operator of the tea picking machine opens the machine to the first row picking position of the tea garden (as shown in figure 5), the positioning and height identification shooting hair command installed near the A position directs the picking head (i.e. the picking device) to extend towards the crown of the tea row, when the shooting bud tips are contacted with the BC steel wire rope, the image information processing and picking control system sends commands to stop the picking head, then the heights of the bud tips are measured, and the mechanical arm is adjusted to the picking position according to the measured heights of the bud tips or the preset heights, then the image information processing and picking control system sends commands to the high-speed motor and the motor on the leaf collecting air pipe, the high-speed motor immediately drives the steel wire rope to start high-speed operation, the bud tips of the steel wire rope contacted with the BC section are cut off and picked, and then the picked bud tips are sucked into the leaf collecting box by the negative pressure of the leaf collecting port at the upper part. When the picking head is picked up to the FG end from the DE end, the positioning and height recognition camera cannot detect the new tip, and then the camera sends a command to the image information processing and picking control system, the picking head is retracted to the DE side, and the picking head moves inwards for 6cm according to a set program and is adjusted to the EH section to continue picking of the next section. When the tea trees reach the proper picking period, an equipment operator controls the front-back and steering movement of the tea picking machine through a wire control operator, so that the picking equipment reaches a tea row appointed position, a positioning and height identification camera of the picking head 1 transmits position information and height information to an image information processing and picking control system, signals are formed after the image information processing, a steel plate base is quickly moved to new shoots of the tea trees to be picked through controlling two groups of motors (a lifting rod control motor and a hydraulic push rod motor) on a telescopic mechanical arm, a high-speed motor is electrified to drive an annular steel wire rope to rotate at a high speed to form cutting force, the shoots are cut off, and the cut shoots are sucked under the negative pressure effect of a leaf collecting opening above and fall into a leaf collecting box in a parabolic mode due to loss of wind pressure at the rear end in a leaf collecting air pipe.
On the premise of meeting the requirements of crowns, the bud tip integrity rate of the famous tea plucking machine designed by the invention is over 98 percent in the proper plucking period, and the bud tip integrity rate of the bud tip plucked by the common blade plucking machine is 35-60 percent. The investigation shows that in Zhejiang area, the bud tip of one bud and one leaf of the main tea variety is about 4cm, and the bud tip height of one bud and two leaves is about 5cm, so that the height of the picking bud tip can be set according to the fresh leaf standard for making tea and the corresponding height of the picked bud tip, and the uniformity and homogeneity of the bud tip are obviously superior to those of the current conventional tea picker. If the height of the bud tips is set to be 4cm, the height of the bud tips can be basically kept at 4cm, so that the uniformity and uniformity of the famous tea raw materials are ensured.
Claims (8)
1. The utility model provides a famous tea-leaf picker, includes picking device (1), collection leaf device (2) and controlling means (3), its characterized in that: the picking device (1) comprises a regular triangle steel plate base (1-1) with a forward bottom edge, wherein three corners of the steel plate base are respectively provided with a steel wheel (1-2) with a groove connected through a steel wheel shaft, and an annular steel wire rope (1-3) is arranged in the groove of the steel wheel in a matching way; a steel wheel shaft positioned at the vertex of the regular triangle steel plate base is provided with a high-speed motor (1-4) for driving the steel wheel to rotate, and two steel wheels on the bottom edge of the regular triangle steel plate base are driven to rotate by an annular steel wire rope; the steel plate base is also provided with a fixed pile (1-6), and the fixed pile is matched with a telescopic mechanical arm (1-9) for driving the picking device to move; the inner side of the fixed pile, which is close to the steel plate base, is provided with a positioning and height identification camera (1-5); the thickness of the steel plate base (1-1) is 0.3 and cm, and the side length is 6 and cm; the diameter of the steel wheel (1-2) is 2 cm; the cross section diameter of the steel wire rope (1-3) is 0.3 mm; the leaf collecting device (2) mainly comprises a leaf collecting port (2-1), a vortex fan (2-2), a collector She Fengguan (2-3) and a leaf collecting box (2-5), wherein the vortex fan (2-2) is arranged on the pipe wall of the collector She Fengguan (2-3), and an exhaust net (2-4) is arranged at the middle rear part of a leaf collecting air pipe; the lower end of the vortex fan (2-2) is provided with a supporting rod (1-10) connected with a telescopic mechanical arm; the collection She Fengguan (2-3) comprises a telescopic leaf collecting air pipe at the front middle part and a non-telescopic arc-shaped collection She Fengguan at the middle rear part, and the exhaust net (2-4) is arranged outside the arc-shaped part of the arc-shaped collection She Fengguan.
2. A famous tea-leaf picker according to claim 1, wherein: and triaxial fixing strips (1-8) for fixing the steel wheel shafts are arranged below and above the steel plate base (1-1).
3. A famous tea-leaf picker according to claim 1, wherein: the steel plate base (1-1) and one of the steel wheel shafts are provided with clamping grooves (1-7), the clamping grooves are provided with locks for locking the steel wheel shafts in a matched mode, and the annular steel wire ropes are assembled and disassembled by moving the steel wheel shafts at two ends of the clamping grooves.
4. A famous tea-leaf picker according to claim 1, wherein: the control device (3) comprises a migration system (3-1) for realizing the travel of the tea plucking machine, and a bearing platform (3-3) is arranged above the migration system; a balancing device (3-2) for keeping the bearing platform horizontal is arranged between the migration system and the bearing platform; the bearing platform (3-3) is fixedly connected with a lifting rod (3-7); the bearing platform (3-3) is also provided with a power generation device (3-4), a storage battery set (3-5), an image information processing and picking control system (3-6) and a wire control operator (3-1-5); the lifting rod (3-7) is movably connected with the telescopic mechanical arm (1-9).
5. A famous tea-leaf picker according to claim 4, wherein: the migration system (3-1) consists of four parts, namely a front pair of driving wheels (3-1-1), a rear pair of driving wheels (3-1), a left crawler belt (3-1-2), a right crawler belt (3-1-3), four driving wheel supporting frames (3-1-3) and four driving wheel carrying platforms (3-1-4).
6. A famous tea-leaf picker according to claim 4, wherein: the balancing device (3-2) is a gyroscopic balance instrument.
7. A famous tea-leaf picker according to claim 1, wherein: the telescopic mechanical arm (1-9) is provided with a lifting rod control motor (1-9-1) and a hydraulic push rod motor (1-9-2).
8. A method of picking tea leaves in a famous tea-leaf picker according to any one of claims 1 to 7, wherein: the picking method comprises the following steps: picking crowns of tea gardens and selecting horizontal crowns; picking proper period when the young shoots of the picked bud leaves are 70-80% of the shoots on the tree body by one bud and two leaves or the average height of the shoots is 4.5-5 cm; when the tea picking machine moves to a picking position of a tea garden where picking rows are required, a positioning and height identification shooting hair command instructs a picking device to extend to crowns of the tea rows, when picking buds are shot to contact with a steel wire rope, an image information processing and picking control system instructs the picking head to stop advancing, then the heights of the buds are measured, the heights of the buds are adjusted to the picking position according to the measured heights or preset heights, then the image information processing and picking control system instructs a high-speed motor and a motor on a leaf collecting air pipe, the high-speed motor immediately drives the steel wheel and the steel wire rope to start to operate at a high speed, the buds contacted with the steel wire rope are cut off and picked, and then the picked buds are sucked into a leaf collecting box by negative pressure of a leaf collecting opening at the upper part; when the positioning and height identifying camera cannot detect the new pin, the picking device is retracted, and moves inwards to continue picking of the next section according to a set program.
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| CN201811454900.8A CN109220202B (en) | 2018-11-30 | 2018-11-30 | Famous tea picking machine and picking method thereof |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110178539A (en) * | 2019-05-07 | 2019-08-30 | 黄山市柒日原叶生物科技咨询有限公司 | A kind of mixed dynamic automatic power tea picking control method of new energy |
| 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 |
| CN112189447B (en) * | 2020-11-03 | 2023-06-13 | 杭州市农业科学研究院 | Intelligent tea picking machine capable of positioning tea shoots at four corners and working method of intelligent tea picking machine |
| CN112243692B (en) * | 2020-11-03 | 2023-06-13 | 杭州市农业科学研究院 | Intelligent tea-leaf picker capable of accurately positioning tea shoots in coordinate mode and working method of intelligent tea-leaf picker |
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