CN112189447B - Intelligent tea picking machine capable of positioning tea shoots at four corners and working method of intelligent tea picking machine - Google Patents
Intelligent tea picking machine capable of positioning tea shoots at four corners and working method of intelligent tea picking machine Download PDFInfo
- Publication number
- CN112189447B CN112189447B CN202011209883.9A CN202011209883A CN112189447B CN 112189447 B CN112189447 B CN 112189447B CN 202011209883 A CN202011209883 A CN 202011209883A CN 112189447 B CN112189447 B CN 112189447B
- Authority
- CN
- China
- Prior art keywords
- tea
- signal
- leaf
- auxiliary device
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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 invention provides an intelligent tea-leaf picker capable of positioning tea shoots at four corners, which comprises a horizontally arranged tea bud four-corner positioning auxiliary device, wherein the tea bud four-corner positioning auxiliary device is formed by arranging a plurality of square matrixes, each square consists of four triangular signal reflecting plates capable of turning upwards, and a tea hole is formed at the intersection of the central triangular signal reflecting plates of the squares. According to the invention, the signal control system is assisted to accurately position the tea shoots by the aid of the tea shoot four-corner positioning auxiliary device, meanwhile, the four movable plates with small holes in the middle can assist the tea shoots to properly shift and accurately enter the middle position, and the small holes are beneficial to picking activities of the tea shoots by the mechanical arm, so that the tea shoots can be assisted to be positioned, the positioning accuracy of a computer is improved, the mechanical arm is assisted to accurately find the tea shoots, and intelligent tea picking is realized.
Description
Technical Field
The invention belongs to a tea picking device, and particularly relates to an intelligent tea picking machine capable of positioning tea shoots at four corners and a working method thereof.
Background
The tea-leaf picker is a machine for picking fresh and tender leaves from tea tree tops, and the existing tea-leaf picker mainly comprises a common shearing type tea-leaf picker and an intelligent tea-leaf picker, wherein the common shearing type tea-leaf picker generally comprises two shearing blades, a fuel oil engine or a motor, a handle and the like, and is used for shearing tea leaves indiscriminately, so that the tea leaves are difficult to classify and can only be used for picking middle-low grade tea leaves.
The intelligent tea-leaf picker carries out image recognition and calculation positioning on tea buds through a computer control system, then a manipulator driven by an automatic control system is utilized for picking, however, tea buds are dense, blades are mutually overlapped, colors are similar, the identification and positioning of tea buds by a computer of the current intelligent tea-leaf picker are extremely difficult, tea leaves can not be picked frequently when the manipulator of the intelligent tea-leaf picker picks, and the picking efficiency is low.
Disclosure of Invention
In order to solve the technical problems, the invention provides an intelligent tea-leaf picker capable of positioning tea shoots at four corners and a working method thereof.
The technical scheme of the invention is as follows:
the utility model provides an intelligence tea-leaf picker of four corners location tea-leaf tip, includes the tea-leaf four corners location auxiliary device of a level setting, tea-leaf four corners location auxiliary device comprises polylith square matrix arrangement, and every square comprises four triangle-shaped signal reflection boards that can upwards turn, the intersection of the central triangle-shaped signal reflection board of square is provided with a tea hole, tea-leaf four corners location auxiliary device's upper portion is provided with one and tea-leaf four corners location auxiliary device parallel signal transmission receiving platform, be provided with a plurality of signal transmission receiving arrangement on the signal transmission receiving platform, signal transmission receiving arrangement's position corresponds from top to bottom with tea-leaf four corners location auxiliary device's triangle-shaped signal reflection board, intelligence tea-leaf picker still includes a plurality of manipulators that are used for picking tealeaves and a signal control device that controls the work of manipulator through judging whether signal transmission receiving triangle-shaped signal reflection board, the manipulator sets up in tea-leaf four corners location auxiliary device upper portion, and tea hole one-to-one correspondence of manipulator's position.
The square has a size of 2cm×2 cm-3 cm×3cm, and the diameter of the tea leaf hole is 0.2-0.5 cm.
Preferably, the square has dimensions of 2cm by 2cm and the tea leaf aperture has a diameter of 0.5cm.
The tea bud four-corner positioning auxiliary device is characterized in that a plurality of cross bars and longitudinal bars with the same interval are arranged on the tea bud four-corner positioning auxiliary device, the cross bars and the longitudinal bars are crossed to form a plurality of squares which are arranged in a matrix, four triangular signal reflecting plates capable of turning upwards are arranged in each square, one edge of each triangular signal reflecting plate is hinged with the cross bar or the longitudinal bar, and a limiting device is arranged at the bottom of the tea bud four-corner positioning auxiliary device, so that the triangular signal reflecting plates can only turn upwards.
The intelligent tea-leaf picker comprises an automatic control device, a motor is arranged on the manipulator, the manipulator is driven by the motor, the motor is connected with the automatic control device and controlled to work by the automatic control device, the automatic control device is connected with the signal control device, and the signal control device controls the work.
The intelligent tea-leaf picker comprises a machine body, a signal transmitting and receiving platform and a manipulator are arranged at the lower part of the machine body, a tea bud four-corner positioning auxiliary device is fixedly connected with the machine body through a connecting rod, a signal control device, an automatic control device and a power supply device for supplying power to the intelligent tea-leaf picker are arranged in the machine body, a motor is arranged on the manipulator, the manipulator is driven by the motor, the motor is connected with the automatic control device and is controlled to work by the automatic control device, the automatic control device is connected with the signal control device and is controlled to work by the signal control device, and a tea collecting device is further arranged on the machine body.
The signal sent by the signal transmitting and receiving device is an optoelectronic signal, an infrared signal or an ultrasonic signal.
The working method of the intelligent tea-leaf picker with four corners for positioning tea shoots is as follows: when tea is not picked, the signal transmitting and receiving device on the signal transmitting and receiving platform can receive the reflected signals of the triangular signal reflecting plates on the tea bud four-corner positioning auxiliary device, the signal control device sends a standby instruction, the automatic control device does not work, when tea is picked, the tea bud four-corner positioning auxiliary device contacts the tea awning surface, the triangular signal reflecting plates are upwards jacked by the tea bud tips to enter tea holes, the triangular signal reflecting plates are upwards turned, the signal transmitting and receiving device on the signal transmitting and receiving platform can not receive the reflected signals of the triangular signal reflecting plates on the tea bud four-corner positioning auxiliary device, the signal control device sends a working instruction, and the automatic control device works to start the mechanical arm to vertically and downwards remove the tea bud tips, and the tea bud tips are placed in or sucked into the tea collecting device through negative pressure.
According to the intelligent tea-leaf picker capable of positioning the tea shoots at four corners and the working method thereof, the signal control system is assisted to accurately position the tea shoots through the tea shoot four-corner positioning auxiliary device, meanwhile, the four movable plates with small holes in the middle can assist the tea shoots to properly shift and accurately enter the middle position, the small holes are beneficial to picking activities of the tea shoots by the mechanical arm, the auxiliary positioning of the tea shoots can be realized, the computer positioning accuracy is improved, the mechanical arm is assisted to accurately find the tea shoots, and intelligent tea picking is realized.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a tea bud four-corner positioning auxiliary device of the invention;
FIG. 3 is a schematic diagram of the working principle of the present invention;
in the figure, 1-body; 2-a manipulator; 3-a tea bud four-corner positioning auxiliary device; 4, a signal transmitting and receiving platform; 5-signal transmitting and receiving device; 6-a signal control device; 7-an automatic control device; 8-a tea collecting device; 9-a power supply device; 10-connecting rods; 11-a triangular signal reflecting plate; 12-tea holes; 13-tea leaf bud tip.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the intelligent tea-leaf picker for positioning tea shoots comprises a horizontally arranged tea shoot four-corner positioning auxiliary device 3, wherein the tea shoot four-corner positioning auxiliary device 3 is formed by arranging a plurality of square matrixes, each square consists of four triangular signal reflecting plates 11 capable of turning upwards, a tea hole 12 is formed in the junction of the central triangular signal reflecting plates 11 of the square, a signal transmitting and receiving platform 4 parallel to the tea shoot four-corner positioning auxiliary device 3 is arranged at the upper part of the tea shoot four-corner positioning auxiliary device 3, a plurality of signal transmitting and receiving devices 5 are arranged on the signal transmitting and receiving platform 4, the positions of the signal transmitting and receiving devices 5 correspond to the triangular signal reflecting plates 11 of the tea shoot four-corner positioning auxiliary device 3 up and down, the intelligent tea-leaf picker further comprises a plurality of manipulators 2 for picking tea leaves and a signal control device 6 for controlling the operation of the manipulators 2 by judging whether the signal transmitting and receiving signals of the triangular signal reflecting plates 11 are received by the signal transmitting and receiving devices 5, the manipulators 2 are arranged at the upper part of the tea shoot four-corner positioning auxiliary device 3, and the positions of the manipulators 2 correspond to the tea holes 12 one by one.
The square on the tea bud four-corner positioning auxiliary device 3 is generally 2cm multiplied by 2 cm-3 cm multiplied by 3cm, and the diameter of the tea hole 12 is generally 0.2-0.5 cm. In one embodiment of the present invention, the square is 2cm by 2cm in size and the diameter of the tea leaf aperture 12 is 0.5cm, which can accommodate the picking requirements of most tea leaves.
In one embodiment of the invention, the tea bud four-corner positioning auxiliary device 3 is provided with a plurality of cross bars and longitudinal bars with the same interval, the cross bars and the longitudinal bars are crossed to form a plurality of squares which are arranged in a matrix, four triangular signal reflecting plates 11 which can be turned upwards are arranged in each square, one side of each triangular signal reflecting plate 11 is hinged with the cross bar or the longitudinal bar, and the bottom of the tea bud four-corner positioning auxiliary device 3 is provided with a limiting device which can be a limiting stop bar or the like, so that the triangular signal reflecting plates 11 can only be turned upwards.
In one embodiment of the invention, the intelligent tea-leaf picker comprises a machine body 1, a signal transmitting and receiving platform 4 and a manipulator 2 are arranged at the lower part of the machine body, a tea bud four-corner positioning auxiliary device 3 is fixedly connected with the machine body 1 through a connecting rod 10, a signal control device 6, an automatic control device 7 and a power supply device 9 for supplying power to the intelligent tea-leaf picker are arranged in the machine body 1, the power supply device 9 can be a lithium battery or an external power supply and the like, a motor is arranged on the manipulator 2, the manipulator 2 is driven by the motor, the motor is connected with the automatic control device 7 and controlled by the automatic control device 7 to work, the automatic control device 7 is connected with the signal control device 6 and controlled by the signal control device 6 to work, a tea collecting device 8 is further arranged on the machine body 1, and a negative pressure suction device for sucking tea leaves can be arranged on the tea collecting device 8.
The signal emitted by the signal emitting and receiving device 5 may be an optoelectronic signal, an infrared signal or an ultrasonic signal, and in one embodiment of the present invention, the signal emitted by the signal emitting and receiving device 5 is an optoelectronic signal.
As shown in fig. 3, the working method of the intelligent tea-leaf picker with four corners for positioning tea shoots is as follows: when tea is not picked, the signal transmitting and receiving device 5 on the signal transmitting and receiving platform 4 can receive the reflected signal of the triangular signal reflecting plate 11 on the tea bud four-corner positioning auxiliary device 3, the signal control device 6 sends a standby instruction, the automatic control device 7 does not work, when tea is picked, the tea bud four-corner positioning auxiliary device 3 contacts the tea awning surface, the tea bud tip 13 upwards pushes the triangular signal reflecting plate 11 into the tea hole 12, the triangular signal reflecting plate 11 upwards turns, the signal transmitting and receiving device 5 on the signal transmitting and receiving platform 4 cannot receive the reflected signal of the triangular signal reflecting plate 11 on the tea bud four-corner positioning auxiliary device 3, the signal control device 6 sends a working instruction, the automatic control device 7 works to start the manipulator 2 to vertically and downwards remove the tea bud tip 13, and the tea bud tip 13 is placed into the tea collecting device 8 or sucked into the tea collecting device 8 through negative pressure. This intelligence tea-leaf picker helps signal control system to carry out the accurate positioning of tea-leaf tip through tea-leaf four corners location auxiliary device, simultaneously, four fly leaves of taking the aperture in the middle can help tea-leaf tip to shift properly and accurately get into the intermediate position, and this aperture is favorable to the manipulator to carry out the picking activity of tea-leaf tip, can realize carrying out auxiliary positioning to tea-leaf tip, improves computer location accuracy, helps the manipulator to pinpoint tea-leaf tip, realizes intelligent tea-leaf picking.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (5)
1. The utility model provides an intelligent tea-leaf picker of four corners location tea-leaf tip, its characterized in that includes a horizontally arranged tea-leaf four corners location auxiliary device (3), tea-leaf four corners location auxiliary device (3) are by polylith square matrix arrangement constitution, and every square is by four triangle-shaped signal reflection boards (11) that can upwards turn, the junction of the central triangle-shaped signal reflection board (11) of square is provided with a tea-leaf hole (12), the upper portion of tea-leaf four corners location auxiliary device (3) is provided with a signal transmission receiving platform (4) parallel with tea-leaf four corners location auxiliary device (3), be provided with a plurality of signal transmission receiving devices (5) on signal transmission receiving platform (4), the position of signal transmission receiving device (5) corresponds from top to bottom with triangle-shaped signal reflection board (11) of tea-leaf four corners location auxiliary device (3), intelligent tea-leaf picker still includes a plurality of manipulator (2) and a control device (6) that control signal transmission receiving device (5) whether receive the reflection signal of triangle-shaped signal reflection board (11) and control manipulator (2), the position of a plurality of manipulator (2) is the same on the four corners location auxiliary device (3) and tea-leaf position auxiliary device (12), the utility model provides a tea-leaf picker, including horizontal pole and vertical pole, the square of polylith matrix arrangement is alternately constituteed to horizontal pole and vertical pole, every square is inside to set up four triangle-shaped signal reflection boards (11) that can upwards turn, a limit device is provided with in the bottom of triangle-shaped signal reflection board (11) and horizontal pole or vertical pole hinge to tea-leaf bud four corners location auxiliary device (3), makes triangle-shaped signal reflection board (11) can only upwards turn, intelligent tea-leaf picker includes organism (1), signal transmission receiving platform (4) and manipulator (2) set up in organism (1) lower part, tea-leaf bud four corners location auxiliary device (3) pass through connecting rod (10) and organism (1) fixed connection, be provided with signal control device (6), automatic control device (7) and be used for the power supply unit (9) of intelligent tea-leaf picker, be provided with the motor on manipulator (2), motor and automatic control device (7) are connected and are controlled by automatic control device (7), automatic control device (7) are connected with signal control device (6) and are still connected by controlling device (8) on the organism (8).
2. An intelligent tea leaf picker with four corners positioning tea shoots as claimed in claim 1, wherein the square has a size of 2cm x 2 cm-3 cm x 3cm, and the diameter of the tea leaf holes (12) is 0.2-0.5 cm.
3. An intelligent tea leaf picker with four corners positioning tea shoots as claimed in claim 2, wherein the square is 2cm x 2cm in size and the diameter of the tea leaf holes (12) is 0.5cm.
4. An intelligent tea-leaf picker with four corners positioning tea shoots as claimed in claim 1, wherein the signal sent by the signal transmitting and receiving device (5) is a photoelectric signal or an ultrasonic signal.
5. A method according to any one of claims 1 to 4, wherein the signal transmitting and receiving device (5) on the signal transmitting and receiving platform (4) can receive the reflected signal of the triangular signal reflecting plate (11) on the tea bud four-corner positioning auxiliary device (3) when tea is not picked, the signal control device (6) sends a standby instruction, the automatic control device (7) does not work, when tea is picked, the tea bud four-corner positioning auxiliary device (3) contacts the tea canopy, the tea bud tip (13) pushes the triangular signal reflecting plate (11) upwards to enter the tea hole (12), the triangular signal reflecting plate (11) turns upwards, the signal transmitting and receiving device (5) on the signal transmitting and receiving platform (4) can not receive the reflected signal of the triangular signal reflecting plate (11) on the tea bud four-corner positioning auxiliary device (3), the signal control device (6) sends a working instruction, the automatic control device (7) works to start the mechanical arm (2) to vertically and downwards remove the tea bud (13), and the tea bud tip is placed into the tea collecting device (8) or sucked into the tea collecting device (8) through negative pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011209883.9A CN112189447B (en) | 2020-11-03 | 2020-11-03 | Intelligent tea picking machine capable of positioning tea shoots at four corners and working method of intelligent tea picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011209883.9A CN112189447B (en) | 2020-11-03 | 2020-11-03 | Intelligent tea picking machine capable of positioning tea shoots at four corners and working method of intelligent tea picking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112189447A CN112189447A (en) | 2021-01-08 |
| CN112189447B true CN112189447B (en) | 2023-06-13 |
Family
ID=74032984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011209883.9A Active CN112189447B (en) | 2020-11-03 | 2020-11-03 | Intelligent tea picking machine capable of positioning tea shoots at four corners and working method of intelligent tea picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112189447B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4430849A (en) * | 1981-11-03 | 1984-02-14 | Powell Manufacturing Co. | Harvester for tea or the like |
| JP2000139164A (en) * | 1998-11-05 | 2000-05-23 | Kawasaki Giken Kk | Picking of tea leaf |
| CN107231889A (en) * | 2017-07-31 | 2017-10-10 | 崔金芬 | Automate tea picking machine |
| JP2018064543A (en) * | 2016-10-22 | 2018-04-26 | 正成 山畑 | Tea mower |
| CN109220202A (en) * | 2018-11-30 | 2019-01-18 | 中国农业科学院茶叶研究所 | A kind of Famous High-quality Tea tea picking machine and its picking method |
| CN111165176A (en) * | 2020-03-20 | 2020-05-19 | 青岛农业大学 | Tea artificial intelligence picking robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9909978B2 (en) * | 2016-07-05 | 2018-03-06 | Sharp Kabushiki Kaisha | Maturity determination device and maturity determination method |
-
2020
- 2020-11-03 CN CN202011209883.9A patent/CN112189447B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4430849A (en) * | 1981-11-03 | 1984-02-14 | Powell Manufacturing Co. | Harvester for tea or the like |
| JP2000139164A (en) * | 1998-11-05 | 2000-05-23 | Kawasaki Giken Kk | Picking of tea leaf |
| JP2018064543A (en) * | 2016-10-22 | 2018-04-26 | 正成 山畑 | Tea mower |
| CN107231889A (en) * | 2017-07-31 | 2017-10-10 | 崔金芬 | Automate tea picking machine |
| CN109220202A (en) * | 2018-11-30 | 2019-01-18 | 中国农业科学院茶叶研究所 | A kind of Famous High-quality Tea tea picking machine and its picking method |
| CN111165176A (en) * | 2020-03-20 | 2020-05-19 | 青岛农业大学 | Tea artificial intelligence picking robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112189447A (en) | 2021-01-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Hayashi et al. | Robotic harvesting system for eggplants | |
| CN108040601B (en) | Multifunctional tea leaf picking and tea tree maintenance machine | |
| CN203788733U (en) | Plucking robot integrating manual mode and automatic mode | |
| CN107624367B (en) | End effector for simultaneously picking multiple strawberries and corresponding picking mechanism and method | |
| CN112189447B (en) | Intelligent tea picking machine capable of positioning tea shoots at four corners and working method of intelligent tea picking machine | |
| CN114916318B (en) | Automatic fruit harvesting device carried on unmanned aerial vehicle and control method thereof | |
| CN213991723U (en) | Intelligent tea-leaf picker of four corners location tea sprout tip | |
| CN208257452U (en) | Automatically moving body intelligent charging system | |
| CN112243692B (en) | Intelligent tea-leaf picker capable of accurately positioning tea shoots in coordinate mode and working method of intelligent tea-leaf picker | |
| CN213991724U (en) | Intelligent tea-leaf picker of accurate location tea bud tip of coordinate formula | |
| CN211406883U (en) | Automatic tea-picking device | |
| CN215122201U (en) | Intelligent multi-arm tea plucking machine | |
| CN111284701A (en) | High-efficient portable plant protection unmanned aerial vehicle | |
| CN212448102U (en) | Unmanned aerial vehicle for weeding image recognition | |
| CN211388865U (en) | Robot with self-charging function | |
| CN112930874A (en) | Fruit double-line operation picking robot | |
| CN209673158U (en) | A kind of outdoor environment monitoring device | |
| CN207897421U (en) | It is a kind of can automatic sensing fruit rotary-cut collector | |
| CN210869609U (en) | Intelligent bird-driving robot for power transmission circuit | |
| CN115004949B (en) | Efficient fruit picking device based on image recognition | |
| CN208425208U (en) | Wrist feeler mechanism based on semi-automatic strawberry flexibility picking mechanism | |
| CN215920434U (en) | Intelligent inspection robot for water-light complementary power station | |
| CN220936417U (en) | Movable insect pest trapping and monitoring device powered by solar energy | |
| CN110254701A (en) | A kind of four-axle aircraft of scenic spot steep cliff rubbish cleaning aircraft | |
| CN214757969U (en) | Fruit double-line operation picking robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |