CN112243692B - Intelligent tea-leaf picker capable of accurately positioning tea shoots in coordinate mode and working method of intelligent tea-leaf picker - Google Patents
Intelligent tea-leaf picker capable of accurately positioning tea shoots in coordinate mode and working method of intelligent tea-leaf picker Download PDFInfo
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- CN112243692B CN112243692B CN202011209912.1A CN202011209912A CN112243692B CN 112243692 B CN112243692 B CN 112243692B CN 202011209912 A CN202011209912 A CN 202011209912A CN 112243692 B CN112243692 B CN 112243692B
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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
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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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 invention provides an intelligent tea-leaf picker capable of accurately positioning tea shoots in a coordinated mode, which comprises a tea shoot coordinate type positioning device, wherein the tea shoot coordinate type positioning device consists of a fixed coordinate plate and a movable coordinate plate. The invention can realize the coordinate accurate positioning of the tea tree shoots, so that the manipulator fixed above the coordinate point can accurately find the tea shoots, and intelligent tea picking can be realized.
Description
Technical Field
The invention belongs to a tea picking device, and particularly relates to an intelligent tea picking machine capable of accurately positioning tea shoots in a coordinate mode and a working method of the intelligent tea picking machine.
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 accurately positioning tea shoots in a coordinate mode and a working method thereof.
The technical scheme of the invention is as follows:
the utility model provides an intelligent tea-leaf picker of accurate location tea-leaf bud tip of coordinate formula, includes a tea-leaf bud tip coordinate formula positioner, tea-leaf bud tip coordinate formula positioner comprises a fixed coordinate board and a movable coordinate board, be provided with the same transverse coordinate pole of a plurality of interval and the vertical coordinate pole on fixed coordinate board and the movable coordinate board respectively, the intersection department of transverse coordinate pole and vertical coordinate pole forms the matrix coordinate of square, and the space department between transverse coordinate pole and the vertical coordinate pole forms the coordinate matrix hole, fixed coordinate board and movable coordinate board overlap each other and set up on the upper portion of fixed coordinate board and movable coordinate board, intelligent tea-leaf picker still includes a plurality of manipulators that are used for picking tealeaves, the manipulator sets up on tea-leaf bud tip coordinate formula positioner's upper portion, the position of manipulator and the coordinate position one-to-one on the fixed coordinate board of tea-leaf bud tip coordinate formula positioner.
The sizes of the coordinate matrix holes on the fixed coordinate plate and the movable coordinate plate are 2cm multiplied by 2 cm-3 cm multiplied by 3cm.
Preferably, the sizes of the coordinate matrix holes on the fixed coordinate plate and the movable coordinate plate are 2cm×2cm.
The length of the manipulator is 2-4 cm.
Preferably, the length of the manipulator is 3cm.
The intelligent tea-leaf picker comprises an automatic control device, a motor is arranged on the manipulator, the manipulator is driven by the motor, and the motor is connected with the automatic control device and is controlled to work by the automatic control device.
The intelligent tea-leaf picker comprises an automatic control device, the movable coordinate plate is connected with a motor through a transmission device, the movable coordinate plate is driven to move by the motor, and the motor is connected with the automatic control device and is controlled to work by the automatic control device.
The intelligent tea-leaf picker comprises a machine body, the manipulator is arranged at the lower part of the machine body, a fixed coordinate plate of the tea-leaf bud tip coordinate type positioning device is fixedly connected with the machine body through a fixed rod, and a movable coordinate plate of the tea-leaf bud tip coordinate type positioning device is movably connected with the machine body through a movable rod.
The intelligent tea-leaf picker is characterized in that 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 controlled by the automatic control device to work, a movable rod is connected with the motor, a movable coordinate plate is driven by the motor to move, the motor is connected with the automatic control device and controlled by the automatic control device to work, and a tea-leaf collecting device is further arranged on the machine body.
The working method of the intelligent tea-leaf picker capable of accurately positioning tea shoots by coordinates is as follows: when picking tea, the tea bud tip coordinate type positioning device contacts the tea awning surface, the tea bud tips enter any position in each coordinate matrix hole on the fixed coordinate plate, then the movable coordinate plate moves towards the coordinate point of the diagonal line of the current coordinate point, each tea bud tip is extruded to and accurately fixed at the coordinate point of the diagonal line in each coordinate matrix hole, then the tea bud tips are removed through each manipulator corresponding to the position of the coordinate point, and the tea bud tips are placed in or enter the tea collecting device through negative pressure suction.
According to the intelligent tea-leaf picker capable of accurately positioning the tea shoots and the working method thereof, disclosed by the invention, the tea shoots can be accurately positioned in a coordinate manner, so that a manipulator fixed above a coordinate point can accurately find the tea shoots, intelligent tea picking is realized, the accurate positioning and intelligent tea shoots picking can be realized without a complex computer image recognition technology, the cost is reduced, and meanwhile, the tea picking efficiency is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the tea shoot tip coordinate positioning apparatus according to the present invention;
FIG. 3 is a schematic diagram of the operation of the present invention;
in the figure, 1-body; 2-a manipulator; 3-a tea bud tip coordinate positioning device; 4-an automatic control device; 5-a power supply device; 6, fixing the rod; 7-a movable rod; 8-fixing the coordinate plate; 9, a movable coordinate plate; 10-tea shoots; 11-tea collecting device.
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 capable of precisely positioning tea-leaf tips in a coordinate mode comprises a tea-leaf tip coordinate positioning device 3, wherein the tea-leaf tip coordinate positioning device 3 consists of a fixed coordinate plate 8 and a movable coordinate plate 9, a plurality of horizontal coordinate rods and vertical coordinate rods with the same interval are respectively arranged on the fixed coordinate plate 8 and the movable coordinate plate 9, square matrix coordinates are formed at the intersections of the horizontal coordinate rods and the vertical coordinate rods, coordinate matrix holes are formed at the gaps between the horizontal coordinate rods and the vertical coordinate rods, the fixed coordinate plate 8 and the movable coordinate plate 9 are mutually overlapped and are arranged on the upper part of the fixed coordinate plate 8, a plurality of manipulators 2 for picking tea leaves are arranged on the upper part of the tea-leaf tip coordinate positioning device 3, and the positions of the manipulators 2 are in one-to-one correspondence with the positions of the coordinates on the fixed coordinate plate 8 of the tea-leaf tip coordinate positioning device 3.
The sizes of the coordinate matrix holes on the fixed coordinate plate 8 and the movable coordinate plate 9 are generally 2cm multiplied by 2cm to 3cm multiplied by 3cm, and in one embodiment of the invention, the sizes of the coordinate matrix holes on the fixed coordinate plate 8 and the movable coordinate plate 9 are 2cm multiplied by 2cm, so that the picking requirements of most tea leaves can be met.
The length of the manipulator 2 is generally 2-4 cm, in one embodiment of the invention, the length of the manipulator 2 is 3cm, and the 3cm manipulator length enables the manipulator 2 to just pick tea shoots with one bud and one leaf length, thereby facilitating tea screening and grading, and being suitable for picking and processing high-grade tea leaves.
In one embodiment of the invention, the intelligent tea-leaf picker comprises a machine body 1, a manipulator 2 is arranged at the lower part of the machine body 1, a fixed coordinate plate 8 of the tea-leaf bud tip coordinate positioning device 3 is fixedly connected with the machine body 1 through fixed rods 6 arranged at two sides or four corners, and a movable coordinate plate 9 of the tea-leaf bud tip coordinate positioning device 3 is movably connected with the machine body 1 through movable rods 7 arranged at two sides or four corners. The machine body 1 is provided with an automatic control device 4 and a power supply device 5 for supplying power to the intelligent tea-leaf picker, the power supply device 5 is a lithium battery or an external power supply, and the machine body 1 is also provided with a switch for controlling the automatic control device 4. The manipulator 2 is provided with a motor, the manipulator 2 is driven by the motor, the motor is connected with the automatic control device 4 and controlled to work by the automatic control device 4, the movable rod 7 is connected with the motor, the movable coordinate plate 9 is driven by the motor to move by the movable rod 7, the motor is connected with the automatic control device 4 and controlled to work by the automatic control device 4, the machine body 1 is also provided with a tea collecting device 11, and the tea collecting device 11 can be provided with a negative pressure suction device for sucking tea.
As shown in fig. 3, the working method of the intelligent tea-leaf picker capable of precisely positioning tea shoots by coordinates is as follows: when picking tea, the tea bud tip coordinate type positioning device 3 contacts the tea bud surface, the tea bud tips 10 enter any position in each coordinate matrix hole on the fixed coordinate plate 8, then the movable coordinate plate 9 is manually moved, or the movable coordinate plate 9 is controlled to move towards the coordinate point of the diagonal line of the current coordinate point by starting the automatic control device 4, each tea bud tip 10 is extruded towards and accurately fixed at the coordinate point of the diagonal line in each coordinate matrix hole, then the tea bud tips 10 are removed through each manipulator 2 corresponding to the position of the coordinate point, and the tea bud tips are placed into the tea collecting device 11 or sucked into the tea collecting device 11 through negative pressure. The intelligent tea-leaf picker can accurately position the tea-leaf tips in a coordinated manner, so that the manipulator fixed above the coordinate point can accurately find the tea-leaf tips, intelligent tea-leaf picking is realized, the accurate positioning and intelligent tea-leaf tip picking can be realized without a complex computer image recognition technology, the cost is reduced, and meanwhile, the tea-leaf picking efficiency is improved.
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 (6)
1. The utility model provides an intelligent tea-leaf picker of accurate location tea-leaf bud tip of coordinate formula, its characterized in that includes a tea-leaf bud tip coordinate formula positioner (3), tea-leaf bud tip coordinate formula positioner (3) comprise a fixed coordinate board (8) and a movable coordinate board (9), be provided with the same transverse coordinate pole of a plurality of interval and longitudinal coordinate pole on fixed coordinate board (8) and the movable coordinate board (9) respectively, the crossing department of transverse coordinate pole and longitudinal coordinate pole forms square matrix coordinates, and the space department between transverse coordinate pole and the longitudinal coordinate pole forms the coordinate matrix hole, fixed coordinate board (8) and movable coordinate board (9) overlap each other and set up and movable coordinate board (9) set up the upper portion in fixed coordinate board (8), intelligent tea-leaf picker still includes a plurality of manipulator (2) that are used for picking tealeaves, manipulator (2) set up the upper portion in tea-leaf bud tip coordinate positioner (3), manipulator (2) position and tea-leaf bud tip formula positioner (3) crossing department form the coordinate matrix hole, manipulator (8) and organism (1) are located through fixed coordinate board (1) fixed machine body (1), the tea bud tip coordinate type positioning device is characterized in that a movable coordinate plate (9) of the tea bud tip coordinate type positioning device (3) is movably connected with a machine body (1) through a movable rod (7) capable of moving, an automatic control device (4) and a power supply device (5) for supplying power to an intelligent tea-leaf picker are arranged in the machine body (1), a motor is arranged on the mechanical arm (2), the mechanical arm (2) is driven by the motor, the motor is connected with the automatic control device (4) and is controlled to work by the automatic control device (4), the movable rod (7) is connected with the motor, the movable coordinate plate (9) is driven by the motor to move, the motor is connected with the automatic control device (4) and is controlled to work by the automatic control device (4), and a tea collecting device (11) is further arranged on the machine body (1).
2. An intelligent tea leaf picker with accurate positioning of tea shoots according to claim 1, characterized in that the size of the coordinate matrix holes on the fixed coordinate plate (8) and the movable coordinate plate (9) is 2cm x 2 cm-3 cm x 3cm.
3. An intelligent tea leaf picker with accurate positioning of tea shoots in coordinates according to claim 2, characterized in that the size of the coordinate matrix holes on the fixed coordinate plate (8) and the movable coordinate plate (9) is 2cm x 2cm.
4. An intelligent tea-leaf picker with accurate positioning of tea shoots in coordinates according to claim 1, characterized in that the length of the manipulator (2) is 2-4 cm.
5. An intelligent tea-leaf picker with precisely positioned tea shoots in coordinates as set forth in claim 4, wherein the length of the manipulator (2) is 3cm.
6. A method of operating an intelligent tea leaf picker with accurate and coordinated positioning of tea shoots according to any one of claims 1 to 5, characterized in that when picking tea, the tea shoots (10) enter into any position in each of the coordinate matrix holes on the fixed coordinate plate (8) by the tea shoots coordinate positioning device (3) contacting the tea shoots, then the movable coordinate plate (9) moves to the diagonal coordinate point of the current coordinate point, each tea shoots (10) are pressed to and accurately fixed at the diagonal coordinate point in each of the coordinate matrix holes, and then the tea shoots (10) are removed by each of the manipulators (2) corresponding to the coordinate point positions and placed into the tea leaf collecting device (11) or sucked by negative pressure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011209912.1A CN112243692B (en) | 2020-11-03 | 2020-11-03 | 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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| CN202011209912.1A CN112243692B (en) | 2020-11-03 | 2020-11-03 | 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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| CN112243692A CN112243692A (en) | 2021-01-22 |
| CN112243692B true CN112243692B (en) | 2023-06-13 |
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Citations (7)
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| US5842334A (en) * | 1996-07-11 | 1998-12-01 | Fmc Corporation | Constant force harvester rails |
| JP2002101730A (en) * | 2000-10-02 | 2002-04-09 | Ito En Ltd | Method for plucking tea and plucker |
| CN101000655A (en) * | 2007-01-12 | 2007-07-18 | 浙江工业大学 | Positioning method of spherical-like fruit and vegetable |
| CN105993387A (en) * | 2016-08-03 | 2016-10-12 | 扬州市邗江德昌塑料厂 | Intelligent tea picking robot and tea picking method thereof |
| JP2016202026A (en) * | 2015-04-17 | 2016-12-08 | 松元機工株式会社 | Foreign material removal work machine for plantation |
| 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 |
| CN111011031A (en) * | 2019-11-29 | 2020-04-17 | 福建省农业科学院茶叶研究所 | Tea bud period control device and method |
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2020
- 2020-11-03 CN CN202011209912.1A patent/CN112243692B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5842334A (en) * | 1996-07-11 | 1998-12-01 | Fmc Corporation | Constant force harvester rails |
| JP2002101730A (en) * | 2000-10-02 | 2002-04-09 | Ito En Ltd | Method for plucking tea and plucker |
| CN101000655A (en) * | 2007-01-12 | 2007-07-18 | 浙江工业大学 | Positioning method of spherical-like fruit and vegetable |
| JP2016202026A (en) * | 2015-04-17 | 2016-12-08 | 松元機工株式会社 | Foreign material removal work machine for plantation |
| CN105993387A (en) * | 2016-08-03 | 2016-10-12 | 扬州市邗江德昌塑料厂 | Intelligent tea picking robot and tea picking method thereof |
| 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 |
| CN111011031A (en) * | 2019-11-29 | 2020-04-17 | 福建省农业科学院茶叶研究所 | Tea bud period control device and method |
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