CN113039936A - Automatic profiling tea picking device with ultrasonic ranging function and tea picking method thereof - Google Patents

Automatic profiling tea picking device with ultrasonic ranging function and tea picking method thereof Download PDF

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Publication number
CN113039936A
CN113039936A CN202110280983.9A CN202110280983A CN113039936A CN 113039936 A CN113039936 A CN 113039936A CN 202110280983 A CN202110280983 A CN 202110280983A CN 113039936 A CN113039936 A CN 113039936A
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China
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tea
profiling
picking
ultrasonic
plucking
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CN202110280983.9A
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CN113039936B (en
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陈建能
卞贤炳
武传宇
贾江鸣
赵润茂
贺磊盈
毛明
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Zhejiang University of Technology ZJUT
Zhejiang Sci Tech University ZSTU
Zhejiang University of Science and Technology ZUST
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Zhejiang University of Technology ZJUT
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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
    • A01D46/30—Robotic devices for individually picking crops
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations

Abstract

The invention discloses an automatic profiling tea picking machine with ultrasonic ranging and a tea picking method thereof. Manual tea picking wastes time and energy, and the existing tea picking machine is difficult to realize high-efficiency automatic picking of fresh tea leaves with arc-shaped top tips. Three groups of profiling tea picking units are suspended on the moving platform through a plurality of profiling tea picking supporting assemblies; each profiling tea picking unit is driven by a servo motor and is driven by a ball screw; the three tea plucking machines are skillfully arranged between two sets of screw rod sliding table assemblies of each profiling tea plucking unit by utilizing a plurality of hinges and connecting arm profiles respectively; two ultrasonic sensors are arranged on each tea plucking machine in parallel. According to the invention, the heights of the tea tree canopies at the bottoms of the tea tree canopies are monitored on line through the ultrasonic sensors, so that the automatic profiling collection of the single-ridge tea tree top tip fresh leaves by each profiling tea collection unit in the automatic advancing process of the mobile platform is realized. In addition, the invention can move along with the external force when the tea plucking machine encounters sudden external impact, thereby reducing the damage risk of the tea plucking machine.

Description

Automatic profiling tea picking device with ultrasonic ranging function and tea picking method thereof
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to an automatic profiling tea picking device with ultrasonic ranging and a tea picking method thereof.
Background
Tea, as an oriental pearl with a long history, has become an essential part of the daily life of the Chinese. With the continuous development of economy and culture, the requirements of people on healthy diet are increasingly improved, tea is favored by consumers by virtue of various effects of reducing blood pressure, diminishing inflammation, resisting cancer and the like, and tea drinking is gradually changed into fashion of modern life.
In recent years, tea production in China is rapidly developed, and the area and the yield are continuously increased. However, the tea industry in China is large and weak, large and not fine, the technological content and the mechanization level of tea products are low, and the continuous and healthy development of the tea industry is influenced. For picking fresh leaves before primary processing of tea products, the manual picking mode mainly adopted at present wastes time and labor and has low efficiency, and the quality of the fresh leaves is uneven due to different physical strength, proficiency and experience of tea pickers, so that the method is only suitable for picking the famous tea which is required to be one bud and one leaf or two leaves in a small batch. The existing tea pluckers in the market are mainly used for picking large and poor tea with low requirements on fresh leaves, and the tea pluckers are carried by a single person and used for picking fresh and tender tea from the top tips of tea trees by a manual handheld machine; double formula arc tea-leaf picker realizes gathering fast of single ridge tea tree through two people's cooperations, but its arc blade radian that adopts is fixed, can cause the falling of part fresh leaf to adopt or adopt by mistake because of the growth state difference of each trunk tea tree, and device power adopts oil drive, and vibration and noise during the operation are big.
Therefore, an automatic profiling tea picking device and an automatic profiling tea picking method for ultrasonic ranging for picking fresh leaves for making bulk tea are urgently needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic profiling tea picking device with ultrasonic ranging and a tea picking method thereof.
In order to achieve the purpose, the invention adopts the technical scheme that: an automatic profiling tea-picking device with ultrasonic ranging comprises a mobile platform and three sets of profiling tea-picking units; three sets of profile modeling tea-leaf picking units are installed on the moving platform, and the moving platform can advance between the tea ridges. The tea plucking machines in the three groups of profiling tea plucking units respectively correspond to the right upper part and two sides of the tea tree. The three groups of profiling tea picking units have the same structure and respectively comprise profiling actuating mechanisms and tea picking supports. The profiling executing mechanism comprises a tea plucking machine, two lifting components and a swing arm; two lifting units are respectively arranged at two sides of the tea picking bracket. The slide block in the lifting component slides up and down under the driving of the power element. Two ends of the shell of the tea plucking machine are hinged with one end of the two groups of swing arms; the other ends of the two groups of swing arms are respectively hinged with the sliding blocks in the two lifting components. The group of swing arms comprises one swing arm or a plurality of swing arms arranged side by side. The height and the posture of the tea plucking machine are adjusted through the lifting motion of the sliding blocks in the two lifting components. Ultrasonic sensors are arranged at both ends of the tea plucking machine. The detection directions of the two ultrasonic sensors are both vertical to the length direction of the blade of the tea plucking machine.
Preferably, the tea-picking support comprises a first cross beam profile, a second cross beam profile and a fixing profile; both ends of the first cross beam profile and the second cross beam profile are fixedly connected with fixed profiles; the T-shaped groove on the fixed section bar is transversely arranged. Two guide rail installation section bars which are vertically arranged are positioned at two ends of the first cross beam section bar and the second cross beam section bar. The T-shaped groove on the inner side surface of the guide rail mounting section bar is fixed with the T-shaped groove on the fixed section bar at the corresponding position through bolts and nuts. The bolt and the nut can slide in the T-shaped groove of the guide rail mounting section; two lifting units are respectively arranged on the two guide rail mounting sections. The height of the guide rail mounting profile relative to the fixed profile is adjusted according to the height range of the slide block in the lifting assembly which needs to move.
Preferably, the group of swing arms consists of two swing arms. The two ends of the tea plucking machine are both fastened with second connecting arm brackets which are transversely arranged; and first connecting arm supports which are transversely arranged are fixed on the sliding blocks in the two lifting components. One end of each of two swing arms in the same group of swing arms is hinged with the two ends of the corresponding first arm connecting support through a movable hinge; the other ends of the two swing arms in the same group of swing arms are hinged with the corresponding second arm connecting supports through movable hinges respectively;
preferably, the lifting assembly comprises a sliding base, a ball screw and a sliding block. The vertically arranged ball screw is supported on the sliding base; the slide block and the slide base form a slide pair, and form a screw pair with the ball screw. The ball screw is driven by a servo motor.
Preferably, the sliding base comprises a linear guide rail, a guide rail mounting section bar, a first ball screw supporting seat and a second ball screw supporting seat. The linear guides are arranged in parallel on the guide mounting profile. A first ball screw supporting seat and a second ball screw supporting seat are respectively arranged at two ends of the guide rail mounting section bar;
preferably, a proximity switch mounting plate is fixed to a top portion of a side surface of the slide base. The proximity switch mounting plate is provided with a proximity switch. The proximity switch corresponds to the position of the slider along the vertical direction.
Preferably, the three groups of profiling tea-picking units are arranged in an isosceles triangle shape on the same horizontal plane. The three groups of profiling tea-picking units are respectively a left profiling tea-picking unit, a middle profiling tea-picking unit and a right profiling tea-picking unit; the left copying tea picking unit and the right copying tea picking unit are arranged at the head end of the mobile platform rack side by side. The middle profiling tea picking unit is positioned at the rear side of the middle position of the left profiling tea picking unit and the right profiling tea picking unit.
Preferably, the mobile platform comprises a mobile platform frame, wheels, a driving motor, a motor shield and a platform supporting plate. Wheels are rotatably connected to both sides of the movable platform rack; each wheel is driven by a driving motor. And a motor shield is arranged on the outer side of the driving motor. The platform supporting plate is arranged at the top of the movable platform frame.
Preferably, the automatic profiling tea-picking device with the ultrasonic ranging function further comprises a platform control cabinet and a profiling tea-picking unit control cabinet. The profiling tea picking unit control cabinet and the platform control cabinet are both arranged on the platform supporting plate. A controller in the platform control cabinet is connected with each driving motor; the controller in the profiling tea picking unit control cabinet is connected with the power elements in the tea picking machines and the lifting component.
The tea-picking method of the automatic profiling tea-picking device with the ultrasonic ranging function specifically comprises the following steps:
moving the moving platform to the end part of a ridge of tea trees, and enabling the three groups of profiling tea picking units to correspond to the middle part and the two sides above the tea trees in position respectively. The moving platform moves to the state that the profiling tea picking units positioned on the two sides are aligned with the end parts of a ridge of tea trees. The sliding blocks in the lifting components in the profiling tea picking units on the two sides all descend, so that the height of the tea picking machines in the profiling tea picking units on the two sides is reduced to a state close to and not in contact with tea trees.
Secondly, ultrasonic sensors in the profiling tea picking units positioned on the two sides respectively detect the distance L from the ultrasonic sensors to the tea trees; if the distance L detected by one ultrasonic sensor is larger than N-P + r, the sliding block in the lifting assembly on the side corresponding to the ultrasonic sensor is lowered, so that the end part of the tea plucking machine corresponding to the ultrasonic sensor is lowered to avoid the situation that tea leaves cannot be cut; if the distance L detected by one ultrasonic sensor is less than N-P-r, the sliding block in the lifting assembly on the side corresponding to the ultrasonic sensor is lifted, so that the end part of the tea plucking machine corresponding to the ultrasonic sensor is lifted, and the tea plucking machine is prevented from being cut too deeply. Therefore, the distances L detected by all the ultrasonic sensors in the profiling tea-picking units positioned at the two sides are kept in the range of N-P-r to N-P + r. At the moment, the tea plucking machines in the profiling tea plucking units at the two sides are inclined inwards, so that profiling of the two sides of the tea tree is realized.
Step three, the moving platform moves along the tea ridge, and when the tea plucking machine in the profiling tea plucking unit in the middle reaches the position right above the end part of the tea tree; the slide blocks of the two lifting components in the profiling tea picking unit move downwards, and the two ultrasonic sensors in the middle profiling tea picking unit respectively detect the distance L from the ultrasonic sensors to the tea trees; until the distance L detected by the two ultrasonic sensors in the middle profiling tea picking unit is kept in the range of N-P-r to N-P + r.
Step four, the moving platform continues to move along the tea ridges, and the tea plucking machines in the three profiling tea plucking units continuously cut tea leaves on the top and two sides of the tea trees; each ultrasonic sensor in the three profiling tea picking units dynamically monitors the distance from the ultrasonic sensor to the tea tree; the slide blocks in the lifting components are dynamically lifted according to the distance values monitored by the ultrasonic sensors, so that the distance values detected by all the ultrasonic sensors are kept in the range of N-P-r to N-P + r.
The invention has the beneficial effects that:
1. the invention adopts three groups of profiling tea picking units, namely a left profiling tea picking unit, a middle profiling tea picking unit and a right profiling tea picking unit, to be suitable for picking fresh leaves of arc-shaped top-tip tea trees, has high profiling precision and good picking effect, and is arranged on a mobile platform by adopting a reasonable space structure; during operation, the moving platform provided with the three groups of copying tea picking units moves along the long direction of the tea tree ridges, and the controller is used for controlling the moving platform and the sequential movement of each copying tea picking unit, so that the one-time automatic picking of target fresh leaves on single-ridge tea trees in the advancing process is realized, the labor intensity of operators is reduced, and the mechanical picking speed and quality of tea leaves are greatly improved.
2. The invention adopts a plurality of pairs of ultrasonic sensors to detect the distance from the tea-plucking machine blade to the top tip of the tea tree on line without lag, has short response time, high detection precision and good environmental adaptability, and realizes the real-time adjustment of the position of the tea-plucking machine blade by each profiling execution mechanism before and during the advancing of the mobile platform through real-time data feedback processing and controller control, thereby improving the harvesting precision of each profiling tea-plucking unit to the top tip fresh leaves of the tea tree.
3. The profiling structure formed by the two sliding blocks, the two swing arms and the tea plucking machine has an additional degree of freedom of swing, and the additional degree of freedom can move along with external force when the tea plucking machine encounters sudden external impact, so that the damage risk of the tea plucking machine can be reduced.
4. Each profiling tea picking unit is driven by a servo motor and realizes corresponding posture profiling of the tea picking machine through ball screw transmission, and the profiling tea picking machine has the advantages of stable motion process, high precision and quick response; in each profiling tea picking unit, the beam profile and the two sets of lifting assemblies are detachably connected, so that the requirements for picking fresh tea leaves with different canopy heights are met to the maximum degree by changing the arrangement height of each profiling tea picking unit under the condition that the stroke of the lead screw is limited.
5. The power of each device is supplied by the storage battery, so that the device is green and environment-friendly, and is stable in operation and low in noise; the whole machine has simple structure and high execution efficiency and working reliability.
Drawings
Fig. 1 is a side perspective view of the overall structure of the present invention in an operative condition.
Fig. 2 is a side perspective view of the overall structure of the present invention in its initial state.
Fig. 3 is a front view of the overall structure of the present invention in an operating state.
Fig. 4 is a top view of the overall structure of the present invention in its initial state.
Fig. 5 is a perspective view showing a structure of the mobile platform of the present invention.
Fig. 6 is a perspective view showing a structure of the left copying tea plucking unit in the present invention.
Fig. 7 is a schematic diagram of the ultrasonic sensor ranging in the present invention.
Fig. 8 is a schematic view of the left profiling tea-plucking unit of the present invention before profiling.
Fig. 9 is a schematic view of the left profiling tea-plucking unit of the present invention at profiling.
FIG. 10 is a flow chart of the operation of the automatic profiling tea plucking apparatus for ultrasonic ranging according to the present invention.
In the figure: 1. a movable platform frame, 2, wheels, 3, a driving motor, 4, a motor shield, 5, a platform control cabinet, 6, a platform supporting plate, 7, a profiling tea picking unit control cabinet, 8, a tea picking machine, 9, a movable hinge, 10, a first servo motor, 11, a proximity switch, 12, a coupler, 13, a ball screw, 14, a linear guide rail, 15, a guide rail mounting profile, 16, a first ball screw supporting seat, 17, a second ball screw supporting seat, 18, a sliding block, 19, a first connecting arm bracket, 20, a second connecting arm bracket, 21, a swing arm, 22, a first ultrasonic sensor, 23, a sensor mounting plate, 24, a proximity switch mounting plate, 25, a fixed profile, 26, a first beam profile, 27, a second beam profile, 28, a four-hole mounting plate, 29, a long arm supporting profile, 30, a second servo motor, 31, a second ultrasonic sensor, 32. corner connector 33, sheet metal parts 100, a mobile platform 200, a left copying tea-leaf picking unit 201, a middle copying tea-leaf picking unit 202 and a right copying tea-leaf picking unit.
Detailed Description
The invention will be further explained with reference to the drawings.
For convenience of description, the following examples take the direction out of the plane of fig. 3 as the forward direction, and the direction in the plane of fig. 3 as the backward direction; the left side of the advancing direction (i.e., the right side of fig. 3) is left; the right side of the advancing direction (i.e., the left side of fig. 3) is the right.
As shown in fig. 1, 2 and 6, an automatic profiling tea-picking device with ultrasonic ranging comprises a moving platform 100, a profiling tea-picking support assembly, a platform control cabinet 5, a profiling tea-picking unit control cabinet 7 and three sets of profiling tea-picking units;
as shown in fig. 1 and 5, the moving platform 100 is used for driving the device to move integrally, and spans over a single ridge of tea trees during operation; the mobile platform 100 comprises a mobile platform frame 1, wheels 2, a driving motor 3, a motor shield 4 and a platform pallet 6. Two wheels 2 are respectively and rotatably connected to two sides of the movable platform frame 1; each wheel 2 is driven by a driving motor 3 fixed on the movable platform frame 1; the output shaft of the driving motor 3 is linked with the corresponding wheel 2 through two groups of bevel gears. A motor shield 4 fixed on the movable platform frame 1 is arranged outside the driving motor 3 and used for protecting the driving motor 3 in the moving process of the movable platform 100; a horizontally arranged platform supporting plate 6 is arranged on the top of the movable platform frame 1; the profiling tea picking unit control cabinet 7 and the platform control cabinet 5 are both arranged on the platform supporting plate 6. The profiling tea picking unit control cabinet 7 is used for storing storage batteries and control components for controlling the motion of each profiling tea picking unit, and the platform control cabinet 5 is used for storing the storage batteries and the control components for controlling the motion of the mobile platform 100.
The three groups of profiling tea picking units are sequentially arranged in front of the moving platform 100 through a plurality of profiling tea picking supporting assemblies. The three groups of profiling tea-picking units are arranged in an isosceles triangle shape on the same horizontal plane. The three groups of profiling tea-picking units are respectively a left profiling tea-picking unit 200, a middle profiling tea-picking unit 201 and a right profiling tea-picking unit 202; the left profiling tea-picking unit 200 and the right profiling tea-picking unit 202 are arranged side by side at the head end of the mobile platform frame 1. The middle profiling tea-picking unit 201 is positioned at the rear side between the left profiling tea-picking unit 200 and the right profiling tea-picking unit 202.
The three groups of profiling tea picking units have the same structure and respectively comprise profiling actuating mechanisms and tea picking supports. The profiling executing mechanism comprises a tea plucking machine 8, two sets of lifting components, a movable hinge 9, a proximity switch 11, a first connecting arm support 19, a second connecting arm support 20, a swing arm 21, a first ultrasonic sensor 22, a first servo motor 10, a second servo motor 30 and a second ultrasonic sensor 31; the two sets of lifting components are respectively arranged at the left side and the right side of the tea picking bracket. The lifting assembly comprises a sliding base, a coupler 12, a ball screw 13, a sliding block 18, a sensor mounting plate 23 and a proximity switch mounting plate 24; the slide base comprises a linear guide 14, a guide mounting profile 15, a first ball screw support seat 16 and a second ball screw support seat 17. The linear guides 14 are arranged in parallel on a guide mounting profile 15. A first ball screw supporting seat 16 and a second ball screw supporting seat 17 are respectively arranged at two ends of the guide rail mounting section bar 15; two ends of the vertically arranged ball screw 13 are supported on the guide rail mounting section bar 15 through a first ball screw supporting seat 16 and a second ball screw supporting seat 17; the ball screw 13 is sleeved with a slide block 18 to form a ball screw pair; the bottom of the slide 18 is mounted on the linear guide 14 and forms a sliding pair therewith.
The side edges of the two first ball screw supporting seats 16 are fastened with proximity switch mounting plates 24 through screws, and the proximity switches 11 are arranged on the proximity switch mounting plates 24 and used for detecting whether the moving positions of the sliding blocks 18 are close to the polar positions of the strokes of the ball screws 13, so that whether the profiling executing mechanism returns to the initial moving point or not is conveniently judged, and the device can be protected from moving. The first servo motor 10 is installed on the top end of the sliding base in one set of lifting assembly through the motor fixing plate in a posture that the output end faces downwards. An output shaft of the first servo motor 10 is connected to one end of a ball screw 13 supported on a first ball screw support base 16 through a coupling 12. Accordingly, the second servo motor 30 is mounted on the other set of lift assemblies in accordance with the arrangement of the first servo motor 10 described above. Two first connecting arm brackets 19 which are horizontally arranged are respectively fixed on the sliding blocks in the two sets of lifting components.
The tea plucking machine 8 is arranged between the two sets of lifting components, and two ends of the tea plucking machine are respectively fastened with a second connecting arm bracket 20 through bolts; two ends of the second connecting arm bracket 20 are respectively hinged with one end of a swing arm 21 through a movable hinge 9; the other ends of two swing arms 21 positioned at one end of the tea plucking machine 8 are respectively hinged with the two ends of a first arm connecting bracket 19 at the corresponding side through a movable hinge 9; correspondingly, two swing arms 21 at the other end of the tea plucking machine 8 are respectively hinged with the two ends of the first connecting arm bracket 19 at the corresponding side in the same connection mode. Two sensor mounting plates 23 are symmetrically arranged at two ends inside the tea plucking machine 8, a first ultrasonic sensor 22 is mounted on the sensor mounting plate 23 close to the lifting component provided with the first servo motor 10, and a second ultrasonic sensor 31 is mounted on the sensor mounting plate 23 close to the lifting component provided with the second servo motor 30. The height and the posture of the tea-leaf picker blade at the bottom of the tea-leaf picker 8 can be adjusted by controlling the up-and-down sliding of the sliding blocks in the two sets of lifting assemblies, so that the tea leaves are picked.
The tea-picking bracket comprises a first beam profile 26, a second beam profile 27, a fixed profile 25 and a four-hole mounting plate 28; both ends of the first beam profile 26 and the second beam profile 27 are fixedly connected with fixed profiles 25 through four-hole mounting plates 28; two sets of lifting components in the profiling actuating mechanism are symmetrically arranged in a posture that two back surfaces are mutually parallel according to a certain distance (the back surface refers to a wider surface of the guide rail installation section bar 15 which is not provided with the ball screw supporting seat); a plurality of T-shaped nuts are slidably arranged in the T-shaped groove on the back surface of the guide rail mounting section bar 15, a plurality of through holes are formed in the fixed section bar 25, and a first cross beam section bar 26 with the fixed section bar 25 arranged at two ends is detachably arranged between the two sets of lifting components through bolt connection. Likewise, a second beam profile 27, provided with fixing profiles 25 at both ends, is arranged between the two sets of lifting assemblies described above at a distance below the first beam profile 26.
As shown in fig. 2 and 6, when each profiling tea-leaf picking unit is in an initial state and is about to start to operate, when the mode of realizing the height adjustment of the tea-leaf picker only through the drive of the double servo motors is difficult to meet the requirement of picking fresh leaves of a certain ridge of tea trees, namely when the stroke of the ball screw 13 is limited, the arrangement height adjustment of the profiling tea-leaf picking unit can be realized by loosening the bolts connected with the back of the guide rail installation section 15 and the fixed section 25 arranged at the two ends of the first cross beam section 26 and manually and synchronously moving two sets of lifting assemblies up and down, and the actual operation requirement can be met to the maximum extent.
As shown in fig. 1, 2, 3 and 4, the three groups of profiling tea-picking unit tea-picking supports are arranged on the moving platform frame 1 through profiling tea-picking supporting components; the profiling tea-picking support component comprises a long arm support section bar 29, an angle bracket 32 and a sheet metal part 33; the first beam section bar 26 of the middle profiling tea-picking unit 201 is mounted on the moving platform frame 1 through two sheet metal parts 33 and is located in the middle of the moving platform 100. The first beam profile 26 of the left copying tea plucking unit 200 is arranged on the left side of the moving platform frame 1 by two of the long arm support profiles 29; the first beam profile 26 of the right profiling tea plucking unit 202 is arranged on the right side of the moving platform frame 1 by means of the other two long arm support profiles 29; namely, the left profiling tea picking unit 200 and the right profiling tea picking unit 202 are respectively and symmetrically arranged at two sides of the middle profiling tea picking unit 201, the front and back positions of the left profiling tea picking unit 200 and the right profiling tea picking unit 202 on the moving platform 100 are consistent, and the middle profiling tea picking unit 201 is positioned behind the left profiling tea picking unit and the right profiling tea picking unit, so that the mutual interference of the profiling tea picking units during profiling tea picking movement in the whole machine operation is avoided. Wherein, the four long arm supporting section bars 29 are provided with a plurality of through holes and are arranged on the moving platform frame 1 in parallel through bolt connection; the two first connecting arm brackets 19 of the left and right profiling tea-picking units are connected with the long arm supporting section bars 29 through angle codes 32.
As shown in fig. 1 and 7, the first ultrasonic sensor 22 of each profiling tea-picking unit realizes the following principle of ranging the target fresh leaves: the mounting position of the first ultrasonic sensor 22 on the tea plucking machine 8 is fixed and the ultrasonic measurement direction is always kept parallel to the side plate surface of the tea plucking machine 8; therefore, the linear distance N from the ultrasonic wave emitting end of the first ultrasonic sensor 22 to the blade of the tea plucker is a fixed value; the linear distance from the ultrasonic wave transmitting end of the first ultrasonic sensor 22 to the correspondingly detected tea leaves is M; the difference value N-M of the two distances is the height of the tea leaves collected by the blade; specifically, when the height of the target fresh leaves to be harvested is P, in order to realize accurate distance measurement of the first ultrasonic sensor 22 on the target fresh leaves, the ideal distance value obtained by measurement of the first ultrasonic sensor 22 should be N-P, and the blade can be aligned to the fresh leaves with the corresponding height for harvesting, and the process can be realized by controlling the motion of the profiling actuator through the controller, so that the absolute value of [ M- (N-P) ] is less than or equal to r (r is a measurement allowable deviation value given according to the actual operation condition and the motion condition of the actuator).
The principle that the first ultrasonic sensor 22 of the profiling tea-picking unit realizes the distance measurement of the target fresh leaves is also applicable to the second ultrasonic sensor 31.
As shown in fig. 10, the tea-leaf picking method of the automatic profiling tea-leaf picking device with ultrasonic ranging specifically includes:
step one, moving the moving platform 100 to the end of a ridge of tea trees, and enabling wheels 2 on two sides of the moving platform 100 to be located on two sides of the ridge of tea trees respectively. Starting the equipment, wherein the controller controls the mobile platform 100 to travel to reach a first initial position of tea trees needing to be harvested; at this time, the two ultrasonic sensors of the left profiling tea-leaf picking unit 200 are just above the starting position of the left top tip of the tea tree, the controller controls the first servo motor 10 and the second servo motor 30 to move synchronously, the tea-leaf picking machine 8 descends to the position shown in fig. 8, and the distance from the first ultrasonic sensor 22 to the measured target fresh leaf is L1The distance between the second ultrasonic sensor 31 and the measured target fresh leaf is L2(at this time L2Slightly larger than N). At this point, the blade was not in contact with the tea plant. The right profiling tea-plucking unit 202 moves simultaneously according to the ranging profiling method of the left profiling tea-plucking unit 200 and the profiling feature of the right top tip of the tea tree.
Step two, because the left profiling tea-picking unit 200 picks the fresh leaves at the left top tip of the tea tree, the distance L of the first ultrasonic sensor 22 to the measured target fresh leaves1The value is larger than the distance L of the second ultrasonic sensor 31 to the measured target fresh leaves2The controller controls the servo motor (here, the first servo motor 10 of the first ultrasonic sensor 22) on the side of the ultrasonic sensor with the larger measured distance value to rapidly make corresponding motions: the servo motor drives the corresponding slide block 18 to descend, profiling of the tea plucking machine is achieved until the real-time measurement values of the first ultrasonic sensor 22 and the second ultrasonic sensor 31 meet the measurement principle requirement, and meanwhile the controller controls the second servo motor 30 to perform forward and reverse rotation fine adjustment according to the real-time measurement value of the second ultrasonic sensor 31, so that the second ultrasonic sensor 31 meets the measurement range requirement. L is1、L2The measurement range of (A) is required to be N-P-r less than or equal to L1≤N-P+r；N-P-r≤L2Less than or equal to N-P + r. Wherein N is the linear distance from the ultrasonic transmitting end of the ultrasonic sensor 22 to the blade of the tea plucker; p is the height of the target fresh leaves; r is the allowable error value.
Similarly, the right profiling tea-plucking unit 202 moves simultaneously according to the ranging profiling method of the left profiling tea-plucking unit 200 and the profiling feature of the right top tip of the tea tree.
And step three, the controller controls the moving platform 100 to move forward at a preset speed for a specified distance to reach a second initial position and then stop (the specified distance refers to the distance between the middle copying tea-leaf picking unit 201 and the left and right copying tea-leaf picking units in a straight line in the front-back direction), and after the stopping, the two ultrasonic sensors of the middle copying tea-leaf picking unit 201 are just above the top tip of the starting position of the top tip in the middle of the tea tree. In the process that the mobile moving platform 100 moves forward for a specified distance, the controller controls the blades of the tea plucking machines 8 of the left profiling tea plucking unit and the right profiling tea plucking unit to move; and the two profiling tea-picking units perform real-time profiling according to the step two, so that the measurement value of each ultrasonic sensor always meets the requirement of the measurement range. At this time, the tea leaves harvested by the blade are blown into a collecting bag preset at the rear by a fan built in each tea-leaf picker 8.
And fourthly, rapidly and synchronously moving two servo motors of the profiling tea picking unit 201 in the control of the controller, and synchronously descending the slide blocks 18 on the two sides until the real-time measurement values of the two ultrasonic sensors meet the requirement of the measurement principle, so that the profiling of the tea picking machine 8 on the middle top tip of the tea tree is realized.
Step five, the controller controls the mobile platform 100 to advance according to a preset speed; in the process that the moving platform 100 moves forwards again, the controller controls the blades of the tea-leaf picker of the left, middle and right profiling tea-leaf picker units to move, the left profiling tea-leaf picker unit 200 and the right profiling tea-leaf picker unit 202 perform real-time profiling according to the step two, the middle profiling tea-leaf picker unit 201 performs real-time profiling according to the step four, and at the moment, tea leaves picked by the blades are blown into a collection bag preset at the rear part through fans arranged in the tea-leaf pickers.
Step six, when the two ultrasonic sensors in the profiling tea-picking unit can not detect the tea trees (namely the tea trees exceed the range), the tea leaves in the corresponding area below the profiling tea-picking unit are considered to be completely picked; the controller controls each servo motor to rotate, and each profiling tea-picking unit returns to an initial state (the proximity switch 11 detects whether each sliding block moves to the initial state in real time). After all the profiling tea-picking units are returned to the initial state, the controller controls the mobile platform 100 and all the devices to stop moving, and the picking of the fresh leaves of the single-ridge tea trees is finished.
The foregoing illustrates and describes the general principles, principal features and advantages of the invention. The present invention is not limited to the above-mentioned embodiments, which are only used for illustrating the principle of the present invention, and the present invention may be further modified and improved without departing from the spirit and scope of the present invention, for example, the implementation manner of the ultrasonic sensor used for distance measurement in the above-mentioned embodiments may be implemented by a laser distance measuring sensor, a radar distance measuring sensor, an infrared distance measuring sensor, etc., and the modified and improved embodiments are all within the scope of the claimed invention. The scope of the invention is defined by the claims and their equivalents.

Claims (10)

1. An automatic profiling tea-picking device with ultrasonic ranging comprises a mobile platform (100) and three sets of profiling tea-picking units; the method is characterized in that: the three groups of profiling tea picking units are arranged on the moving platform (100), and the moving platform (100) can move among the tea ridges; the tea plucking machines in the three groups of profiling tea plucking units respectively correspond to the right upper part and two sides of the tea tree; the three groups of profiling tea picking units have the same structure and respectively comprise profiling actuating mechanisms and tea picking brackets; the profiling executing mechanism comprises a tea plucking machine (8), two lifting components and a swing arm (21); the two lifting components are respectively arranged at two sides of the tea picking bracket; a slide block (18) in the lifting component slides up and down under the driving of a power element; two ends of the shell of the tea plucking machine (8) are hinged with one end of the two groups of swing arms (21); the other ends of the two groups of swing arms (21) are respectively hinged with the sliding blocks in the two lifting assemblies; the group of swing arms (21) comprises one swing arm or a plurality of swing arms arranged side by side; the height and the posture of the tea plucking machine (8) are adjusted through the lifting movement of the sliding blocks (18) in the two lifting components; both ends of the tea plucking machine (8) are provided with ultrasonic sensors; the detection directions of the two ultrasonic sensors are both vertical to the length direction of the blade of the tea plucking machine (8).
2. The automatic profiling tea plucker with ultrasonic ranging according to claim 1, characterized in that: the tea picking support comprises a first cross beam profile (26), a second cross beam profile (27) and a fixing profile (25); both ends of the first beam profile (26) and the second beam profile (27) are fixedly connected with fixed profiles (25); the T-shaped groove on the fixed section bar (25) is transversely arranged; two guide rail mounting profiles (15) which are vertically arranged are positioned at two ends of the first cross beam profile (26) and the second cross beam profile (27); the T-shaped groove on the inner side surface of the guide rail mounting section bar (15) is fixed with the T-shaped groove on the fixing section bar (25) at the corresponding position through bolts and nuts; the bolt and the nut can slide in a T-shaped groove of the guide rail mounting section bar (15); the two lifting components are respectively arranged on the two guide rail mounting profiles (15); the height of the guide rail mounting profile (15) relative to the fixed profile (25) is adjusted according to the height range of movement required of the slide (18) in the lifting assembly.
3. The automatic profiling tea plucker with ultrasonic ranging according to claim 1, characterized in that: the group of swing arms (21) consists of two swing arms; two ends of the tea plucking machine (8) are both fastened with second connecting arm brackets (20) which are transversely arranged; first connecting arm brackets (19) which are transversely arranged are fixed on the sliding blocks (18) in the two lifting components; one end of each of two swing arms in the same group of swing arms (21) is hinged with the two ends of the corresponding first arm connecting bracket (19) through a movable hinge (9); the other ends of the two swing arms in the same group of swing arms (21) are respectively hinged with the corresponding second arm connecting bracket (20) through a movable hinge (9).
4. The automatic profiling tea plucker with ultrasonic ranging according to claim 1, characterized in that: the lifting assembly comprises a sliding base, a ball screw (13) and a sliding block (18); a ball screw (13) which is vertically arranged is supported on the sliding base; the sliding block (18) and the sliding base form a sliding pair, and form a screw pair with the ball screw (13); the ball screw (13) is driven by a servo motor.
5. The automatic profiling tea plucker with ultrasonic ranging function as claimed in claim 4, wherein: the sliding base comprises a linear guide rail (14), a guide rail mounting section bar (15), a first ball screw supporting seat (16) and a second ball screw supporting seat (17); the linear guide rails (14) are arranged in parallel on the guide rail mounting profile (15); a first ball screw supporting seat (16) and a second ball screw supporting seat (17) are respectively arranged at two ends of the guide rail mounting section bar (15).
6. The automatic profiling tea plucker with ultrasonic ranging function as claimed in claim 4, wherein: a proximity switch mounting plate (24) is fixed at the top of the side surface of the sliding base; the proximity switch mounting plate (24) is provided with a proximity switch (11); the proximity switch (11) corresponds to the position of the slider (18) along the vertical direction.
7. The automatic profiling tea plucker for ultrasonic ranging according to any one of claims 1 to 6, wherein: the three groups of profiling tea-picking units are arranged in an isosceles triangle shape on the same horizontal plane; the three groups of profiling tea-picking units are respectively a left profiling tea-picking unit (200), a middle profiling tea-picking unit (201) and a right profiling tea-picking unit (202); the left profiling tea picking unit (200) and the right profiling tea picking unit (202) are arranged at the head end of the mobile platform rack (1) side by side; the middle profiling tea picking unit (201) is positioned at the rear side of the middle position of the left profiling tea picking unit (200) and the right profiling tea picking unit (202).
8. The automatic profiling tea plucker with ultrasonic ranging according to claim 1, characterized in that: the moving platform (100) comprises a moving platform frame (1), wheels (2), a driving motor (3), a motor shield (4) and a platform supporting plate (6); both sides of the movable platform rack (1) are rotatably connected with wheels (2); each wheel (2) is driven by a driving motor (3); a motor shield (4) is arranged on the outer side of the driving motor (3); the platform supporting plate (6) is arranged on the top of the movable platform frame (1).
9. The automatic profiling tea plucker with ultrasonic ranging according to claim 8, wherein: the tea-leaf copying and tea-picking machine also comprises a platform control cabinet (5) and a copying tea-leaf picking unit control cabinet (7); the profiling tea picking unit control cabinet (7) and the platform control cabinet (5) are both arranged on the platform supporting plate (6); a controller in the platform control cabinet (5) is connected with each driving motor (3); the controller in the profiling tea picking unit control cabinet (7) is connected with power elements in the tea picking machines and the lifting component.
10. The tea-leaf picking method of the automatic profiling tea-leaf picker with the ultrasonic ranging function as claimed in claim 1, wherein the method comprises the following steps: moving a moving platform (100) to the end part of a ridge of tea trees to enable the three groups of profiling tea picking units to respectively correspond to the middle part and two sides above the tea trees; the moving platform (100) moves to a state that the profiling tea picking units positioned at the two sides are aligned with the end part of a ridge of tea trees; the sliding blocks in the lifting components in the profiling tea picking units on the two sides are all descended, so that the heights of the tea picking machines in the profiling tea picking units on the two sides are reduced to be close to and not in contact with tea trees;
secondly, ultrasonic sensors in the profiling tea picking units positioned on the two sides respectively detect the distance L from the ultrasonic sensors to the tea trees; if the distance L detected by one ultrasonic sensor is larger than N-P + r, the sliding block in the lifting assembly on the side corresponding to the ultrasonic sensor is lowered, so that the end part of the tea plucking machine corresponding to the ultrasonic sensor is lowered to avoid the situation that tea leaves cannot be cut; if the distance L detected by one ultrasonic sensor is less than N-P-r, the sliding block in the lifting assembly on the side corresponding to the ultrasonic sensor is lifted, so that the end part of the tea plucking machine corresponding to the ultrasonic sensor is lifted to avoid over-deep cutting; therefore, the distances L detected by all the ultrasonic sensors in the profiling tea-picking units positioned at the two sides are kept in the range of N-P-r to N-P + r; at the moment, the tea plucking machines in the profiling tea plucking units at the two sides are inclined inwards to realize profiling at the two sides of the tea tree;
step three, the moving platform (100) moves along the tea ridge, and when the tea plucking machine in the middle profiling tea plucking unit reaches the position right above the end part of the tea tree; the slide blocks of the two lifting components in the profiling tea picking unit move downwards, and the two ultrasonic sensors in the middle profiling tea picking unit respectively detect the distance L from the ultrasonic sensors to the tea trees; until the distance L detected by the two ultrasonic sensors in the middle profiling tea picking unit is kept in the range of N-P-r to N-P + r;
step four, the moving platform (100) continues to move along the tea ridges, and the tea plucking machines in the three profiling tea plucking units continuously cut tea leaves at the top and two sides of the tea tree; each ultrasonic sensor in the three profiling tea picking units dynamically monitors the distance from the ultrasonic sensor to the tea tree; the slide blocks in the lifting components are dynamically lifted according to the distance values monitored by the ultrasonic sensors, so that the distance values detected by all the ultrasonic sensors are kept in the range of N-P-r to N-P + r.
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