CN113287421A

CN113287421A - Intelligent tea leaf collector

Info

Publication number: CN113287421A
Application number: CN202110749728.4A
Authority: CN
Inventors: 王小平
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-07-02
Filing date: 2021-07-02
Publication date: 2021-08-24

Abstract

The invention discloses an intelligent tea leaf collector which comprises an intelligent tea leaf collecting vehicle and a cloud control platform, wherein a tea storage groove and a tea leaf collecting console are arranged on the upper end surface of the intelligent tea leaf collecting vehicle, the front end of a second rotating hinge part is connected with a simulation manipulator through a control frame, the cloud control platform is electrically connected with a mobile phone APP client, the mobile phone APP client is electrically connected with a control program module, and the control program module is electrically connected with an instruction execution module. The intelligent picking machine has high intelligent degree, solves the problems of labor shortage and high manual picking cost in fruit picking and tea picking every year, is matched with a simulation manipulator (a base template database is generated by acquiring geometrical characteristics and is generated by an encryption algorithm, a database is used for comparing true-hand-proof identification induction, the reliability of the acquisition feasibility and accuracy is ensured), has the advantages of accurate picking and no damage to fruits, can be intelligently operated by adopting a cloud end, and has high automatic degree and convenient operation.

Description

Intelligent tea leaf collector

Technical Field

The invention relates to the technical field of agricultural intelligent machinery, in particular to an intelligent tea leaf collector.

Background

The tea plucker is a crop harvesting machine for plucking fresh tea leaves from the top tips of tea trees. The selective tea plucker and the non-selective tea plucker are selected according to different plucking methods. The selective tea plucking machine is of a breaking type, a friction type and the like. The former method is to pick fresh and tender tea leaves and keep thick and old branches by using the bending and breaking principle; the latter is to use a pair of elastic picking fingers to clamp the tea leaves, and pick off new leaves and retain old leaves and young buds by means of static friction between the picking fingers and the tea leaves. Due to low production efficiency, high requirements on operating conditions of tea gardens and the like, the selective tea plucking machine is not popularized in a large quantity.

At present, agricultural mechanized production at home and abroad has rigid requirements on farmland standardization and scale, and can not meet the actual requirements of domestic agriculture, and meanwhile, leaves can not be collected, so that the problem that the collection has partial damage to crops exists, and therefore, the market needs to develop a novel intelligent tea collector.

Disclosure of Invention

The invention aims to provide an intelligent tea leaf collector, which aims to solve the problems that the current agricultural mechanized production at home and abroad has rigid requirements on farmland standardization and scale, cannot meet the actual requirements of domestic agriculture, and leaves cannot be collected to cause partial damage to crops during collection.

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent tea leaf collector comprises an intelligent tea picking vehicle and a cloud control platform, wherein the upper end surface of the intelligent tea picking vehicle is provided with a tea storage groove and a tea picking console, the tea storage groove is positioned at one side of the tea picking console, a rotary control motor is arranged in the tea-picking control platform, the upper end of the rotary control motor is connected with a first rotary articulated part through a rotating shaft, a first servo motor is arranged on the side surface of the first rotary articulated part, the first rotating hinge part is connected with a second rotating hinge part through a control main arm, a second servo motor is arranged on the side surface of the second rotating hinge part, the front end of the second rotating hinge part is connected with a simulation manipulator through a control frame, the cloud control platform is electrically connected with the mobile phone APP client, the mobile phone APP client is electrically connected with the control program module, and the control program module is electrically connected with the instruction execution module.

Preferably, the front end of the intelligent tea picking vehicle is provided with a vehicle head, a control room is arranged in the vehicle head, and the bottom of the intelligent tea picking vehicle is provided with a movable crawler.

Preferably, the manipulator driving cylinder is installed in the control frame, and the manipulator driving cylinder is electrically connected with the simulation manipulator.

Preferably, the simulation manipulator is provided with a simulation finger, a first movable shaft and a second movable shaft are respectively arranged in the simulation finger, and a mechanical joint part is arranged between the first movable shaft and the second movable shaft.

Preferably, the instruction execution module is electrically connected with the simulation manipulator.

Preferably, the inside of the simulation manipulator is respectively provided with a control chip, a simulation module, a data uploading module, a data recording module and a data acquisition module.

Preferably, a power supply box is installed at the top end of the vehicle head, a battery pack is installed inside the power supply box, the battery pack is connected with a solar panel through an inverter, and the solar panel is located above the power supply box.

Compared with the prior art, the invention has the beneficial effects that:

(1) the tea picking control platform is internally provided with a rotary control motor, the upper end of the rotary control motor is connected with a first rotary hinge part through a rotating shaft, the first rotary hinge part is connected with a second rotary hinge part through a control main arm, the front end of the second rotary hinge part is connected with a simulation manipulator through a control frame, the manipulator is conveniently controlled in multiple angles by installing a plurality of groups of control motors and rotary adjusting mechanisms, picking operation is convenient to perform, and the tea picking control platform is conveniently suitable for various complex hilly terrains by adopting a crawler-type design for a vehicle body;

(2) the cloud control platform is electrically connected with the mobile phone APP client, the mobile phone APP client is electrically connected with the control program module, the control program module is electrically connected with the instruction execution module, a control chip, a simulation module, a data uploading module and a data recording module are respectively arranged in the simulation manipulator, the simulation manipulator can be intelligently operated and controlled through the cloud control platform, the control program sends an instruction to control the simulation manipulator to operate, the simulation module is arranged at the same time, the simulation manipulator can accurately simulate hands to pick, the picking operation has the advantage that fruits are not damaged accurately, the data recording module can record data information such as picking times and the like, and the data information is uploaded to the mobile phone end through the data uploading module, so that an operator can observe and record conveniently;

(3) the device adopts a new energy design, is provided with a solar panel, converts the collected solar energy into electric energy through an inverter and stores the electric energy in the battery pack, is convenient for continuously supplying power to the device, and has the effects of energy conservation and environmental protection;

(4) through at the built-in data acquisition module of installing of simulation manipulator, through data collection as contrast database, through the contrastive analysis after gathering the action at every turn, it is more accurate when making simulation manipulator operation, can effectively improve and pick the quality.

Drawings

FIG. 1 is an overall front view of the present invention;

FIG. 2 is a schematic diagram of a simulated manipulator of the present invention;

FIG. 3 is a schematic structural diagram of an upper end of the simulation manipulator of the present invention;

FIG. 4 is a schematic view of the connection structure of the control main arm of the present invention;

FIG. 5 is a cloud control schematic block diagram of the present invention;

fig. 6 is a schematic diagram of the internal structure of the simulation manipulator of the present invention.

In the figure: 1. a control room; 2. the tea picking vehicle is intelligent; 3. a tea storage tank; 4. a first rotating hinge; 5. a first servo motor; 6. controlling the main arm; 7. a second servo motor; 8. a second rotating hinge; 9. a control frame; 10. the manipulator drives the air cylinder; 11. simulating a mechanical arm; 12. a rotation control motor; 13. a tea-picking control room; 14. moving the caterpillar; 15. a headstock; 16. simulating fingers; 17. a first movable shaft; 18. a mechanical joint section; 19. a second movable shaft; 20. a cloud control platform; 21. a mobile phone APP client; 22. a control program module; 23. an instruction execution module; 24. a control chip; 25. a simulation module; 26. a data uploading module; 27. a data recording module; 28. a power supply box; 29. a solar panel; 30. an inverter; 31. a battery pack; 32. and a data acquisition module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-6, an embodiment of the present invention is shown: an intelligent tea leaf collector comprises an intelligent tea collection vehicle 2 and a cloud control platform 20, wherein a tea storage groove 3 and a tea collection console 13 are arranged on the upper end surface of the intelligent tea collection vehicle 2, the tea storage groove 3 is positioned on one side of the tea collection console 13, a rotary control motor 12 is installed inside the tea collection console 13, the upper end of the rotary control motor 12 is connected with a first rotary hinge part 4 through a rotating shaft, a first servo motor 5 is installed on the side surface of the first rotary hinge part 4, the first rotary hinge part 4 is connected with a second rotary hinge part 8 through a control main arm 6, a second servo motor 7 is installed on the side surface of the second rotary hinge part 8, the front end of the second rotary hinge part 8 is connected with a simulation manipulator 11 through a control frame 9, the cloud control platform 20 is electrically connected with a mobile phone APP client 21, and the mobile phone APP client 21 is electrically connected with a control program module 22, the control program module 22 is electrically connected to the instruction execution module 23.

Further, locomotive 15 is installed to the front end that tea car 2 was adopted to intelligence, and locomotive 15 is inside to be provided with control room 1, and removal track 14 is installed to the bottom that tea car 2 was adopted to intelligence.

Further, a manipulator driving cylinder 10 is installed inside the control frame 9, and the manipulator driving cylinder 10 is electrically connected with the simulation manipulator 11.

Further, the dummy robot 11 is provided with a dummy finger 16, the dummy finger 16 is provided with a first movable shaft 17 and a second movable shaft 19 inside thereof, and a mechanical joint 18 is provided between the first movable shaft 17 and the second movable shaft 19.

Further, the instruction execution module 23 is electrically connected with the simulation manipulator 11.

Further, the inside of the simulation manipulator 11 is respectively provided with a control chip 24, a simulation module 25, a data uploading module 26, a data recording module 27 and a data acquisition module 32.

Further, a power supply box 28 is mounted on the top end of the vehicle head 15, a battery pack 31 is mounted inside the power supply box 28, the battery pack 31 is connected to a solar panel 29 through an inverter 30, and the solar panel 29 is positioned above the power supply box 28.

The working principle is as follows: when in use, the upper end surface of the intelligent tea picking vehicle 2 is provided with a tea storage groove 3 and a tea picking control platform 13, the tea picking control platform 13 is internally provided with a rotary control motor 12, the upper end of the rotary control motor 12 is connected with a first rotary articulated part 4 through a rotary shaft, the side surface of the first rotary articulated part 4 is provided with a first servo motor 5, the first rotary articulated part 4 is connected with a second rotary articulated part 8 through a control main arm 6, the side surface of the second rotary articulated part 8 is provided with a second servo motor 7, the front end of the second rotary articulated part 8 is connected with a simulation manipulator 11 through a control frame 9, through being provided with a plurality of groups of control motors and rotary adjusting mechanisms, the simulation manipulator 11 is convenient to carry out multi-angle control and picking operation, the bottom of the intelligent tea picking vehicle 2 is provided with a movable crawler 14, the vehicle body adopts a crawler design and is convenient to adapt to various complex hills terrains, the cloud control platform 20 is electrically connected with the mobile phone APP client 21, the mobile phone APP client 21 is electrically connected with the control program module 22, the control program module 22 is electrically connected with the instruction execution module 23, the simulation manipulator 11 can be intelligently operated and controlled through the cloud control platform 20, the control program sends an instruction to control the simulation manipulator 11 to operate, the simulation module 25 is arranged at the same time, the simulation manipulator can accurately simulate hands to carry out picking operation, the advantages of accurate picking and no damage to fruits are achieved, the data recording module 27 can record data information such as picking times and upload the data information to the mobile phone end through the data uploading module 26, observation and recording of operators are facilitated, the data acquisition module 32 is installed in the simulation manipulator 11, the data is used as a comparison database, and the simulation manipulator is more accurate in operation through comparison analysis after each acquisition operation, can effectively improve and pick the quality, this equipment adopts the new forms of energy design, installs solar panel 29, and the solar energy of collecting it passes through dc-to-ac converter 30 and turns into the electric energy and store inside group battery 31, conveniently lasts the power supply to equipment, possesses energy-concerving and environment-protective efficiency.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. An intelligent tea leaf collector comprises an intelligent tea collecting vehicle (2) and a cloud control platform (20), and is characterized in that a tea storage groove (3) and a tea collecting control platform (13) are arranged on the upper end surface of the intelligent tea collecting vehicle (2), the tea storage groove (3) is located on one side of the tea collecting control platform (13), a rotary control motor (12) is installed inside the tea collecting control platform (13), the upper end of the rotary control motor (12) is connected with a first rotary articulated part (4) through a rotating shaft, a first servo motor (5) is installed on the side surface of the first rotary articulated part (4), the first rotary articulated part (4) is connected with a second rotary articulated part (8) through a control main arm (6), a second servo motor (7) is installed on the side surface of the second rotary articulated part (8), the front end of the second rotary articulated part (8) is connected with a simulation manipulator (11) through a control frame (9), the cloud control platform (20) is electrically connected with the mobile phone APP client (21), the mobile phone APP client (21) is electrically connected with the control program module (22), and the control program module (22) is electrically connected with the instruction execution module (23).

2. The intelligent tea leaf collector according to claim 1, wherein: the front end of the intelligent tea picking vehicle (2) is provided with a vehicle head (15), a control room (1) is arranged inside the vehicle head (15), and the bottom of the intelligent tea picking vehicle (2) is provided with a movable crawler (14).

3. The intelligent tea leaf collector according to claim 1, wherein: and a manipulator driving cylinder (10) is arranged inside the control frame (9), and the manipulator driving cylinder (10) is electrically connected with the simulation manipulator (11).

4. The intelligent tea leaf collector according to claim 1, wherein: the simulation manipulator (11) is provided with a simulation finger (16), the simulation finger (16) is internally provided with a first movable shaft (17) and a second movable shaft (19) respectively, and a mechanical joint part (18) is arranged between the first movable shaft (17) and the second movable shaft (19).

5. The intelligent tea leaf collector according to claim 1, wherein: the instruction execution module (23) is electrically connected with the simulation manipulator (11).

6. The intelligent tea leaf collector according to claim 1, wherein: the simulation manipulator (11) is internally provided with a control chip (24), a simulation module (25), a data uploading module (26), a data recording module (27) and a data acquisition module (32) respectively.

7. The intelligent tea leaf collector according to claim 2, wherein: a power supply box (28) is installed at the top end of the vehicle head (15), a battery pack (31) is installed inside the power supply box (28), the battery pack (31) is connected with a solar panel (29) through an inverter (30), and the solar panel (29) is located above the power supply box (28).