CN113519269A - Intelligent tea picking robot capable of recognizing and simulating hands through artificial intelligence - Google Patents
Intelligent tea picking robot capable of recognizing and simulating hands through artificial intelligence Download PDFInfo
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- CN113519269A CN113519269A CN202110779350.2A CN202110779350A CN113519269A CN 113519269 A CN113519269 A CN 113519269A CN 202110779350 A CN202110779350 A CN 202110779350A CN 113519269 A CN113519269 A CN 113519269A
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- 238000013473 artificial intelligence Methods 0.000 title claims abstract description 29
- 241001122767 Theaceae Species 0.000 title abstract description 60
- 238000005520 cutting process Methods 0.000 claims abstract description 22
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 10
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000000007 visual effect Effects 0.000 abstract description 5
- 238000003860 storage Methods 0.000 abstract description 2
- 210000003437 trachea Anatomy 0.000 description 9
- 238000001914 filtration Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 238000003709 image segmentation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/20—Image enhancement or restoration by the use of local operators
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- G06T5/70—
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- G06T5/90—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
- G06T2207/20028—Bilateral filtering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30188—Vegetation; Agriculture
Abstract
The invention discloses an intelligent tea picking robot capable of recognizing through artificial intelligence and simulating hands, which comprises a frame, a central control module and a camera, wherein a four-axis parallel robot is arranged on the inner top wall of the frame, a strip-shaped plate is fixedly connected to the bottom end of the four-axis parallel robot, the camera is arranged on the lower edge of one side of the strip-shaped plate, a clamping structure is arranged at the bottom end of the strip-shaped plate, an auxiliary structure is arranged inside the strip-shaped plate, a cutting structure is arranged on one side of the bottom end of the clamping structure, and a collecting structure is arranged at the other end of the bottom end of the clamping structure. According to the tea picking device, tea to be picked is determined according to the comparison of the visual images and the atlas of the tea shot by the camera, the manipulator is moved rapidly to automatically and accurately pick the tea, meanwhile, the picked tea is sucked into the storage container, the quality of the tea cannot be affected, the tea after picking can be automatically collected and packed, the subsequent processing procedures are reduced, the labor intensity is reduced, and the production efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to an intelligent tea picking robot capable of recognizing and simulating hands through artificial intelligence.
Background
The picking of tea leaves has bright seasonality, wherein the tea leaves are mainly picked in spring and autumn, and especially when the tea leaves are picked in spring, the quality of the tea leaves can be influenced if the fresh tea leaves cannot be picked in time. At present, the picking of famous tea mainly adopts manual tea picking, the labor intensity is high, the labor force is short, the optimal time for picking tea is missed due to the insufficient picking capability, and the problem of difficult tea picking is more prominent along with the continuous increase of labor cost of the labor force.
The existing tea picking machine picks all leaves or even the whole branch in an electric cutting mode, the surface of the tea leaves is easily damaged by the blades during cutting, the quality of the tea leaves is reduced, picking and classifying are carried out manually in the later period after picking, the labor intensity is high, and the production efficiency is low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the intelligent tea picking robot which can recognize and imitate hands through artificial intelligence, tea to be picked is determined according to the comparison of the visual image and the map of the tea picked by the camera, the mechanical arm is moved quickly, the tea is picked automatically and accurately, the picked tea is sucked into the storage container, the quality of the tea cannot be influenced, the tea after picking can be automatically collected and packed, the subsequent processing procedures are reduced, the labor intensity is reduced, and the production efficiency is improved.
In order to achieve the purpose, the invention provides the following technical scheme:
an intelligent tea picking robot capable of recognizing through artificial intelligence and simulating hands comprises a frame, a central control module and a camera, wherein a four-axis parallel robot is arranged on the inner top wall of the frame, a strip-shaped plate is fixedly connected to the bottom end of the four-axis parallel robot, the camera is arranged on the lower edge of one side of the strip-shaped plate, a clamping structure is arranged at the bottom end of the strip-shaped plate, an auxiliary structure is arranged inside the strip-shaped plate, a cutting structure is arranged on one side of the bottom end of the clamping structure, a collecting structure is arranged at the other end of the bottom end of the clamping structure, the central control module is arranged on one side of the frame, and a tender bud detection and recognition part is arranged at the top end of the central control module;
the clamping structure comprises a motor and a fixing plate, the motor and the fixing plate are fixedly mounted at the bottom end of the strip-shaped plate, an output shaft of the motor is fixedly connected with a first screw rod, the other end of the first screw rod penetrates through the fixing plate and extends to the outside of the fixing plate, and a clamping plate is in threaded connection with the surface of the first screw rod;
through above-mentioned technical scheme, utilize the tender bud to detect the identification part and distinguish the tender bud, after distinguishing, utilize four-axis parallel robot to remove the bar shaped plate to suitable position, when the tender bud is located between fixed plate and the grip block, central control module starter motor, the motor drives first lead screw and rotates, and first lead screw drives the grip block and carries out the centre gripping to tealeaves, because of wu's clamping structure when avoiding tealeaves, causes tealeaves to take place the condition of damaging and takes place.
Furthermore, the cutting structure comprises a threaded sleeve, one end of the threaded sleeve is rotatably connected to one side of the fixed plate, the other end of the threaded sleeve is in threaded connection with a second lead screw, a connecting rod is arranged on the lower surface of the second lead screw, the other end of the connecting rod is fixedly connected with a blade, and a cutter holder is arranged at the bottom end of the clamping plate;
through above-mentioned technical scheme, when the thread bush rotated, the removal can take place for the second lead screw to utilize the connecting rod to drive blade and blade holder and be close to, accomplish the automatic cutout of tealeaves stalk portion when the centre gripping, this mode can carry out automatic cutout to the stalk portion of tealeaves, is favorable to improving the quality of the harvesting of tealeaves, can not damage the tealeaves surface.
Further, the cutting structure further comprises a rotating rod, a first bevel gear is fixedly connected to the bottom end of the rotating rod, a third bevel gear is fixedly connected to the surface of the threaded sleeve, the third bevel gear is in meshed connection with the first bevel gear, a second bevel gear is fixedly connected to the top end of the rotating rod and the surface of the first screw rod, and the two second bevel gears are in meshed connection;
through the technical scheme, when the first lead screw rotates, under the interaction of the two second bevel gears, the rotating rod can rotate, under the action of the first bevel gear and the third bevel gear, the threaded sleeves can be driven to synchronously rotate, the clamping operation and the cutting operation are synchronously carried out, and meanwhile, the selection of the size of the third bevel gear can be selected according to the distance between the fixing plate and the clamping plate, so that the cutting operation is synchronously completed when the clamping operation is completed.
Furthermore, a sliding groove is formed in the bottom end of the fixing plate, a limiting rod is fixedly connected to the top end of the blade, and the other end of the limiting rod slides on the inner wall of the sliding groove;
through the technical scheme, when the blade moves, the limiting rod can slide in the limiting groove along with the blade synchronously, so that the aim of effective limiting is achieved for the blade, and the blade is prevented from deviating.
Further, the auxiliary structure comprises an exhaust fan, the bottom end of the strip-shaped plate is provided with a mounting groove, the bottom end of the strip-shaped plate is provided with an L-shaped through groove communicated with the mounting groove, the exhaust fan is arranged on the inner wall of the L-shaped through groove, belt pulleys are fixedly connected to one end of the exhaust fan and the surface of the first screw rod, and synchronous belts are connected to the surfaces of the two belt pulleys in a transmission manner;
through above-mentioned technical scheme, when first lead screw rotated, under the effect of two belt pulleys and synchronous belt, drive the synchronous operation of exhaust fan, led to the air discharge to the mounting groove in the groove with the L type for form the negative pressure in the top of tealeaves, be convenient for better carry out the centre gripping operation to tealeaves.
Furthermore, the collecting structure comprises a collecting box and an air pump, the collecting box and the air pump are both arranged on the other side of the frame, annular grooves which are uniformly distributed are formed in the collecting box, every two adjacent annular grooves are communicated with each other, circular grooves which are uniformly distributed and communicated with the annular grooves are formed in the inner wall of the collecting box, a first air pipe is arranged on one side of the air pump, the other end of the first air pipe penetrates through the collecting box and is communicated with the annular grooves, woven bags are arranged on the inner wall of the collecting box, a cover plate is arranged at the top end of the collecting box, a second air pipe is arranged at the top end of the cover plate, a collecting plate is arranged at the other end of the second air pipe, and the collecting plate is arranged at the bottom end of the cutter holder;
through the technical scheme, after the cutting is accomplished, start the aspiration pump, the aspiration pump utilizes first trachea to breathe in the operation to the ring channel, the ring channel passes through the circular slot and to the inside negative pressure that forms of collecting box, the great specification in gap can be chooseed for use to the braided bag, utilize the inside negative pressure of collecting box, utilize second trachea and collecting plate to absorb the tealeaves of whereabouts, make tealeaves pass automatically inside collecting plate and the entering braided bag of second trachea, tealeaves after this mode is picked can carry out the automatic collection packing, reduce the process of follow-up processing, and the labor intensity is reduced, and the production efficiency is improved.
Furthermore, the tender shoot detection and identification part comprises an artificial intelligence algorithm and a map comparison algorithm, the output end of the camera is electrically connected with the input end of the artificial intelligence algorithm, the output end of the artificial intelligence algorithm is electrically connected with the input end of the central control module, and the central control module is electrically connected with the map comparison algorithm in a bidirectional mode;
through the technical scheme, the intelligent tea picking robot capable of rapidly carrying out vector displacement determines tea to be picked according to the comparison of the visual image and the map of the tea picked by the camera, and the picking quality is ensured.
In conclusion, the invention has the following beneficial effects:
1. through the arrangement of the clamping structure, the auxiliary structure and the cutting structure, the motor is started, the motor drives the first screw rod to rotate, the first screw rod drives the clamping plate to clamp tea leaves, and meanwhile, when the first screw rod rotates, under the action of the two belt pulleys and the synchronous belt, the exhaust fan is driven to synchronously operate, air in the L-shaped through groove is discharged into the mounting groove, so that negative pressure is formed above the tea leaves, and the tea leaves are adsorbed;
2. by arranging the collecting structure, after cutting is completed, the air suction pump is started, the air suction pump utilizes the first air pipe to suck air into the annular groove, the annular groove forms negative pressure in the collecting box through the circular groove, the woven bag can select a specification with a larger gap, negative pressure in the collecting box is utilized, the falling tea is absorbed by the second air pipe and the collecting plate, so that the tea automatically passes through the collecting plate and the second air pipe to enter the woven bag, the tea picked in the mode can be automatically collected and packaged, the subsequent processing procedures are reduced, the labor intensity is reduced, and the production efficiency is improved;
3. through setting a tender bud detection and identification part, a camera shoots a colorful tea picture on the surface of the tent, the shot picture is subjected to gray processing on the image through an artificial intelligence algorithm, and the difference between tender buds and old leaves and the difference between the tender buds and the background are highlighted by using the G component information of the old leaves and the tender buds; carrying out image preprocessing, filtering noise in an image acquisition process by applying an artificial intelligence algorithm (the artificial intelligence algorithm also comprises a bilateral filtering denoising algorithm) to a tea image acquired under a natural light environment, carrying out smooth filtering on an original tea image, effectively retaining useful information such as the edge of the image and the like, and carrying out image segmentation: and selecting a proper threshold value, and converting the gray picture into a black and white image. And comparing the processed image with a tender shoot database collected by a map comparison algorithm, and identifying the tender shoot target of the tea in the image from old leaves and the background of the tea. The central control module receives the positions of a single bud, a bud and a leaf and a bud and two leaves on the fluffy surface obtained by processing of the bud detection and identification unit, the central control module gives out signals to control the motor to work, the mode determines tea leaves to be picked according to the comparison of the visual images and the atlas of the tea leaves shot by the camera, and the manipulator is moved rapidly to automatically and accurately pick the tea leaves.
Drawings
FIG. 1 is a perspective view of the present embodiment;
FIG. 2 is a bottom view of a strip of this embodiment;
FIG. 3 is a cross-sectional view of a strip of the present embodiment;
FIG. 4 is a schematic structural view of the collecting structure of the present embodiment;
FIG. 5 is an enlarged view at A in FIG. 2;
FIG. 6 is a system flowchart of the present embodiment;
fig. 7 is a flowchart of the operation of the present embodiment.
Description of reference numerals: 1. a frame; 2. four-axis parallel robots; 3. a strip plate; 301. mounting grooves; 302. an L-shaped through groove; 4. a clamping structure; 401. a motor; 402. a fixing plate; 403. a clamping plate; 404. a first lead screw; 405. a chute; 5. an auxiliary structure; 501. an exhaust fan; 502. a belt pulley; 503. a synchronous belt; 6. a collection structure; 601. a collection box; 602. an annular groove; 603. a circular groove; 604. a first air pipe; 605. an air pump; 606. a second air pipe; 607. woven bags; 608. a cover plate; 7. cutting the structure; 701. a threaded sleeve; 702. a second lead screw; 703. a connecting rod; 704. a blade; 705. a tool apron; 706. a limiting rod; 707. rotating the rod; 708. a first bevel gear; 709. a second bevel gear; 8. a central control module; 9. a camera; 10. and a tender bud detection and identification part.
Detailed Description
Example (b):
the present invention is described in further detail below with reference to figures 1-7.
An intelligent tea picking robot capable of identifying and simulating hands through artificial intelligence comprises a frame 1, a central control module 8 and a camera 9, wherein a four-axis parallel robot 2 is arranged on the inner top wall of the frame 1, a strip-shaped plate 3 is fixedly connected to the bottom end of the four-axis parallel robot 2, the camera 9 is arranged on the lower edge of one side of the strip-shaped plate 3, a clamping structure 4 is arranged at the bottom end of the strip-shaped plate 3, an auxiliary structure 5 is arranged inside the strip-shaped plate 3, a cutting structure 7 is arranged on one side of the bottom end of the clamping structure 4, a collecting structure 6 is arranged on the other end of the bottom end of the clamping structure 4, the central control module 8 is arranged on one side of the frame 1, and a tender bud detection and identification part 10 is arranged at the top end of the central control module 8; clamping structure 4 includes motor 401 and fixed plate 402, the equal fixed mounting of motor 401 and fixed plate 402 in the bottom of bar shaped plate 3, the first lead screw 404 of output shaft fixedly connected with of motor 401, the other end of first lead screw 404 runs through fixed plate 402 and extends to the outside of fixed plate 402, the surface threaded connection of first lead screw 404 has grip block 403, motor 401 drives first lead screw 404 and rotates, first lead screw 404 drives grip block 403 and carries out the centre gripping to tealeaves.
The cutting structure 7 comprises a threaded sleeve 701, one end of the threaded sleeve 701 is rotatably connected to one side of the fixing plate 402, the other end of the threaded sleeve 701 is in threaded connection with a second lead screw 702, a connecting rod 703 is arranged on the lower surface of the second lead screw 702, a blade 704 is fixedly connected to the other end of the connecting rod 703, a blade holder 705 is arranged at the bottom end of the clamping plate 403, when the threaded sleeve 701 rotates, the second lead screw 702 can move, the connecting rod 703 is used for driving the blade 704 and the blade holder 705 to be close to each other, and automatic cutting of the handle portion of tea leaves is completed during clamping. Cutting structure 7 still includes dwang 707, the first bevel gear 708 of bottom fixedly connected with of dwang 707, the fixed surface of thread bush 701 is connected with third bevel gear, third bevel gear and the meshing of first bevel gear 708 are connected, the equal fixedly connected with second bevel gear 709 in surface of the top of dwang 707 and first lead screw 404, two second bevel gear 709 meshing are connected, when first lead screw 404 rotates, under the interact of two second bevel gear 709, dwang 707 can take place to rotate, under the effect of first bevel gear 708 and third bevel gear, can drive thread bush 701 and take place the synchronous emergence and rotate, realize going on in step of centre gripping operation and cutting operation. The bottom of fixed plate 402 has seted up spout 405, and the top fixedly connected with gag lever post 706 of blade 704, and the other end of gag lever post 706 slides in the inner wall of spout 405, plays effective spacing purpose to blade 704.
The working principle is as follows: the camera 9 shoots a color tea picture with a fluffy surface, the shot picture firstly carries out gray processing on the image through an artificial intelligence algorithm, and the difference between the tender shoots and the old leaves and the background is highlighted by utilizing the component information of the old leaves and the tender shoots G; carrying out image preprocessing, filtering noise in an image acquisition process by applying an artificial intelligence algorithm (the artificial intelligence algorithm also comprises a bilateral filtering denoising algorithm) to a tea image acquired under a natural light environment, carrying out smooth filtering on an original tea image, effectively retaining useful information such as the edge of the image and the like, and carrying out image segmentation: and selecting a proper threshold value, and converting the gray picture into a black and white image. And comparing the processed image with a tender shoot database collected by a map comparison algorithm, and identifying the tender shoot target of the tea in the image from old leaves and the background of the tea. The central control module 8 receives the positions of a single bud, a bud and a bud on the tent surface obtained by the processing of the bud detection and identification unit, the central control module 8 gives a signal, the motor 401 starts to work, the motor 401 drives the first screw rod 404 to rotate, the first screw rod 404 drives the clamping plate 403 to clamp the tea, meanwhile, when the first screw rod 404 rotates, under the action of the two belt pulleys 502 and the synchronous belt 503, the exhaust fan 501 is driven to operate synchronously, air in the L-shaped through groove 302 is discharged into the mounting groove 301, so that negative pressure is formed above the tea, the tea is adsorbed, in the process, when the first screw rod 404 rotates, under the interaction of the two second bevel gears 709, the rotating rod 707 can rotate, under the action of the first bevel gear 708 and the third bevel gear, the threaded sleeve 701 can be driven to rotate synchronously, the second lead screw 702 can move, thereby utilize connecting rod 703 to drive blade 704 and blade holder 705 to be close to, accomplish the automatic cutout of tealeaves stalk portion when the centre gripping, accomplish the cutting back, motor 401 reverses, tealeaves receives the action of gravity and drops downwards, start aspiration pump 605, aspiration pump 605 utilizes first trachea 604 to breathe in the operation to ring channel 602, ring channel 602 passes through circular recess 603 to the inside negative pressure that forms of collecting box 601, the optional great specification in gap of braided bag 607, utilize the inside negative pressure of collecting box 601, utilize second trachea 606 and collecting plate to absorb the tealeaves of whereabouts, make tealeaves pass automatically inside collecting plate and the automatic entering braided bag 607 of second trachea 606 of passing of second trachea.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (7)
1. The utility model provides an intelligence tea-picking robot through artificial intelligence discernment and imitative people's hand, includes frame (1), central control module (8) and camera (9), its characterized in that: the internal top wall of the frame (1) is provided with a four-axis parallel robot (2), the bottom end of the four-axis parallel robot (2) is fixedly connected with a strip-shaped plate (3), a camera (9) is arranged on the lower edge of one side of the strip-shaped plate (3), the bottom end of the strip-shaped plate (3) is provided with a clamping structure (4), an auxiliary structure (5) is arranged inside the strip-shaped plate (3), one side of the bottom end of the clamping structure (4) is provided with a cutting structure (7), the other end of the bottom end of the clamping structure (4) is provided with a collecting structure (6), a central control module (8) is arranged on one side of the frame (1), and the top end of the central control module (8) is provided with a tender bud detection and identification part (10);
the clamping structure (4) comprises a motor (401) and a fixing plate (402), the motor (401) and the fixing plate (402) are fixedly mounted at the bottom end of the strip-shaped plate (3), an output shaft of the motor (401) is fixedly connected with a first lead screw (404), the other end of the first lead screw (404) penetrates through the fixing plate (402) and extends to the outside of the fixing plate (402), and the surface of the first lead screw (404) is in threaded connection with a clamping plate (403).
2. An intelligent tea-picking robot identified by artificial intelligence and mimicking a human hand as claimed in claim 1, wherein: the cutting structure (7) comprises a threaded sleeve (701), one end of the threaded sleeve (701) is rotatably connected to one side of the fixing plate (402), the other end of the threaded sleeve (701) is in threaded connection with a second lead screw (702), a connecting rod (703) is arranged on the lower surface of the second lead screw (702), a blade (704) is fixedly connected to the other end of the connecting rod (703), and a blade holder (705) is arranged at the bottom end of the clamping plate (403).
3. An intelligent tea-picking robot identified by artificial intelligence and mimicking a human hand as claimed in claim 2, wherein: cutting structure (7) still include dwang (707), the first conical gear of bottom fixedly connected with (708) of dwang (707), the fixed surface of thread bush (701) is connected with third conical gear, third conical gear and first conical gear (708) meshing connection, the equal fixedly connected with second conical gear (709) in surface of the top of dwang (707) and first lead screw (404), two second conical gear (709) meshing connection.
4. An intelligent tea-picking robot identified by artificial intelligence and mimicking a human hand as claimed in claim 2, wherein: the bottom of fixed plate (402) has seted up spout (405), the top fixedly connected with gag lever post (706) of blade (704), the other end of gag lever post (706) slides in the inner wall of spout (405).
5. An intelligent tea-picking robot identified by artificial intelligence and mimicking a human hand as claimed in claim 1, wherein: auxiliary structure (5) are including exhaust fan (501), mounting groove (301) have been seted up to the bottom of strip shaped plate (3), the L type that is linked together with mounting groove (301) is seted up to the bottom of strip shaped plate (3) leads to groove (302), exhaust fan (501) set up in the inner wall that the groove (302) was led to the L type, the equal fixedly connected with belt pulley (502) in surface of the one end of exhaust fan (501) and first lead screw (404), two the surface transmission of belt pulley (502) is connected with synchronous belt (503).
6. An intelligent tea-picking robot identified by artificial intelligence and mimicking a human hand as claimed in claim 2, wherein: the collecting structure (6) comprises a collecting box (601) and an air suction pump (605), the collecting box (601) and the air suction pump (605) are arranged on the other side of the frame (1), annular grooves (602) which are uniformly distributed are formed in the collecting box (601), two adjacent annular grooves (602) are communicated with each other, circular grooves (603) which are uniformly distributed and communicated with the annular grooves (602) are formed in the inner wall of the collecting box (601), a first air pipe (604) is arranged on one side of the air suction pump (605), the other end of the first air pipe (604) penetrates through the collecting box (601) and is communicated with the annular grooves (602), a woven bag (607) is arranged on the inner wall of the collecting box (601), a cover plate (608) is arranged at the top end of the collecting box (601), a second air pipe (606) is arranged at the top end of the cover plate (608), and a collecting plate is arranged at the other end of the second air pipe (606), the collecting plate is arranged at the bottom end of the tool apron (705).
7. An intelligent tea-picking robot identified by artificial intelligence and mimicking a human hand as claimed in claim 1, wherein: the tender bud detection and identification part (10) comprises an artificial intelligence algorithm and a map comparison algorithm, the output end of the camera (9) is electrically connected with the input end of the artificial intelligence algorithm, the output end of the artificial intelligence algorithm is electrically connected with the input end of the central control module (8), and the central control module (8) is electrically connected with the map comparison algorithm in a bidirectional mode.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114766202A (en) * | 2022-04-14 | 2022-07-22 | 华南农业大学 | Tea leaf picking robot with nine degrees of freedom |
| CN114830869A (en) * | 2022-03-16 | 2022-08-02 | 黑龙江省农业科学院畜牧兽医分院 | Seed soaking and germination accelerating device for forage grass breeding |
| CN115024092A (en) * | 2022-03-26 | 2022-09-09 | 农业农村部南京农业机械化研究所 | Gantry type famous tea picking machine |
| CN115176595A (en) * | 2022-08-03 | 2022-10-14 | 重庆文理学院 | Tea picking manipulator and tea picking robot thereof |
| CN115245096A (en) * | 2022-01-05 | 2022-10-28 | 浙江理工大学 | Unmanned aerial vehicle device of picking tea-leaves based on scissors subassembly parallel |
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| CN115245096B (en) * | 2022-01-05 | 2023-08-11 | 浙江理工大学 | Unmanned aerial vehicle tea-picking device based on scissor assembly parallelism |
| CN114830869A (en) * | 2022-03-16 | 2022-08-02 | 黑龙江省农业科学院畜牧兽医分院 | Seed soaking and germination accelerating device for forage grass breeding |
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| CN115024092B (en) * | 2022-03-26 | 2023-09-05 | 农业农村部南京农业机械化研究所 | Gantry type famous tea picking machine |
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Application publication date: 20211022 |