CN117378360A

CN117378360A - Tea-leaf picking robot

Info

Publication number: CN117378360A
Application number: CN202311567791.1A
Authority: CN
Inventors: 王白娟; 汪泽军; 陈亚平; 杨春华; 夏宇薪; 刘晓慧; 吴亚敏; 赵子华
Original assignee: Yunnan Agricultural University
Current assignee: Yunnan Agricultural University
Priority date: 2023-11-22
Filing date: 2023-11-22
Publication date: 2024-01-12

Abstract

The invention discloses a tea-picking robot, comprising: an upper working table; the mechanical arm is fixed on the upper workbench; the picking mechanism comprises an inclined sliding table, a connecting pipe, an iris cutting mechanism and a connecting block, wherein the inclined sliding table is fixed on the mechanical arm, one end of the connecting pipe is fixed with the inclined sliding table, the other end of the connecting pipe is fixed with the iris cutting mechanism, a mounting hole is formed in the side wall of the connecting pipe, and a vacuum negative pressure type recovery device is connected to the mounting hole. The walking device drives the upper workbench to move to a proper position, and then the mechanical arm drives the picking mechanism to move, so that tea leaves to be picked are inserted into the iris cutting mechanism, after the iris cutting mechanism cuts the tea leaves, the vacuum negative pressure type recovery device pumps away the cut tea leaves from the connecting pipe in a vacuum negative pressure mode, and therefore picking is achieved, convenience is achieved, and the tea leaves cannot be damaged.

Description

Tea-leaf picking robot

Technical Field

The invention belongs to the technical field of tea-leaf picking robots, and particularly relates to a tea-leaf picking robot.

Background

The tea picking is a complicated labor work, and the tea picking efficiency in the manual tea picking process is lower, so that more and more machines for replacing the manual tea picking are used.

The patent with publication number CN116158261A discloses a tea picking robot, wherein a mechanical arm is provided with a mechanical claw joint, a visual system is matched on the mechanical claw joint, and then a linkage mechanical claw, a linkage mechanical claw and a mechanical claw combined mechanical claw with multiple linkage rods are matched to realize the visual action of grabbing tea leaves; the mechanical arm is fixed on the tea-picking machine shell through a bolt; the tea-leaf picker captures tea leaves and can be placed in a storage bin support frame which is welded on the shell of the tea-leaf picker.

But the process that the tea-leaf picker grabs tea leaves and puts into the feed bin in the feed bin support frame takes time, and the picking efficiency is low.

Disclosure of Invention

The invention aims to provide a tea picking robot which is high in recovery speed of picked tea leaves.

In order to achieve the above purpose, the present invention provides the following technical solutions: a tea-picking robot comprising:

a walking device;

the upper workbench is fixed on the travelling device;

the mechanical arm is fixed on the upper workbench;

the picking mechanism comprises an inclined sliding table, a connecting pipe and an iris cutting mechanism, wherein the inclined sliding table is fixed on the mechanical arm, one end of the connecting pipe is fixed with the inclined sliding table, the other end of the connecting pipe is fixed with the iris cutting mechanism, a mounting hole is formed in the side wall of the connecting pipe, and a vacuum negative pressure type recovery device is connected to the mounting hole.

Further, still include module camera, pick monocular camera and panorama self-interacting camera device, it is in through the connecting block connection to pick monocular camera the outside of connecting pipe, the module camera is fixed the inside top of connecting pipe, panorama self-interacting camera device includes supporting part, the supporting part upper end is fixed with step motor, be fixed with the base connecting block in step motor's the pivot, be fixed with platform fine setting mechanism on the base connecting block, platform fine setting mechanism's upper end is connected with servo support, be fixed with servo motor on the servo support, be fixed with servo connecting rod in servo motor's the pivot, be fixed with at the bottom of the lid on the servo connecting rod, be fixed with binocular camera, distance sensor, infrared sensor and two full monocular cameras at the bottom of the lid.

Further, iris cutting mechanism includes directional guide ring, connection solid fixed ring, first locating ring, second locating ring, blade and micro motor, directional guide ring is fixed on the connecting pipe, first locating ring is fixed directional guide ring with between the second locating ring, connection solid fixed ring sets up directional guide ring with between the second locating ring, be fixed with the extension pole on the connection solid fixed ring, be equipped with the side on the lateral wall of first locating ring and extend the groove, the extension pole passes the one end of extension groove is fixed with driven arc gear, micro motor is fixed on the outer wall of connecting pipe, be fixed with drive arc gear with driven arc gear meshes, be equipped with a plurality of slope orientation groove on the connection solid fixed ring, a plurality of slope orientation groove is around the axis evenly distributed of connection solid fixed ring, every be connected with a blade on the slope orientation groove, be fixed with on the blade slope orientation groove's slider, be equipped with on the orientation ring orientation groove with the slope is equipped with on the slope orientation groove and the adjacent cutter, be equipped with on the slope and the blade.

Further, vacuum negative pressure recovery unit includes vacuum negative pressure machine, fresh leaf storage box and negative pressure box, fresh leaf storage box with the negative pressure box sets up the below of going up the workstation, be equipped with the negative pressure cavity in the negative pressure box, a side wall of negative pressure cavity is equipped with a plurality of negative pressure holes, be equipped with fresh leaf cavity in the fresh leaf storage box, one side of fresh leaf storage box is equipped with fresh leaf box opening, fresh leaf box opening orientation the negative pressure hole is equipped with the gas pocket with the negative pressure cavity intercommunication on the workstation, the gas pocket with connect through first air duct between the vacuum negative pressure machine, be equipped with on the workstation and be located fresh leaf storage box top advance the leaf hole, advance the leaf hole through the leaf pipeline with the mounting hole is connected.

Further, still include leaf device and lower workstation, the lower workstation sets up the below at last workstation, leaf device includes thrust unit and flexible rotary device, thrust unit installs in the fresh leaf cavity, push away the thrust unit sets up keeping away from fresh leaf box open-ended one end, flexible rotary device is including straightening line electric putter, fresh leaf storage box fixed plate and electric rotating platform, the straight line electric putter is fixed on the lower workstation, fresh leaf storage box fixed plate is fixed on the push rod of straight line electric putter, electric rotating platform is fixed on the fresh leaf storage box fixed plate, fresh leaf storage box is fixed on the electric rotating platform.

Further, the fresh leaf pushing device also comprises a detection sensor, wherein the detection sensor is fixed in the fresh leaf cavity, and the detection sensor is arranged on one side close to the pushing device.

Further, a solar device is also included, the solar device comprising:

the main body large frame is connected to the main body of the tea picking robot;

the solar main board is fixed on the upper side of the main body large frame;

the front expansion mechanism comprises a front expansion pushing device and a front expansion solar panel, the front expansion pushing device is fixed on the lower side of the main body frame, the front expansion solar panel is connected to the front expansion pushing device, and the front expansion pushing device can drive the front expansion solar panel to move to the lower side of the solar main board or completely move out of the outer side of the solar main board.

Further, the solar device further comprises a right expansion board mechanism, and the right expansion board mechanism comprises:

the right expansion connecting frame is hinged to the right side of the main body large frame;

the right screw rod motor is fixed on the right expansion connecting frame, the two ends of the right screw rod motor are respectively fixed with a right screw rod, the threads of the two right screw rods are opposite in rotation direction, the two right screw rods are respectively connected with an inner driving square block in a threaded manner, the two inner driving square blocks are respectively hinged with a right expansion driving rod, the middle parts of the two right expansion driving rods are respectively hinged with an outer driving square block through a middle shaft, one ends of the two right expansion driving rods, far away from the inner driving square blocks, of the two outer driving square blocks are respectively provided with an outer driving perforation, the two outer driving perforation are respectively provided with an outer through shaft in a penetrating manner, and the outer through shafts are respectively fixed with hammer-shaped pieces;

The right solar panel assembly comprises two groups of right solar panel connecting pieces, the right solar panel connecting pieces comprise a first right solar group and a second right solar group, the first right solar group comprises a first middle solar panel and two first outer solar panels, the two first outer solar panels are arranged on two sides of the first middle solar panel, the first middle solar panel is symmetrically provided with a first middle battery inclined plane, the first outer solar panel is provided with a first outer battery inclined plane, the first middle battery inclined plane and the first outer battery inclined plane are arranged in parallel, the first right solar group and the second right solar group are symmetrically arranged, the first outer solar panels on the first right solar group and the second right solar group are hinged with each other, the first middle solar panels on the first right solar group and the second right solar group are hinged with each other, the first outer solar panels between the two groups of right solar panels are hinged with each other, the first middle solar panels between the two groups of right solar panel connecting pieces are hinged with each other, and the middle parts of the first middle solar panels between the two right solar panels are hinged with each other;

And the turning device is arranged between the main body large frame and the right expansion connecting frame.

Further, the turning device comprises a turning motor, the turning motor is fixed on the main body large frame, a crank block is fixed on a rotating shaft of the turning motor, a turning transmission rod is hinged to the crank block, and one end, far away from the crank block, of the turning transmission rod is hinged to the right expansion connecting frame.

Further, the mechanical arm comprises a six-degree-of-freedom parallel platform and a picking manipulator device, the six-degree-of-freedom parallel platform comprises a fixed platform and a movable platform, three groups of parallel branched chain groups are uniformly arranged on the upper end surface of the fixed platform along the axial direction, each group of parallel branched chain groups consists of two parallel branched chains, each parallel branched chain group comprises a universal joint, a servo driving motor mechanism, a screw rod, two first linear guide rods, two second linear guide rods, a first positioning support block, a second positioning support block and a fixed lug seat, one end of each universal joint is fixed on the fixed platform, the other end of each universal joint is in rotary connection with the servo driving motor mechanism, a rotating shaft of each servo driving motor mechanism is fixed with the screw rod, one end of each first linear guide rod is fixedly connected with the servo driving motor mechanism, the other end of each first linear guide rod is fixedly connected with the corresponding second positioning support block, each first linear guide rod penetrates through the corresponding first positioning support block, one end of each second linear guide rod is fixedly connected with the corresponding first positioning support block, the other end of each second linear guide rod is fixed on the corresponding fixed lug seat, the screw rod penetrates through the corresponding first positioning support block and is in threaded connection with the corresponding fixed lug seat, the top end of the corresponding fixed lug seat is fixed on the lower end face of the movable platform through a revolute pair, the picking manipulator device is fixed on the movable platform, and the picking mechanism is fixed on the picking manipulator device.

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

(1) The travelling device drives the upper workbench to move to a proper position, then the mechanical arm drives the picking mechanism to move, so that tea leaves to be picked are inserted into the iris cutting mechanism, after the iris cutting mechanism cuts the tea leaves, the vacuum negative pressure type recovery device pumps the cut tea leaves out of the connecting pipe in a vacuum negative pressure mode, the tea leaves are fast to recover, the picking efficiency is high, and the tea leaves cannot be damaged;

(2) After the iris cutting mechanism cuts off the tea leaves, the vacuum negative pressure machine enables the negative pressure box to generate negative pressure, and meanwhile, the inside of the fresh leaf storage box also generates negative pressure, and the tea leaves enter the fresh leaf storage box through the mounting holes and the leaf pipelines on the connecting pipes, so that the storage of the tea leaves is completed;

(3) The detection sensor can detect whether the tea leaves are full;

(4) When the fresh leaves in the fresh leaf storage box are full, the leaf discharging device is started, the tea picking robot is reset and driven to a 'fresh leaf collecting point', the straight line electric push rod drives the fresh leaf storage box to move outwards, then the electric rotary table 1 drives the fresh leaf storage box to rotate 180 degrees, and then the pushing device pushes tea leaves into a 'regional setting point position', so that automatic fresh leaf conveying to the 'regional setting point position' is completed;

(5) When a battery in the tea-picking robot needs to be charged, the front expansion pushing device drives the front expansion solar panel to move outwards, so that the front expansion solar panel moves out of the outer side of the solar main board, the solar receiving range is increased, and the charging efficiency is increased;

(6) When needing to expand right solar panel subassembly, right lead screw motor drives right lead screw and rotates to drive two interior drive squares and move towards keeping away from right lead screw motor, interior drive square drives right extension actuating lever and rotates, and outer drive square is relative outside the through-shaft slip, and each first middle solar panel and first outer solar panel rotate relatively, thereby opens right solar panel subassembly to dull and stereotyped state, turns over the device and rotates right solar panel subassembly to the horizontality afterwards, can greatly increased the area of receiving the sun.

Drawings

FIG. 1 is a schematic diagram of a tea-picking robot of the present invention;

fig. 2 is a schematic structural view of a picking device of the tea picking robot;

FIG. 3 is a schematic structural view of a picking mechanism;

FIG. 4 is an exploded view of the iris cutting mechanism;

FIG. 5 is a schematic diagram of an iris cutting mechanism;

FIG. 6 is a diagram of a cutting process of the iris cutting mechanism;

FIG. 7 is a schematic diagram I of a vacuum negative pressure recovery apparatus;

FIG. 8 is a schematic diagram II of a vacuum negative pressure recovery apparatus;

FIG. 9 is a schematic view of the structure of the defoliation device;

FIG. 10 is a schematic view of the structure of the pushing device;

FIG. 11 is a schematic structural view of a panoramic self-adjusting camera apparatus;

FIG. 12 is a schematic diagram of a six degree of freedom parallel stage;

FIG. 13 is a schematic diagram of a mechanism of a solar energy device;

FIG. 14 is a schematic view of the upper half of FIG. 13;

FIG. 15 is an enlarged view of a portion of III in FIG. 14;

FIG. 16 is an enlarged view of a portion at IV in FIG. 14;

fig. 17 is a schematic structural view of the unfolding process of the solar device of the tea-picking robot.

In the figure: 1. an upper working table; 2. a lower working table; 3. a walking device; 4. picking manipulator device;

100. a mechanical arm; 101. a picking mechanism; 102. a tilting slipway; 103. a connecting pipe; 104. an iris cutting mechanism; 107. a connecting block; 108. a mounting hole; 109. a module camera; 110. picking up a monocular camera; 111. a directional guide ring; 112. connecting a fixed ring; 113. a first positioning ring; 114. a second positioning ring; 115. a micro motor; 116. an extension rod; 117. a side extension groove; 118. a driven arc gear; 119. driving an arc gear; 120. an inclined orientation groove; 121. a blade; 122. a knife slider; 123. directional milling grooves; 124. a pin key; 125. a vacuum negative pressure machine; 126. fresh leaf storage box; 127. a negative pressure box; 128. a negative pressure cavity; 129. a negative pressure hole; 130. fresh leaf cavity; 131. an opening of the fresh leaf box; 132. air holes; 134. a leaf inlet hole; 135. a pushing device; 136. extending the linear electric push rod; 137. a fresh leaf storage box fixing plate; 138. an electric rotating table; 139. a pushing plate; 140. a knife bevel; 141. a panoramic self-adjusting camera device; 142. a support member; 143. a stepping motor; 144. a base connecting block; 145. a platform fine adjustment mechanism; 146. a servo support; 147. a servo motor; 148. a cover bottom; 149. a binocular camera; 150. a distance sensor; 151. an infrared sensor; 152. a full monocular camera; 153. a servo link; 154. a 2D radar device;

200. A six-degree-of-freedom parallel platform; 201. a fixed platform; 202. a movable platform; 203. a parallel branched chain; 204. a universal joint; 205. a servo drive motor mechanism; 206. a screw rod; 207. a first linear guide bar; 208. a second linear guide rod; 209. a first positioning support block; 210. a second positioning support block; 211. fixing the ear seat;

300. a main body large frame; 301. a solar motherboard;

302. a front expansion mechanism; 3021. a front expansion pushing device; 3022. front expansion solar panel; 3023. a front driving screw rod; 3024. a front driving block; 3025. a front truss; 3026. a front drive motor;

303. a right expansion plate mechanism; 3031. a right expansion link; 3032. a right screw motor; 3033. a right screw rod; 3034. an inner driving block; 3035. a right extension drive rod; 3036. a middle shaft; 3037. an external driving block; 3038. an outer through shaft; 3039. a hammer; 3040. a right battery connector; 30401. a first right solar group; 30402. a second right solar group; 30403. a first intermediate solar panel; 30404. a first outer solar panel; 30405. a first intermediate cell ramp; 30406. a first outer battery bevel;

308. a flipping device; 3081. turning over the motor; 3082. a crank block; 3083. the transmission rod is turned over.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-17, the present invention provides a technical solution for a picking device of a picking robot.

A tea-picking robot comprising:

a walking device 3;

an upper table 1, the upper table 1 being mounted on the traveling device 3;

a robot arm 100 fixed to the upper table 1;

picking mechanism 101, picking mechanism 101 includes slope slip table 102, connecting pipe 103 and iris cutting mechanism 104, and slope slip table 102 is fixed on arm 100, and the one end of connecting pipe 103 is fixed with slope slip table 102, and the other end is fixed with iris cutting mechanism 104, is equipped with mounting hole 108 on the lateral wall of connecting pipe 103, is connected with vacuum negative pressure formula recovery unit on the mounting hole 108.

The walking device 3 drives the upper workbench 1 to move to a proper position, then the mechanical arm 100 drives the picking mechanism 101 to move, so that tea leaves to be picked are inserted into the iris cutting mechanism 104, after the iris cutting mechanism 104 cuts the tea leaves, the vacuum negative pressure type recovery device pumps the cut tea leaves away from the connecting pipe 103 in a vacuum negative pressure mode, and therefore picking is achieved, picked tea leaves are fast to recover, efficiency is high, and tea leaves cannot be damaged.

As shown in fig. 3, the picking device further comprises a module camera 109 and a picking monocular camera 110, wherein the picking monocular camera 110 is connected to the outer side of the connecting pipe 103 through a connecting block 107, the module camera 109 is fixed to the top end inside the connecting pipe 103, and the picking monocular camera 110 is downward in lens and coplanar with the coaxial position of the fresh leaf picking mechanism 101.

As shown in fig. 1 and 11, the picking apparatus further includes a panoramic self-adjusting camera apparatus 141, the panoramic self-adjusting camera apparatus 141 includes a supporting member 142, a stepping motor 143 is fixed at an upper end of the supporting member 142, a base connecting block 144 is fixed on a rotation shaft of the stepping motor 143, a platform fine adjustment mechanism 145 is fixed on the base connecting block 144, a servo bracket 146 is connected at an upper end of the platform fine adjustment mechanism 145, a servo motor 147 is fixed on the servo bracket 146, a servo link 153 is fixed on a rotation shaft of the servo motor 147, a cover bottom 148 is fixed on the servo link 153, and a binocular camera 149, a distance sensor 150, an infrared sensor 151 and two full monocular cameras 152 are fixed on the cover bottom 148.

Rotation of the stepper motor 143 causes 360 rotation of the panoramic self-adjusting camera apparatus 141 in the XY axis plane and rotation of the servo motor 147 causes 270 rotation of the binocular camera 149.

As shown in fig. 8, the picking device further comprises a 2D radar device 154,2D radar device 154 mounted on the front side of the walking device 3. The 2D radar device 154 is provided with 4 radar probes. The first right radar probe and the second right radar probe respectively monitor an obstacle at the right front side of the tea-picking robot and an obstacle or pit body at the front right under the right crawler suspension assembly and feed back and transmit the obstacle or pit body to the control system. The GPS locator is used for receiving and transmitting the position and direction information of the robot; and the control system controls and judges the mountain picking blocks of the robot according to the received sensor data.

Further, when the tea-picking robot performs tea-picking operation in the wild of the mountain area of the highland, the panoramic self-adjusting camera device 141 can realize the recognition shooting of the panoramic area of the surrounding environment of the tea-picking robot under the linkage and rotation fit of the stepping motor 143 and the DS3225 servo motor 147.

The binocular camera works:

1. transmitting a driving path planning of the tea picking robot and shot images of big-leaf puer tea ridges and high-end puer old tea leaves to an image processor of a vision device, performing target identification on big-leaf puer tea fresh leaves in the tea ridge and old tea tree images shot by a binocular camera by the image processor, transmitting the identified big-leaf puer tea fresh leaf position information to a control system of the robot to form an optimal picking path planning for picking paths of fresh leaf positions in regional images, and controlling a mechanical arm 100 by the control system through the optimal picking path planning for picking the big-leaf puer tea fresh leaves, so that the mechanical arm 100 stretches a puer tea fresh leaf picking mechanism 101 to the side of the tea fresh leaves for preliminary picking;

2. the travelling path planning of the picking robot is that the travelling path planning motion of the travelling device 3 can be driven when signals fed back to the control system together by the binocular camera and the 2D radar device 154 are both 'YES'.

Its full monocular camera 152 works: 1. the monocular camera shoots the puer tea fresh leaf picking mechanism 101 of the mechanical arm 100 and performs image matching acquisition when being placed beside the tea fresh leaf, so that a control system of the monocular camera controls the mechanical arm 100 to be placed right above the axis of the big puer tea fresh leaf, the monocular camera on the left side acquires a left mechanical arm, and the monocular camera on the right side acquires a right mechanical arm.

The distance sensor 150 and the infrared sensor 151: 1. the system is used for collecting environmental information around the robot and feeding back the environmental information to the control system of the robot, and when signals of the two sensors exceed the set value of the obstacle distance, the tea picking robot directly turns to reduce calculation force.

As shown in fig. 3-6, the iris cutting mechanism 104 comprises an orientation guide ring 111, a connection fixing ring 112, a first positioning ring 113, a second positioning ring 114, a blade 121 and a micro motor 115, wherein the orientation guide ring 111 is fixed on the connection pipe 103, the first positioning ring 113 is fixed between the orientation guide ring 111 and the second positioning ring 114, the connection fixing ring 112 is arranged between the orientation guide ring 111 and the second positioning ring 114, an extension rod 116 is fixed on the connection fixing ring 112, a side extension groove 117 is arranged on the side wall of the first positioning ring 113, one end of the extension rod 116 penetrating through the extension groove is fixed with a driven arc gear 118, the micro motor 115 is fixed on the outer wall of the connection pipe 103, a driving arc gear 119 is fixed on the rotating shaft of the micro motor 115, the driving arc gear 119 is meshed with the driven arc gear 118, a plurality of inclined orientation grooves 120 are arranged on the connection fixing ring 112, a plurality of inclined orientation grooves 120 are uniformly distributed around the shaft of the connection fixing ring 112, a sliding block 122 connected with the inclined orientation grooves 120 is fixed on the blade 121, a milling cutter 140 is arranged on the orientation ring 111, two inclined grooves 121 are correspondingly arranged on the orientation groove 121, and two milling cutters 140 are arranged on the adjacent to the cutter 121.

As shown in fig. 3-6, when picking, fresh leaves enter the connecting pipe 103, the micro motor 115 drives the driving arc gear 119, the driving arc gear 119 drives the driven arc gear 118 to rotate, thereby driving the connecting fixing ring 112 to rotate, and the rotation of the connecting fixing ring 112 can drive the blade 121 to be gradually closed from left to right in fig. 6, so that picking of the fresh leaves is completed.

As shown in fig. 7-10, the vacuum negative pressure recycling device comprises a vacuum negative pressure machine 125, a fresh leaf storage box 126 and a negative pressure box 127, the fresh leaf storage box 126 and the negative pressure box 127 are arranged below the upper workbench 1, a negative pressure cavity 128 is arranged in the negative pressure box 127, a plurality of negative pressure holes 129 are formed in one side wall of the negative pressure cavity 128, a fresh leaf cavity 130 is arranged in the fresh leaf storage box 126, a fresh leaf box opening 131 is formed in one side of the fresh leaf storage box 126, the fresh leaf box opening 131 faces the negative pressure hole 129, an air hole 132 is formed in the upper workbench 1 and is communicated with the negative pressure cavity 128, the air hole 132 is connected with the vacuum negative pressure machine 125 through a first air pipeline, a leaf inlet 134 positioned above the fresh leaf storage box 126 is arranged on the upper workbench 1 and is communicated with the fresh leaf cavity, and the leaf inlet 134 is connected with the mounting hole 108 through a leaf pipeline.

When the iris cutting mechanism 104 cuts off the fresh She Jian, the vacuum negative pressure machine 125 makes the negative pressure box 127 generate negative pressure, and at the moment, the fresh tea storage box 126 also generates negative pressure, and tea leaves enter the fresh tea storage box 126 through the mounting hole 108 and the leaf pipeline on the connecting pipe 103, so that the storage of the tea leaves is completed.

As shown in fig. 7-10, the picking device further comprises a leaf outlet device and a lower workbench 2, the lower workbench 2 is arranged below the upper workbench 1, the leaf outlet device comprises a pushing device 135 and a telescopic rotating device, the pushing device 135 is installed in the fresh leaf cavity 130, the pushing device 135 is arranged at one end far away from the opening 131 of the fresh leaf box, a pushing plate 139 is fixed on the pushing device 135, the telescopic rotating device comprises a straightening electric push rod 136, a fresh leaf storage box fixing plate 137 and an electric rotating table 138, the linear electric push rod is fixed on the lower workbench 2, the fresh leaf storage box fixing plate 137 is fixed on the push rod of the linear electric push rod, the electric rotating table 138 is fixed on the fresh leaf storage box fixing plate 137, and the fresh leaf storage box 126 is fixed on the electric rotating table 138.

The picking device further comprises a detection sensor which is fixed in the fresh leaf cavity 130, the detection sensor is arranged on one side close to the pushing device 135, and a red light detection mode is adopted to detect whether the tea leaves are full.

Further, when the fresh leaves in the fresh leaf storage box 126 reach the red light measuring point, signals are transmitted to the control system, the tea-picking robot is reset to drive to the fresh leaf collecting point, and the leaf discharging device is started. The linear electric push rod drives the fresh leaf storage box 126 to move outwards, then the electric rotary table 138 drives the fresh leaf storage box 126 to rotate 180 degrees, and then the pushing device 135 pushes the tea leaves into the 'regional setting point'.

As shown in fig. 10, the pushing device 135 is provided as a linear motor scissor mechanism including a pushing plate 139.

As shown in fig. 2, the mechanical arm 100 includes a six-degree-of-freedom mechanical arm, which includes a one-axis motor base, a two-axis mechanical arm, a three-axis mechanical arm, a four-axis mechanical arm, and a five-axis mechanical arm joint, and is sequentially connected. The first motor is arranged in the first motor, the two-axis mechanical arm is connected to a driving arm clamping plate arranged on the first motor base, and the driving arm clamping plate is provided with a mechanical arm control circuit board. The joints where the mechanical arms are connected are provided with steering engines, speed reducers and potentiometers.

In another mode of the mechanical arm 100, as shown in fig. 1 and 12, the mechanical arm 100 includes a six-degree-of-freedom parallel platform 200 and a picking manipulator device 4, the six-degree-of-freedom parallel platform 200 includes a fixed platform 201 and a movable platform 202, three groups of parallel branched chains 203 are uniformly installed on the upper end surface of the fixed platform 201 along the axial direction, each group of parallel branched chains 203 is composed of two parallel branched chains 203, the parallel branched chains 203 includes a universal joint 204, a servo driving motor mechanism 205, a screw rod 206, two first linear guide rods 207, two second linear guide rods 208, a first positioning support block 209, a second positioning support block 210 and a fixed ear seat 211, one end of the universal joint 204 is fixed on the fixed platform 201, the other end is in rotary connection with the servo driving motor mechanism 205, a rotating shaft of the servo driving motor mechanism 205 is fixed with the screw rod 206, one end of the two first linear guide rods 207 is fixedly connected with the servo driving motor mechanism 205, the other end of the two first linear guide rods 207 are all penetrated through the first positioning support blocks 209, one end of the two second linear guide rods 208 is fixedly connected with the first positioning support blocks 209, the other end of the other linear guide rods 208 is fixedly connected with the fixed ear seat 211, the other end of the first linear guide rods is fixedly penetrated through the fixed ear seat 211 and is fixedly connected with the upper end surface of the movable support seat 4 of the picking manipulator device 4, and the other end of the end is fixedly connected with the fixed ear seat 211 is fixedly connected with the picking manipulator device 4.

The three groups of parallel branched chains 203 are arranged on each 120-degree azimuth angle of the fixed platform 201, and three groups of points where the three groups of parallel branched chains 203 and the adjacent groups of parallel branched chains 203 are connected on the lower end surface of the movable platform 202 are arranged on each 120-degree azimuth angle of the lower end surface of the movable platform 202, so that the lower ends of the groups of parallel branched chains 203 are connected with the upper connecting points to form 60-degree azimuth angles in top view.

The invention uses a control wire to connect the servo driving motor mechanism 205 and a control wire setting part outside the square shell to control the servo motor 147 to rotate the screw rod 206, so that the first positioning support block 209 moves up and down along the second linear guide rod 208, thereby driving the fixed ear seat 211 to move,

when the six parallel branched chains 203 of the three groups of parallel branched chains 203 and the movable platform 202 form a 6-RPC parallel mechanism, and a two-stage distributed guide rod directional transmission mode is adopted, the movable platform 202 has the advantages of good dynamic response, good stability, high rigidity, large bearing capacity, high movement precision and the like under the control of a controller signal.

The invention adopts the six-degree-of-freedom parallel platform 200 to enable the picking manipulator device 4 on the movable platform 202 to have the following advantages in actual mountain field robot operation in Yunnan mountain area and in field old tea tree picking of fresh puer tea leaves of big leaf species:

When the six-degree-of-freedom parallel platform 200 is adopted, a fixed platform 201 of the robot device 4 is fixed on a workbench, and a controller controls six parallel branched chains 203 to keep a movable platform 202 horizontal, so that the influence value of the servo motor 147 of the robot device 4 on the picking robot device for picking the high-value wild big leaf puer tea fresh leaves is reduced to zero, and the robot device can work for a long time in a self-adaption field unmanned environment. The robot arm 100 is not damaged to affect the picking of the high-quality fresh leaves due to the continuous movement of the robot.

The wild big leaf Pu' er ancient tea tree is distributed in each high altitude field mountain area in southwest of Yunnan, and the ancient tea tree is usually higher than 2.1 to 5.2 meters, even higher than the mountain area for more than one hundred years. The fresh leaves are distributed in a non-three-dimensional shape on the tea crown in spring every year, the fresh leaves are large leaves, the fresh leaves are positively and not vertically upwards in 1.2m tea ridges like the fresh leaves of Longjing tea, but are irregularly distributed in all directions, so that the six-degree-of-freedom parallel platform 200 can move while the robot keeps the picking manipulator device 4 horizontal, the picking manipulator device 4 can pick the leaves more efficiently, the driving quantity of each manipulator 100 of the six-degree-of-freedom serial manipulator 100 is minimized when each fresh leaf is planned to pick, and the corresponding driving program capacity is reduced and is controlled in a two-part distributed mode.

The picking manipulator device 4 is arranged on the movable platform 202, the picking manipulator device 4 cannot incline along with the jolt or climbing of the tea picking robot due to terrain, and the picking manipulator device 4 comprises a high six-degree-of-freedom manipulator 100 and a puer tea fresh leaf picking mechanism 101. The picking manipulator device 4 has a similar mechanical structure to the picking manipulator device 4, but the motor and the mechanical arm 100 are matched with higher precision and flexibility.

Tea picking:

1. in field operation, the distance sensor 150 and the infrared sensor 151 are used for collecting environmental information around the robot and feeding back the environmental information to a control system in an industrial personal computer of an electrical control layer of the robot, and when signals of the two sensors exceed a set value of the distance between obstacles, the tea-picking robot directly turns to reduce calculation force. Then the panoramic self-adjusting camera device 141 can realize the identification shooting of the panoramic area of the surrounding environment of the tea-picking robot under the linkage rotation fit of the stepping motor 143 and the DS3225 servo motor 147. When the signals fed back to the control system together with the path planning captured by the binocular camera and the 2D radar device 154 are both YES, the crawler chassis can be driven to carry out the driving path planning motion. The 2D radar device 154 is mounted with 4 radar probes. And the right first radar probe and the right second radar probe respectively monitor an obstacle at the right front side of the tea-picking robot and an obstacle or pit body at the front right under the right crawler suspension assembly and feed back the obstacle or pit body to the control system, and judge to pass or bypass when the size set value of the obstacle. The GPS locator is used for receiving and transmitting the position and direction information of the robot; and the control system controls and judges the mountain picking blocks of the robot according to the received sensor data.

2. When the robot reaches the vicinity of the Pu 'er tea ridge in the bench, the picking manipulator device rotates to face one side of the tea ridge surface, and the other side is the intercropped ancient tea tree or the Pu' er tea ridge in the bench, and the picking manipulator device 4 platform can rotate to face the crown of the ancient tea tree and the tea ridge surface. The binocular camera works to transmit shot images of big-leaf puer tea ridges and high-end puer tea fresh leaves to an image processor of a vision device, the image processor identifies targets of the big-leaf puer tea fresh leaves in the images of the tea ridges and the puer tea leaves shot by the binocular camera, and transmits the identified position information of the big-leaf puer tea fresh leaves to a control system of a robot to form an optimal solution picking path plan for picking paths of the fresh leaf positions in the regional images, a picking manipulator device 4 picks from a start end of the optimal solution picking path of the shot regional images, a picking manipulator device 4 picks from an end of the optimal solution picking path, and a picking manipulator device 4 platform picks from an optimal solution picking path of ancient tea crowns or tea ridges on the other side. The control system controls the mechanical arm 100 through the optimal solution picking path planning of the fresh puer tea leaves of the large leaf seeds, so that the mechanical arm 100 stretches the end effector to the side of the fresh puer tea leaves for preliminary picking. The monocular camera shoots the end effector of the mechanical arm 100 and performs image matching acquisition when being placed beside the fresh tea leaves, so that the control system controls the mechanical arm 100 to place the fresh puer tea leaf picking mechanism 101 at the position right above the axle center of the fresh puer tea leaves of the big leaf species.

3. The puer tea fresh leaf picking mechanism 101 starts to operate, and the puer tea fresh leaf picking mechanism 101 is suitable for picking the puer tea fresh leaf bench tea of big leaf species and picking one bud and one leaf and two leaves on the crown of the ancient tea tree. ( Description: the fresh puerh tea leaves of the big leaf species are very different from the famous tea (such as the fresh Longjing tea leaves), the lengths of one bud and two buds of the famous tea leaves are not more than 2.8cm, the radius of a cylinder from a bud core to two leaves is not more than 1.7cm, the maximum width of the leaves is not more than 0.5cm, and the famous tea leaves are short and small and upright cylinders facing the sun. The lengths of one bud and one leaf and two buds of the fresh puer tea leaves are 5 cm-7.5 cm, the radius of the cylinder from the bud core to one leaf is more than 2.5cm, the radius of the cylinder from the bud core to two leaves is more than 4.5cm, and the maximum width of the leaves is more than 4.2cm. And because the fresh puer tea leaves are large in size, the fresh puer tea leaves are positively downwards and positively bent She Chengxian, so that a large amount of low-end tea cannot be picked mechanically, and no patent design mode can be used for picking at present. )

The invention discloses a mode for picking a fresh leaf of a big leaf puer tea, which comprises the following steps: the mechanical arm 100 continues to continuously approach the puer tea fresh leaf picking mechanism 101 to the target bud by leaf, and the S900 industrial module camera 109 identifies: the distance from the tip dot of the bud core to the tip dot of the tip; the distance between the tip dots of the bud core and the tip dots of the two tips; one leaf and two leaves are at the azimuth of a bud. The distance from the tip of the bud core to the tip of the bud core is compared with the radius of the cutter of the iris cutting mechanism 104 by the image processor to the control system. If "YES" then execute command one: picking monocular camera 110 directly discerns the picking point of 5mm department under a leaf, control arm 100 makes its fresh leaf of pu 'er tea picking mechanism 101's iris cutting mechanism 104 blade 121 place picking point (make its iris cutting mechanism 104's cutting knife face perpendicular to tender stem through picking monocular camera 110 discernment feedback), at this moment fresh leaf of a bud and a leaf place into fresh leaf of pu' er tea picking mechanism 101, drive iris cutting mechanism 104 through micro motor 115 makes its blade 121 close and realize cutting of a bud and a leaf, fresh leaf is adsorbed in fresh leaf storage box 126 through flexible telescopic pipe through vacuum negative pressure recovery unit at this moment. If "NO", command two is executed: the picking monocular camera 110 firstly identifies a position 2mm below a bud, the control system drives the mechanical arm 100 to enable the end face of the directional guide ring 111 of the iris cutting mechanism 104 of the puer tea fresh leaf picking mechanism 101 to be coplanar with the position 2mm below the bud, and the picking monocular camera 110 continues to continuously shoot and identify in the process. The control system then controls the manipulator through the azimuth angle of a leaf at the tip of a bud core identified by the S900 industrial module camera 109 and links the sixth axis rotation motor to achieve azimuth access. Then the control system controls the GFX40 to incline the sliding table 102 to rotate (rotation angle + -20 DEG), at the moment, the iris cutting mechanism 104 also follows to rotate, at the moment, the fresh puer tea leaves picking mechanism 101 bends in the same direction above 2mm under a bud, and tender ribs below 2mm cannot bend, during the sliding table rotation, when the S900 industrial module camera 109 recognizes that the distance between the bud core tip round point and the tip end round point is smaller than the radius size of the cutter of the iris cutting mechanism 104, the control system controls the mechanical arm 100 to downwards move to a position below 5mm, and then the control system commands a step I.

The invention has the following modes of picking one bud and two leaves of the fresh puer tea leaves of big leaf seeds: the motion command of one bud and one leaf in the one bud and two leaf picking mode is the same as the motion command of the one bud and one leaf, and the iris cutting mechanism 104 is not firstly executed in the fresh puer tea leaf picking mechanism 101 at the position of more than 5mm of the one bud and one leaf picking point (the motion mode at this stage is that the center axes of the fresh puer tea leaf picking mechanism 101 are collinear with the center axes of the two buds and the two leaves). Then the industrial personal computer control system shoots the azimuth angle of the identified two leaves at a bud through the industrial module camera 109 at the beginning S900, and executes a third command through the control system:

the monocular camera 538 continuously shoots and identifies, then the control system controls the manipulator and links with the sixth axis rotating motor, then the control system controls the GFX40 to incline the slipway 102 to rotate the slipway surface (the rotating angle is +/-20 degrees), at the moment, the iris cutting mechanism 104 also rotates together, at the moment, one bud and one leaf above 5mm below one leaf in the fresh puer tea leaf picking mechanism 101 are also bent in the same direction, the angle bending at 5mm below one leaf can not lead the slight stem and stem below two leaves to be bent in the same direction, during the slipway rotating process, when the S900 industrial module camera 109 identifies that the distance between the tip round point and the tip round point of the bud is smaller than the radius size of the iris cutting mechanism 104, the control system controls the mechanical arm 100 to downwards lead the mechanical arm to reach the picking point of one bud and two leaves below 8mm, and then the step of controlling the system to command one step is carried out.

the picking monocular camera 110 continues to shoot and identify continuously, then the control system controls the manipulator and links with the sixth axis rotating motor, then the control system controls the GFX40 to incline the sliding table 102 to rotate the sliding table surface (the rotating angle is +/-20 degrees), at the moment, the iris cutting mechanism 104 also rotates together, at the moment, one bud and one leaf above 5mm below one leaf in the fresh puer tea leaf picking mechanism 101 are bent in the same direction, the angle bending at 5mm below one leaf can not lead the slight stems and stems below two leaves to be bent in the same direction, during the sliding table rotating process, when the S900 industrial module camera 109 recognizes that the distance from the tip circular point to the tip circular point of the bud core is smaller than the radius size of the iris cutting mechanism 104 cutter, the control system controls the mechanical arm 100 to downwards lead the mechanical arm to reach the picking point of one bud and two leaves below 8mm, and then the step of the control system command one is carried out.

4. When the current ancient tea trees or tea ridges on two sides of binocular project shooting recognize that the fresh tea leaves cannot be picked, the robot crawler feeds back to the control system to drive the crawler chassis under the condition that the surrounding environment is detected by each sensor, and the optimal solution path picking of the images shot on the two sides is carried out, and the steps 2, 3 and 4 are circulated.

5. When the fresh leaves in the fresh leaf storage box 126 reach the red light measuring point, signals are transmitted to the control system, the tea picking robot is reset to run to the 'regional setting point position', and then the control system drives the fresh leaf storage and discharging device to discharge the fresh leaves.

As shown in fig. 13-17, the robot further includes a solar device including:

the main body big frame 300 is connected to the main body of the tea picking robot through a bracket;

the solar main board 301, the solar main board 301 is fixed on the upper side of the main body big frame 300;

the front expansion mechanism 302, the front expansion mechanism 302 includes a front expansion pushing device 3021 and a front expansion solar panel 3022, the front expansion pushing device 3021 is fixed at the lower side of the main body frame 300, the front expansion solar panel 3022 is connected to the front expansion pushing device 3021, and the front expansion pushing device 3021 can drive the front expansion solar panel 3022 to move to the lower side of the solar main board 301 or completely move out of the outer side of the solar main board 301.

When the battery in the tea-picking robot needs to be charged, the front extension pushing device 3021 drives the front extension solar panel 3022 to move outwards, so that the front extension solar panel 3022 moves out of the outer side of the solar main board 301, the solar receiving range is increased, and the charging efficiency is increased. In addition, a rear expansion structure may be further provided, and the structure of the rear expansion mechanism is the same as that of the front expansion mechanism 302, but is located at the rear side of the main body frame 300, and the specific structure will not be repeated.

The tea-picking robot solar device further comprises a right expansion plate mechanism 303, wherein the right expansion plate mechanism 303 comprises:

a right extension connection frame 3031, the right extension connection frame 3031 being hinged to the right side of the main body main frame 300;

the right screw motor 3032, the right screw motor 3032 is fixed on the right expansion connecting frame 3031, the two ends of the right screw motor 3032 are respectively fixed with a right screw 3033, the threads of the two right screws 3033 are opposite in rotation direction, the two right screws 3033 are respectively connected with an inner driving square 3034 in a threaded manner, the two inner driving square 3034 are respectively hinged with a right expansion driving rod 3035, the middle parts of the two right expansion driving rods 3035 are hinged through a middle shaft 3036, one ends of the two right expansion driving rods 3035, far away from the inner driving square 3034, are respectively hinged with an outer driving square 3037, the two outer driving square 3037 are respectively provided with an outer driving perforation, the two outer driving perforation are respectively provided with an outer through shaft 3038 in a penetrating manner, and the outer through shafts 3038 are respectively fixed with a hammer 3039;

A right solar panel assembly comprising two sets of right cell connectors 3040, the right cell connectors 3040 comprising a first right solar set 30401 and a second right solar set 30402, the first right solar set 30401 comprising a first intermediate solar panel 30401 and two first outer solar panels 30404, the two first outer solar panels 30404 being arranged on both sides of the first intermediate solar panel 30403, the first intermediate solar panel 30103 being symmetrically provided with a first intermediate cell bevel 30505, the first outer solar panel 30404 being provided with a first outer cell bevel 30406, the first intermediate cell bevel 30505 and the first outer cell bevel 30406 being arranged in parallel, the first right solar set 30401 and the second right solar set 30402 being symmetrically arranged, the first outer solar panels 30404 on the first right solar group 30401 and the second right solar group 30402 are hinged to each other, the first middle solar panels 30401 on the first right solar group 30401 and the second right solar group 30402 are hinged to each other, the first outer solar panels 30404 between the two sets of right cell connectors 3040 are hinged to each other, the first middle solar panels 30103 between the two sets of right cell connectors 3040 are hinged to each other, the middle shaft 3036 is hinged to the first middle solar panels 30403 between the two sets of right cell connectors 3040, and the hammer 3039 is hinged to the outermost first middle solar panels 30103;

The flipping device 308, the flipping device 308 is disposed between the main body frame 300 and the right expansion link frame 3031.

When the right solar panel assembly is in a folded state, the two inner driving blocks 3034 are located at positions close to the right screw motor 3032, when the right solar panel assembly needs to be unfolded, the right screw motor 3032 drives the right screw 3033 to rotate, so that the two inner driving blocks 3034 are driven to move away from the right screw motor 3032, the inner driving blocks 3034 drive the right extension driving rod 3035 to rotate, the outer driving blocks 3037 slide relative to the outer through shaft 3038, the first middle solar panel 30403 and the first outer solar panel 30404 rotate relatively, and accordingly the right solar panel assembly is unfolded to a flat plate state, and then the overturning device 308 rotates the right solar panel assembly to a horizontal state, so that the area for receiving the sun can be greatly increased. Of course, when the right solar panel assembly is to be folded, the right lead screw motor 3032 can fold the right solar panel assembly only by rotating reversely.

Of course, a left expansion board mechanism may be provided, and the left expansion board mechanism is disposed on the left side of the main body large frame 300, and has the same structure as the right expansion connection frame 3031, so that the left expansion board mechanism can be unfolded on both sides of the main body large frame 300, thereby greatly increasing the unfolding area.

As shown in fig. 4 and 5, the right expansion link 3031 is connected with a turning device 308, the turning device 308 includes a turning motor 3081, the turning motor 3081 is fixed on the main body big frame 300, a crank block 3082 is fixed on a rotating shaft of the turning motor 3081, a turning transmission rod 3083 is hinged on the crank block 3082, and one end of the turning transmission rod 3083 far away from the crank block 3082 is hinged with the right expansion link 3031.

The turning motor 3081 drives the crank block 3082 to rotate, and the crank block 3082 drives the right expansion connecting frame 3031 to rotate through the turning transmission rod 3083, so that the right solar panel assembly is driven to turn.

The front extension pushing device 3021 comprises a front driving motor 3026, a front driving screw 3023, a front driving block 3024, a front truss 3025 and a front driving thin plate, the front driving motor 3026 is fixed in the middle of the main body big frame 100, the front truss 3025 is fixed at the front end of the main body big frame 100, one end of the front driving screw 3023 is fixedly connected with the driving motor, the other end of the front driving screw 3023 is rotatably connected with the front truss 3025, the front driving block 3024 is in threaded connection with the front driving screw 3023, the front driving thin plate can slide relative to the front truss 3025, the front driving thin plate is fixed on the front driving block 3024, and the front extension solar panel 3022 is fixed on the front driving thin plate.

The front driving motor 3026 drives the front driving screw 3023 to rotate, and the front driving screw 3023 drives the driving thin plate to move through the front driving block 3024, so as to drive the front expansion solar panel 3022 to move.

The invention also discloses a fresh leaf identification method, which is based on the picking device of the picking robot and comprises the following steps:

s1, taking fresh leaf pictures under different backgrounds and different illumination intensities, and collecting various fresh leaf images as an initial data set;

the image is marked after the fresh leaf image data is collected, the fresh leaf is framed by a rectangular frame as a result, which is an object to be acted by the fresh leaf picking mechanism, the TXT and XML files of the name and the size of the fresh leaf tea type and the position information of the fresh leaf in the image are obtained,

s2, dividing the collected fresh leaf image data into a training set, a testing set and a verification set, and marking the marked image data set according to 6:2:2 is constructed as a training set, a test set and a verification set are put into an improved YOLOV7 algorithm for learning, so that the improved YOLOV7 algorithm finally obtains Feature Maps of fresh leaves,

the improved YOLOv7 network structure consists of Input, backbone, neck and Head, wherein Input is mainly used for data preprocessing, including data enhancement, image size scaling, predefined candidate frame size calculation and the like; the Backbone is a deep learning Backbone network and is used for realizing the feature extraction function of the target; neck is a Neck network connected with feature layers of different scales and used for feature fusion; the Head is a Head network, a regression loss value is calculated through a loss function, the invention adopts the latest MPDIOU loss function to improve the original loss function, and in order to be suitable for regression of overlapped and non-overlapped boundary frames at the same time, and also consider the deviation of the center point distance and the width and the height, the MPDIOU adopts boundary frame similarity measurement based on the minimum point distance, thereby simplifying the calculation process to a certain extent, improving the model convergence speed, and enabling the regression result to be more accurate, wherein the loss function expression is shown in the formulas (1), (2), (3) and (4):

Wherein a and B represent a prediction frame and a real frame respectively,and->Representing the upper left and lower right corner coordinates of bounding box a, respectively, ">And->Representing the upper left and lower right corner coordinates of bounding box B, respectively;

the images obtained by the binocular camera 149 are transmitted to the industrial personal computer in real time, and the industrial personal computer carries out noise reduction, filtering and gray level image preprocessing on the images transmitted by the camera; and identifying the photo transmitted by the camera by using a trained learning model of the improved YOLOV 7.

The images obtained by the binocular camera can be divided into a left image and a right image, after the camera calibration is completed, the left image and the right image are required to be combined into one image, and Spatial and Channel reconstruction Convolution is used for effectively inhibiting redundant features of the feature map through SRU (Spatial Reconstruction Unit) and CRU (Channel Reconstruction Unit), so that the complexity and the calculation cost of the model are reduced. Spatial and Channel reconstruction Convolution performing stereo matching to obtain a parallax image of the fresh leaf picture of the puer tea of the large leaf seed; the image shot by the binocular camera comprises position information (u, v) of the fresh puer tea leaves of the large puer tea seeds in the image, after the parallax image is segmented, depth values d of the fresh puer tea leaves of the large puer tea seeds can be obtained, a three-point cloud image of the fresh puer tea leaves of the large puer tea seeds is established according to the information, and noise reduction treatment of direct filtering, statistical filtering and radius filtering is carried out on the point cloud image, so that a flat three-dimensional point cloud of the fresh puer tea leaves of the large puer tea seeds with little noise can be obtained.

The SRU separation operation mainly uses the scaling factor of GN (Group Normalization) to evaluate the information content of the feature map, so as to better separate the feature map with rich information and less information, and the expression is shown in the formula (5). The reconstruction operation combines the characteristics with rich information and the characteristics with less information by the operation of cross reconstruction, and strengthens the information flow between the two so as to generate more abundant information characteristics and save space. The expression is shown in the formula (6).

Wherein,representing multiplication element by element->Represents element-by-element addition, U represents stitching, μ and σ are the mean and standard deviation of X, ε is a small positive number added for stable division, γ and β are trainable affine transformations, W is the weight value of the feature map, W1 is the weight that is richer in information, and W2 is the weight that is not richer in information.

The Split operation of the CRU is to improve the model calculation efficiency by dividing the spatial refinement feature generated by the SRU into two parts Xup and Xlow, and compressing with 1x1 convolutions, respectively. The Transform operation is to extract features of Xup and Xlow obtained by the segmentation operation by using different convolutions, so as to obtain two sets of feature graphs with different information richness, and the expressions are shown in formulas (7) and (8). The fusion operation is to extract the space Channel information of the feature graphs Y1 and Y2 in a Pooling mode, and merge the features Y1 and Y2 in a Channel mode to generate a Channel-Refined Feafure Y. The expressions are shown as formulas (9), (10) and (11).

Y＝β ₁ Y ₁ +β ₂ Y ₂ (11)

Where MG, MP1 and MP2 are learnable weight matrices in the convolution operation, and β1, β2 are feature importance vectors.

After the fresh leaf image is divided into S multiplied by S non-overlapping areas, the feature vector contained in each area isWherein H is the height of the original image, W is the width of the original image, Q, K, V are obtained by linear mapping of the feature vectors, the expression is shown as formula (12), wherein +.>XT represents the segmented input image, wq, wk, wv represent the weighted projections of the query, key, and value, respectively. Calculating the region-level features by averaging pooling, calculating the average value of each region,/for each region>An adjacency matrix for calculating the inter-region correlation of Qr and Kr, the expression of which is shown in the formula (13)

As shown, where Ar represents the adjacency matrix of the correlation, qr represents the query at the region level, kr represents the key at the region level, and T represents the transpose operation. The coarse-grained region-level route calculation adopts a route index matrixThe index of the first K links is saved row by row, so that only the first K links of each region are used in pruning the dependency graph, and the expression is shown in formula (14). The public key normalization operation is to aggregate tensors of the key and the value, and the aggregation formulas are shown in formulas (15) and (16). Wherein Kg represents the tensor after key aggregation, K represents the key, ir represents the route index matrix, vg represents the tensor after value aggregation, and V represents the value. The collection of scattered key-value pairs is then a fine-grained label-to-label attention calculation using attention manipulation on the aggregated K-V pairs, expressed as in equation (17), where O represents fine-grained label-to-label attention and LCE (V) represents a local context enhancement term.

Q＝X ^r W ^q ，K＝X ^r W ^k ，V＝X ^r W ^v (12)

A ^r ＝Q ^r (K ^r ) ^T (13)

I ^r ＝topkIndex(A ^r ) (14)

K ^g ＝gather(K，I ^r ) (15)

V ^g ＝gather(V，I ^r ) (16)

O＝Attention(Q，K ^g ，V ^g )+LCE(V) (17)

In order to avoid the situation that the number of training images is insufficient to cause excessive fitting of a network, the visual recognition adopts an image enhancement technology to expand the original data, and the original data is expanded by 11 times through means of Cropping, rotate, local enlargement, change exposure, adding Gaussian noise and the like, wherein the images are the data sets used for the visual recognition. Then inputting the photo into a computer for image preprocessing, including image denoising and filtering, and strengthening the color difference of the image. In the invention, the processed picture is visually identified and marked by using a Labelimg tool, and TXT and XML files are generated after marking is completed.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A tea-picking robot comprising:

a walking device;

the upper workbench is fixed on the travelling device;

The mechanical arm is fixed on the upper workbench;

2. The tea-leaf picking robot according to claim 1, further comprising a module camera, a picking monocular camera and a panoramic self-adjusting camera device, wherein the picking monocular camera is connected to the outer side of the connecting pipe through a connecting block, the module camera is fixed to the top end inside the connecting pipe, the panoramic self-adjusting camera device comprises a supporting component, a stepping motor is fixed to the upper end of the supporting component, a base connecting block is fixed to a rotating shaft of the stepping motor, a platform fine-tuning mechanism is fixed to the base connecting block, a servo bracket is connected to the upper end of the platform fine-tuning mechanism, a servo motor is fixed to the servo bracket, a servo connecting rod is fixed to the rotating shaft of the servo motor, a cover bottom is fixed to the servo connecting rod, and the binocular camera, the distance sensor, the infrared sensor and the two full monocular cameras are fixed to the cover bottom.

3. The tea-leaf picking robot of claim 1, wherein the iris cutting mechanism comprises an orientation guide ring, a connection fixing ring, a first positioning ring, a second positioning ring, a blade and a miniature motor, wherein the orientation guide ring is fixed on the connecting pipe, the first positioning ring is fixed between the orientation guide ring and the second positioning ring, the connection fixing ring is arranged between the orientation guide ring and the second positioning ring, an extension rod is fixed on the connection fixing ring, a side extension groove is arranged on the side wall of the first positioning ring, one end of the extension rod penetrating through the extension groove is fixed with a driven arc gear, the miniature motor is fixed on the outer wall of the connecting pipe, a driving arc gear is fixed on a rotating shaft of the miniature motor, the driving arc gear is meshed with the driven arc gear, a plurality of inclined orientation grooves are formed in the connection fixing ring and uniformly distributed around the axis of the connection fixing ring, a blade is connected on each inclined orientation groove, an orientation key is fixed on the blade, an inclined key is arranged on the cutter, and the cutter is provided with an inclined key corresponding to the cutter.

4. The tea-leaf picking robot of claim 1, wherein the vacuum negative pressure recovery device comprises a vacuum negative pressure machine, a fresh leaf storage box and a negative pressure box, the fresh leaf storage box and the negative pressure box are arranged below the upper workbench, a negative pressure cavity is arranged in the negative pressure box, a side wall of the negative pressure cavity is provided with a plurality of negative pressure holes, a fresh leaf cavity is arranged in the fresh leaf storage box, a fresh leaf box opening is arranged on one side of the fresh leaf storage box, the fresh leaf box opening faces the negative pressure holes, an air hole communicated with the negative pressure cavity is formed in the upper workbench, the air hole is connected with the vacuum negative pressure machine through a first air pipeline, and an air inlet hole positioned above the fresh leaf storage box is formed in the upper workbench and is connected with the mounting hole through a leaf pipeline.

5. The tea-leaf picking robot of claim 4 further comprising a leaf discharging device and a lower working table, wherein the lower working table is arranged below the upper working table, the leaf discharging device comprises a pushing device and a telescopic rotating device, the pushing device is arranged in the fresh leaf cavity, the pushing device is arranged at one end far away from the opening of the fresh leaf box, the telescopic rotating device comprises a straightening electric push rod, a fresh leaf storage box fixing plate and an electric rotating table, the linear electric push rod is fixed on the lower working table, the fresh leaf storage box fixing plate is fixed on the push rod of the linear electric push rod, the electric rotating table is fixed on the fresh leaf storage box fixing plate, and the fresh leaf storage box is fixed on the electric rotating table.

6. A tea-leaf picking robot according to claim 5 further comprising a detection sensor fixed within the fresh leaf cavity, the detection sensor being disposed on a side proximate the pushing means.

7. A tea harvesting robot as recited in claim 1, further comprising a solar device, the solar device comprising:

the solar main board is fixed on the upper side of the main body large frame;

8. A tea-leaf picking robot according to claim 7 wherein the solar device further comprises a right expansion plate mechanism comprising:

9. The tea-leaf picking robot of claim 8 wherein the turning device comprises a turning motor fixed on the main frame, a crank block fixed on a rotating shaft of the turning motor, and a turning transmission rod hinged on the crank block, wherein one end of the turning transmission rod far away from the crank block is hinged with the right expansion connecting frame.

10. The tea-picking robot according to claim 1, wherein the mechanical arm comprises a six-degree-of-freedom parallel platform and a picking manipulator device, the six-degree-of-freedom parallel platform comprises a fixed platform and a movable platform, three groups of parallel branched groups are uniformly installed on the upper end face of the fixed platform along the axial direction, each group of parallel branched groups consists of two parallel branched groups, each parallel branched group comprises a universal joint, a servo driving motor mechanism, a screw rod, two first linear guide rods, two second linear guide rods, a first positioning support block, a second positioning support block and a fixed ear seat, one end of each universal joint is fixed on the fixed platform, the other end of each universal joint is in rotary connection with the servo driving motor mechanism, a rotating shaft of each servo driving motor mechanism is fixed with the screw rod, one end of each first linear guide rod is fixedly connected with the corresponding servo driving motor mechanism, the other end of each first linear guide rod passes through the corresponding first positioning support block, one end of each second linear guide rod is fixedly connected with the corresponding first positioning support block, the other end of each second linear guide rod passes through the corresponding second positioning support block, the other is fixedly connected with the picking manipulator device, and the picking manipulator device is fixedly connected with the top end of the picking manipulator device.