CN202998870U - Tea picking system - Google Patents
Tea picking system Download PDFInfo
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- CN202998870U CN202998870U CN 201320025340 CN201320025340U CN202998870U CN 202998870 U CN202998870 U CN 202998870U CN 201320025340 CN201320025340 CN 201320025340 CN 201320025340 U CN201320025340 U CN 201320025340U CN 202998870 U CN202998870 U CN 202998870U
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- tea
- leaves
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- young
- picking
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Abstract
A tea picking system comprises a CPU (central processing unit), as well as a two-dimensional laser range unit, an image acquisition device, a computer image model database, a control device and a picking mechanism which are connected with the CPU. According to the tea picking system, the two-dimensional laser range unit is used for measuring tea elevation to locate tea vertically, and a camera is adopted for acquiring images; horizontal location of bud leaves is conducted based on colors of young tea leaves and climax tea leaves; the tea can be picked quickly and very accurately; the agricultural labor force is liberated; agricultural modernization, mechanization and intellectualization are promoted; and the tea picking effect is improved. According to the tea picking system, the accurate location of the young tea leaves is realized with the adoption of horizontal location of leaf buds and young leaves based on the colors of the young tea leaves (single bud, one bud one leaf, and one bud two leaves) and the climax tea leaves, as well as vertical location of the two-dimensional laser range unit.
Description
Technical field
The utility model relates to a kind of tea picking system, particularly a kind of system for plucking green tea materials (young shoot and tender leaf).
Background technology
China is the big producing country of Tea planting big country, particularly green tea, and the green tea effect is liked by the consumer deeply.But tea picking is the agricultural operation that a labour intensity is large especially, operating efficiency is very low, at present or artificial pluck most to the harvesting of tealeaves.Also occur by the camera collection image in the prior art, and the mechanism of can only control appliance tealeaves being plucked, but technology that is that all right is ripe, can not be applied in real harvesting work.As the tea picking machine people of Chinese patent (patent No. is 201110380397.8), this patent just adopts vision system, establishes spire by a plurality of cameras and gathers the position, and this system is perfect not, locates inaccurate.
The utility model content
The utility model will solve the shortcoming of above-mentioned prior art, and a kind of tea picking system is provided, and adopts the high-tech technology automatically to pluck tealeaves, has improved the efficient of picking tea-leaves.
The utility model solves the technical scheme that its technical problem adopts: this tea picking system, comprise central processing unit, central processing unit connects laser two-dimensional range unit, image collecting device, computer picture model database, control device and picking mechanism.This system determines the collection position of spire by laser two-dimensional range unit and image collecting device, the location more accurately, fast.
Wherein picking mechanism comprises a pair of guide rail that is placed on the tealeaves both sides, and guide rail is provided with sliding support, and sliding support is provided with picker arm, and picker arm connects control device.
The effect that the utility model is useful is: the utility model adopts the laser two-dimensional range-measurement system to be used for measuring the tealeaves elevation, so that tealeaves is carried out perpendicular positioning, and coordinates the camera collection image; Carry out the horizontal location of young shoot leaf based on tealeaves spire color and tealeaves mature leaf color, but rapid picking tealeaves, it is very accurate to pluck, and the liberation agricultural workforce increases agricultural modernization, mechanization, intellectuality, has improved the tea picking effect.The utility model based on tealeaves spire (simple bud, bud one leaf, bud two leaves) color and tealeaves mature leaf color carry out leaf young shoot and tender leaf horizontal location, carry out perpendicular positioning in conjunction with the laser two-dimensional range-measurement system, realized the accurate location of tealeaves spire.
Description of drawings
Fig. 1 is system of the present utility model control block diagram;
Fig. 2 is the structural representation of picking mechanism in the utility model.
Description of reference numerals: guide rail 1, sliding support 2, picker arm 3, control device 4.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing:
With reference to accompanying drawing: this tea picking system, comprise central processing unit, central processing unit connects laser two-dimensional range unit, image collecting device, computer picture model database, control device and picking mechanism.Wherein picking mechanism comprises a pair of guide rail 1 that is placed on the tealeaves both sides, and guide rail 1 is provided with sliding support 2, and sliding support 2 is provided with picker arm 3, and picker arm 3 connects control device 4.
Operating procedure of the present utility model:
1, adopt the laser two-dimensional range-measurement system to be used for measuring the tealeaves elevation, so that tealeaves is carried out perpendicular positioning.Binocular camera is used for the horizontal location of spire, sets up the computer picture model of spire (simple bud, bud one leaf, bud two leaves), with the length information input computer system of spire.
2, computer processor according to laser two-dimensional range-measurement system and binocular camera image, according to all types of spires, is determined its length, and the spire three dimensional local information is carried out match.Simultaneously according to the computer picture model, spire length is established each spire collection point three dimensional local information.
3, with spire collection point positional information input electric machine control system, coordinate by picker arm, scissors and adopt air pulse to collect spire.
Although the utility model illustrates and describes by the reference preferred embodiment,, those skilled in the art should understand, and in the scope of claims, can do the various variation on form and details.
Claims (2)
1. tea picking system, it is characterized in that: it comprises central processing unit, central processing unit connects laser two-dimensional range unit, image collecting device, computer picture model database, control device and picking mechanism.
2. tea picking according to claim 1 system, it is characterized in that: described picking mechanism comprises a pair of guide rail (1) that is placed on the tealeaves both sides, guide rail (1) is provided with sliding support (2), sliding support (2) is provided with picker arm (3), and picker arm (3) connects control device (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320025340 CN202998870U (en) | 2013-01-18 | 2013-01-18 | Tea picking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320025340 CN202998870U (en) | 2013-01-18 | 2013-01-18 | Tea picking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202998870U true CN202998870U (en) | 2013-06-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320025340 Expired - Fee Related CN202998870U (en) | 2013-01-18 | 2013-01-18 | Tea picking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202998870U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103439265A (en) * | 2013-08-15 | 2013-12-11 | 湖南农业大学 | Real-time monitoring method for growth characters of tea trees in intensive cultivation |
| CN103439264A (en) * | 2013-08-15 | 2013-12-11 | 湖南农业大学 | Device for data acquisition of fertility characteristics of tea tree living body based on online positioning |
| CN103444360A (en) * | 2013-09-09 | 2013-12-18 | 农业部南京农业机械化研究所 | Intelligent tea leaf picking machine |
| CN106525134A (en) * | 2016-11-28 | 2017-03-22 | 深圳万智联合科技有限公司 | Tea tree refined cultivation and fertilizing property real-time monitoring system |
| CN109287276A (en) * | 2018-09-28 | 2019-02-01 | 华中农业大学 | A kind of strawberry is picked automatically and fruit classification device |
| CN113099847A (en) * | 2021-05-25 | 2021-07-13 | 广东技术师范大学 | Fruit picking method based on fruit three-dimensional parameter prediction model |
| CN113505779A (en) * | 2021-07-30 | 2021-10-15 | 中国农业科学院都市农业研究所 | Tea-picking surface ultrasonic and visual fusion detection method and device for tea-picking robot |
| JP2023088826A (en) * | 2021-12-15 | 2023-06-27 | 中国農業科学院茶叶研究所 | Tea picking method based on image and point cloud data processing |
-
2013
- 2013-01-18 CN CN 201320025340 patent/CN202998870U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103439265A (en) * | 2013-08-15 | 2013-12-11 | 湖南农业大学 | Real-time monitoring method for growth characters of tea trees in intensive cultivation |
| CN103439264A (en) * | 2013-08-15 | 2013-12-11 | 湖南农业大学 | Device for data acquisition of fertility characteristics of tea tree living body based on online positioning |
| CN103439265B (en) * | 2013-08-15 | 2015-06-03 | 湖南农业大学 | Real-time monitoring method for growth characters of tea trees in intensive cultivation |
| CN103444360A (en) * | 2013-09-09 | 2013-12-18 | 农业部南京农业机械化研究所 | Intelligent tea leaf picking machine |
| CN103444360B (en) * | 2013-09-09 | 2015-07-22 | 农业部南京农业机械化研究所 | Intelligent tea leaf picking machine |
| CN106525134A (en) * | 2016-11-28 | 2017-03-22 | 深圳万智联合科技有限公司 | Tea tree refined cultivation and fertilizing property real-time monitoring system |
| CN109287276A (en) * | 2018-09-28 | 2019-02-01 | 华中农业大学 | A kind of strawberry is picked automatically and fruit classification device |
| CN109287276B (en) * | 2018-09-28 | 2021-04-09 | 华中农业大学 | Automatic strawberry picking and fruit grading device |
| CN113099847A (en) * | 2021-05-25 | 2021-07-13 | 广东技术师范大学 | Fruit picking method based on fruit three-dimensional parameter prediction model |
| CN113505779A (en) * | 2021-07-30 | 2021-10-15 | 中国农业科学院都市农业研究所 | Tea-picking surface ultrasonic and visual fusion detection method and device for tea-picking robot |
| JP2023088826A (en) * | 2021-12-15 | 2023-06-27 | 中国農業科学院茶叶研究所 | Tea picking method based on image and point cloud data processing |
| JP7309160B2 (en) | 2021-12-15 | 2023-07-18 | 中国農業科学院茶叶研究所 | Tea picking method based on image and point cloud data processing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130619 Termination date: 20140118 |