CN206005220U - A kind of intelligent tea picking robot - Google Patents

A kind of intelligent tea picking robot Download PDF

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Publication number
CN206005220U
CN206005220U CN201620831747.6U CN201620831747U CN206005220U CN 206005220 U CN206005220 U CN 206005220U CN 201620831747 U CN201620831747 U CN 201620831747U CN 206005220 U CN206005220 U CN 206005220U
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CN
China
Prior art keywords
robot
walking
controller
tea picking
camellia sinensis
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Expired - Fee Related
Application number
CN201620831747.6U
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Chinese (zh)
Inventor
戴坤龙
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YANGZHOU CITY HANJIANG DECHANG PLASTIC FACTORY
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YANGZHOU CITY HANJIANG DECHANG PLASTIC FACTORY
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Priority to CN201620831747.6U priority Critical patent/CN206005220U/en
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Publication of CN206005220U publication Critical patent/CN206005220U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses a kind of intelligent tea picking robot, including walking mechanism, across the crossbeam frame being connected with walking mechanism above Camellia sinensis, the image acquisition device being arranged in crossbeam frame, controller, robot body, collection device, power supply, walking mechanism drives crossbeam frame to move along Camellia sinensis Gansu Province, the data output interface of image acquisition device of collection Camellia sinensis image is connected with the Data Input Interface of controller, the data output interface of controller for the Camellia sinensis image for receiving being identified and being processed is connected with the Data Input Interface of robot body, the robot body that control instruction according to receiving is operated is connected with collection device;Power supply is electrically connected with image acquisition device and controller;Walking mechanism, robot body, the power source interface of vacuum pump are connected with power current or air compressor, and this utility model automatization is strong, high precision, labor intensity are little, saves a large amount of manpowers.

Description

A kind of intelligent tea picking robot
Technical field
This utility model is related to a kind of machinery of picking tea-leaves, more particularly to a kind of intelligent tea picking robot, belongs to agricultural machinery skill Art field.
Background technology
China is the cradle of world's tea culture, and Shi Chan tea big country, tea kinds are various, with a long history, the harvesting of Folium Camelliae sinensis There is distinct seasonality, seasonal is strong, is generally focused on a large amount of outputs of spring and autumn, especially spring tea, and fresh leaf is adopted not in time Pluck, will affect the quality of sample tea, tea picking mode main at present is the high labor intensive by manpower manual labour, and Extremely serious in tea picking season labor shortage, due to plucking the deficiency of ability, often result in and miss harvesting Folium Camelliae sinensis most The good time, as the cost of labor of labour force is improved, this problem is more projected, and, with economic and planting technology Development, the farm of Tea planting, scale, industrialization have also become a kind of trend, and the harvesting of present high-quality tealeaves is Become the bottleneck of restriction Development of Tea Industry, therefore, urgent need will be picked tea-leaves using machinery, solve this distinct issues.
Content of the invention
For solving the deficiencies in the prior art, this utility model provides a kind of intelligent tea picking robot, and automatization is strong, precision High, labor intensity is little, saves a large amount of manpowers.
The technical scheme adopted by this utility model for:
A kind of intelligent tea picking robot, including walking mechanism, across the crossbeam frame being connected with walking mechanism above Camellia sinensis Frame, is arranged on image acquisition device in crossbeam frame, controller, robot body, collection device, power supply,
The walking mechanism drives crossbeam frame to move along Camellia sinensis Gansu Province,
The data output interface of the image acquisition device of collection Camellia sinensis image is connected with the Data Input Interface of the controller, Data output interface to the controller that the Camellia sinensis image for receiving is identified and processes is defeated with the data of the robot body Incoming interface connects, and is connected with the collection device according to the robot body that the control instruction for receiving is operated;
The collection device include collecting box, the vacuum pump for being internally formed negative pressure for making the collecting box and with the collection The recovery channel of tank inlet connection;
The power supply is electrically connected with described image harvester and the controller;The walking mechanism, robot body, true The power source interface of empty pump is connected with power current or air compressor.
Further, the controller includes
The grade preset module of tea picking grade is pre-deposited,
The picture recognition module is identified by the Camellia sinensis image for receiving,
That data in described image identification module and the grade preset module are compared and generate and whether pluck The directive generation module of instruction,
Command output module by the instruction output for generating.
Further, the walking mechanism is separately positioned on the two ends of described crossbeam frame, and described walking mechanism includes The range sensor that connects in order, traveling controller, electric and pneumatic Athey wheel, range sensor constantly detect chain tread From the distance between Camellia sinensis, traveling controller controls the direction of travel of Athey wheel according to the testing result of range sensor.
Further, described crossbeam frame is connected with walking mechanism by highly automated adjusting means, highly automated regulation Device can keep crossbeam frame all the time in level, and keep the distance value of setting with Camellia sinensis top.
Further, described robot body includes horizontal shifting linear variable device, the left and right horizontal being sequentially connected Move linear variable device, vertically move linear variable device, rotary shaft, angular adjustment axle, end effector up and down, the end is held Row device is electric and pneumatic finger, and horizontal shifting linear variable device carries out horizontal shifting, and left and right horizontal moves straight line Deflection machine carries out left and right horizontal movement, vertically moves linear variable device up and down and is vertically moved up and down, and then realizes robot Displacement around body is carried out, on above-below direction, i.e. Y-axis, X-axis, the displacement in Z-direction, make the robot body can be with Movement is significantly conjugated, and rotary shaft can be realized being close to 360 gyrations, and angular adjustment axle can adjust end execution The angle of device, and then change the angular pose of electric and pneumatic finger, allow electric and pneumatic finger accurately to pluck Folium Camelliae sinensis.
Further, described power supply is accumulator or lithium battery, and accumulator is that chemical energy is directly translated into electric energy Device is planted, realizes recharging by reversible chemical reaction, electric energy output is stable, repeats utilization, is convenient for changing, existing market It is widely used;Lithium battery has the advantages that energy height, long service life, lightweight, high/low temperature strong adaptability, while lithium battery is also Possesses high power endurance.
Further, also include that rain cover, the rain cover are arranged on the top of crossbeam frame, can effectively prevent in the rainy day The devices such as the image acquisition device that is arranged in crossbeam frame, controller, robot body, collection device, power supply are soaked with rain.
The beneficial effects of the utility model are:Improve harvesting ability, reduce artificial quantity, reduce labour force artificial into This, it is adaptable to the farm of Tea planting, scale, industrialization, it is easy to pluck high-quality high-quality tea, meanwhile, power source is adopted The compressed air produced with power current or air compressor provides the environment in power, effective protection Camellia sinensis and tea place and is not contaminated.
Description of the drawings:
Fig. 1 is this utility model structural representation;
In figure, Main Reference Numerals implication is as follows:
1- Athey wheels, 2- crossbeam frames, 3- power supplys, 4- collecting boxs, 5- recovery channels, the highly automated adjusting meanss of 6-, 7- Horizontal shifting linear variable device, 8- left and right horizontals move linear variable device, and 9- vertically moves linear variable device, 10- up and down Rotary shaft, 11- angular adjustment axles, 12- pneumatic-fingers.
Specific embodiment:
Specific introduction is done to this utility model below in conjunction with the accompanying drawings;
Fig. 1 is this utility model structural representation;
As shown in Figure 1:The present embodiment is a kind of intelligent tea picking robot, including walking mechanism, across above Camellia sinensis with The crossbeam frame 2 of walking mechanism connection, is arranged on image acquisition device in crossbeam frame 2, controller, robot body, collection Device, power supply 3, walking mechanism drive crossbeam frame 2 to move along Camellia sinensis Gansu Province, and the data for gathering the image acquisition device of Camellia sinensis image are defeated Outgoing interface is connected with the Data Input Interface of controller, the data of the controller for the Camellia sinensis image for receiving being identified and being processed Output interface is connected with the Data Input Interface of robot body, according to the robot sheet that the control instruction for receiving is operated Body is connected with collection device;Collection device include collecting box 4, the vacuum pump for being internally formed negative pressure for making collecting box 4 and with collection The recovery channel 5 of 4 entrance of case connection;Power supply 3 is electrically connected with image acquisition device and controller;Walking mechanism, robot body, true The power source interface of empty pump is connected with air compressor;The compressed air that air compressor is produced is walking mechanism, robot sheet Body, vacuum pump etc. need the Pneumatic component of compressed air-driven to provide compressed-air power, it is of course also possible to use being driven by electric power Dynamic walking mechanism, robot body, vacuum pump, are needed for walking mechanism, robot body, vacuum pump etc. by external connection power electricity The electrical components of power current are wanted to provide electrical source of power.
Controller in the present embodiment includes the grade preset module for pre-depositing tea picking grade, to the Camellia sinensis for receiving The picture recognition module that image is identified, that the data in picture recognition module and grade preset module are compared and raw Into the directive generation module for whether plucking instruction, by the command output module of the instruction output for generating;Image in the present embodiment Harvester is video camera, pre-deposits tea picking grade in grade preset module, the tea picking grade in the present embodiment Grade, one leaf tea of a bud being plucked including a leaf tea and plucking grade, two leaf tea of bud harvesting grade, tea is selected before harvesting Leaf pluck grade, controller by picture recognition module to reception Camellia sinensis image be identified, and with grade preset module in The tea picking level data for choosing in advance is compared, and whether directive generation module generates to pluck according to comparison result and refer to Order, the instruction of generation are exported by command output module;The finger that pneumatic-finger 12 on robot body is exported according to controller Order reaches the harvesting position that specifies and target Folium Camelliae sinensis is plucked;Existing image acquisition, identification, treatment technology very into Ripe, repeat no more here.
Walking mechanism in the present embodiment is separately positioned on the two ends of crossbeam frame 2, and walking mechanism includes connecting in order Range sensor, traveling controller, pneumatic Athey wheel 1, it is of course also possible to select using electric caterpillar band wheel, range sensor Constantly apart from the distance between Camellia sinensis, traveling controller controls crawler belt according to the testing result of range sensor to detection Athey wheel 1 The direction of travel of wheel 1;And, crossbeam frame 2 is connected with walking mechanism by highly automated adjusting means 6, highly automated regulation Device 6 can keep crossbeam frame 2 all the time in level, and keep the distance value of setting with Camellia sinensis top;Meanwhile, the present embodiment Also include being arranged on the rain cover above crossbeam frame 2, can effectively prevent the image being arranged in crossbeam frame 2 from adopting in the rainy day The devices such as storage, controller, robot body, collection device, power supply 3 are soaked with rain.
Robot body in the present embodiment includes the horizontal shifting linear variable device 7, left and right horizontal being sequentially connected Move linear variable device 8, vertically move linear variable device 9, rotary shaft 10, angular adjustment axle 11, end effector up and down, wherein End effector is pneumatic-finger 12, it is of course also possible to use electronic finger, before horizontal shifting linear variable device 7 is carried out After move horizontally, left and right horizontal movement linear variable device 8 carries out left and right horizontal movement, vertically moves linear variable device 9 up and down and enters Row vertically move up and down, and then realize robot body carry out around, the displacement on above-below direction, i.e. Y-axis, X-axis, Z axis Displacement on direction, allows robot body significantly to be conjugated movement, and rotary shaft 10 can be realized being close to 360 revolutions Motion, angular adjustment axle 11 can adjust the angle of end effector, and then the angular pose of the electric and pneumatic finger of change, make Electric and pneumatic finger can accurately pluck Folium Camelliae sinensis;Existing machinery tea picker is more barbarous, is that the Folium Camelliae sinensis that newly will be grown enter The whole horizontal sliding of row is shaved and is cut, and the mode of this mechanical picking cannot ensure that plucking Folium Camelliae sinensis has identical standard, such as one leaf of a bud, institute Tea picking leaf integrity, concordance extreme difference, broken leaf are more, and young leaves old leaf is regardless of or even all shaving to cut branch end and be mixed in Folium Camelliae sinensis, drop The quality of low tea making raw material, and growth of tea plant is injured larger, the growth promoter of Camellia sinensis is affected, has been plucked also past after Folium Camelliae sinensis Folium Camelliae sinensis are conveyed in collecting box, Folium Camelliae sinensis easily drop during conveying, and lose time, and tea picking working performance is low, this reality Apply example and treated by pneumatic-finger 12 and adopt target Folium Camelliae sinensis and accurately plucked, will not Folium Camelliae sinensis be caused with any damage, Folium Camelliae sinensis are complete Without broken leaf, the Folium Camelliae sinensis under plucking are drawn into the internal reservoir of collecting box 4 in time, are substantially increased Folium Camelliae sinensis by recovery channel 5 Transfer efficiency, pneumatic-finger 12 can pluck Folium Camelliae sinensis always, improve the efficiency for plucking Folium Camelliae sinensis.
Power supply 3 in the present embodiment is accumulator, and accumulator is a kind of device that chemical energy is directly translated into electric energy, leads to Cross reversible chemical reaction to realize recharging, electric energy output is stable, repeats and utilizes, is convenient for changing, and existing market is widely used; Certainly, power supply 3 can also select to use lithium battery, lithium battery that there is energy height, long service life, lightweight, high/low temperature to adapt to The advantages of property is strong, while lithium battery is also equipped with high power endurance.
The present embodiment is a kind of tea picking method of intelligent tea picking robot, comprises the following steps:
(1)Move position:Image acquisition device, controller, robot body, collection device, power supply are arranged on crossbeam frame On frame, walking mechanism drive crossbeam frame along Camellia sinensis Gansu Province move, while start collection device operation, power supply be image acquisition device, Controller is powered, and walking mechanism, robot body, the power source of collection device provide power or by air compressor by power current Compressed-air power is provided;
(2)Collection Camellia sinensis image:Camellia sinensis image on image acquisition device collection crossbeam frame direct of travel, and will collect Camellia sinensis image send to controller;
(3)Process image:Controller is identified to the Camellia sinensis image for receiving by picture recognition module, and pre- with grade The data that puts in module are compared, and directive generation module generates whether pluck instruction according to comparison result, and the instruction of generation is led to Cross command output module output;
(4)Pluck Folium Camelliae sinensis:Pneumatic-finger 12 on robot body is according to adopting that the instruction arrival that controller is exported is specified Pluck position to pluck target Folium Camelliae sinensis;
(5)Reclaim Folium Camelliae sinensis:The recovered pipeline of Folium Camelliae sinensis that robot body is plucked is inhaled into the collection on collection device Case internal reservoir.
Described in the present embodiment, a kind of tea picking method of intelligent tea picking robot also includes the highly automated regulation of crossbeam frame Step, and the highly automated regulating step of the crossbeam frame and the step(1)Synchronously carry out.
At present, there is on market the device of multiple mechanical pickings, but its operation principle and leaveves trimmer and shovel grass Machine is similar, is the Folium Camelliae sinensis for newly growing are carried out whole horizontal sliding to shave to cut during work, and the mode of this mechanical picking cannot ensure to pluck Folium Camelliae sinensis have identical standard, such as one leaf of a bud, and institute's tea picking leaf integrity, concordance extreme difference, broken leaf are more, young leaves old leaf regardless of, Even branch end is all shaved to cut and is mixed in Folium Camelliae sinensis, reduce the quality of tea making raw material, and larger, impact is injured to growth of tea plant The growth promoter of Camellia sinensis, therefore, people are more next to the intelligent tea picking machine Man's Demands that can pluck high-quality high-quality tea Bigger.
This utility model is combined with industrial robot using technology such as image acquisition, identification, process, to treating in Camellia sinensis Tea picking leaf is accurately positioned and is plucked, it is ensured that the Folium Camelliae sinensis of harvesting have identical standard, such as a leaf, one leaf of a bud, a bud two Leaf, institute's tea picking leaf integrity, concordance are good, and old leaf and branch end will not be mixed in Folium Camelliae sinensis, improve the quality of tea making raw material, To Camellia sinensis fanout free region during Folium Camelliae sinensis are plucked, promote the growth promoter of Camellia sinensis;Harvesting ability is improved, artificial quantity is reduced, Reduce the cost of labor of labour force, it is adaptable to the farm of Tea planting, scale, industrialization, be easy to pluck high-quality high-quality Folium Camelliae sinensis, meanwhile, power source provides power, effective protection Camellia sinensis and tea using the compressed air that power current or air compressor are produced The environment in garden is not contaminated.
The above is only the preferred implementation of this utility model patent, it is noted that general for the art For logical technical staff, on the premise of without departing from this utility model patent principle, some improvements and modifications can also be made, this A little improvements and modifications also should be regarded as the protection domain of this utility model patent.

Claims (7)

1. a kind of intelligent tea picking robot, it is characterised in that including walking mechanism, across being connected with walking mechanism above Camellia sinensis Crossbeam frame, be arranged on image acquisition device in crossbeam frame, controller, robot body, collection device, power supply,
The walking mechanism drives crossbeam frame to move along Camellia sinensis Gansu Province,
The data output interface of the image acquisition device of collection Camellia sinensis image is connected with the Data Input Interface of the controller, is docked The data output interface of the controller that the Camellia sinensis image of receipts is identified and processes is connect with the data input of the robot body Mouth connection, is connected with the collection device according to the robot body that the control instruction for receiving is operated;
The collection device is included collecting box, the vacuum pump for being internally formed negative pressure for making the collecting box and is entered with the collecting box The recovery channel of mouth connection;
The power supply is electrically connected with described image harvester and the controller;The walking mechanism, robot body, vacuum pump Power source interface be connected with power current or air compressor.
2. a kind of intelligent tea picking robot according to claim 1, it is characterised in that the controller includes
The grade preset module of tea picking grade is pre-deposited,
The picture recognition module is identified by the Camellia sinensis image for receiving,
That data in described image identification module and the grade preset module are compared and generate whether pluck instruction Directive generation module,
Command output module by the instruction output for generating.
3. a kind of intelligent tea picking robot according to claim 1, it is characterised in that the walking mechanism is separately positioned on The two ends of described crossbeam frame, range sensor that described walking mechanism includes connecting in order, traveling controller, electronic Or pneumatic Athey wheel.
4. a kind of intelligent tea picking robot according to claim 1 or 3, it is characterised in that described crossbeam frame passes through Highly automated adjusting means is connected with walking mechanism.
5. a kind of intelligent tea picking robot according to claim 1, it is characterised in that described robot body include according to The horizontal shifting linear variable device of secondary connection, left and right horizontal movement linear variable device, vertically move up and down linear variable device, Rotary shaft, angular adjustment axle, end effector, the end effector are electric and pneumatic fingers.
6. a kind of intelligent tea picking robot according to claim 1, it is characterised in that described power supply is accumulator or lithium Battery.
7. a kind of intelligent tea picking robot according to claim 1, it is characterised in that also include rain cover, the rain-proof Cover is arranged on the top of crossbeam frame.
CN201620831747.6U 2016-08-03 2016-08-03 A kind of intelligent tea picking robot Expired - Fee Related CN206005220U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105993387A (en) * 2016-08-03 2016-10-12 扬州市邗江德昌塑料厂 Intelligent tea picking robot and tea picking method thereof
CN107667659A (en) * 2017-11-28 2018-02-09 梧州市旺捷机械制造有限公司 Tea picking device
CN108040599A (en) * 2017-12-06 2018-05-18 棕橙智造(上海)机器人有限公司 Autonomous intelligence tea picking robot
CN108726633A (en) * 2018-06-20 2018-11-02 虞惠敏 A kind of softening water processing robot of automatically walk cleaning

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105993387A (en) * 2016-08-03 2016-10-12 扬州市邗江德昌塑料厂 Intelligent tea picking robot and tea picking method thereof
CN105993387B (en) * 2016-08-03 2018-05-01 扬州市邗江德昌塑料厂 A kind of intelligence tea picking robot and its tea picking method
CN107667659A (en) * 2017-11-28 2018-02-09 梧州市旺捷机械制造有限公司 Tea picking device
CN108040599A (en) * 2017-12-06 2018-05-18 棕橙智造(上海)机器人有限公司 Autonomous intelligence tea picking robot
CN108726633A (en) * 2018-06-20 2018-11-02 虞惠敏 A kind of softening water processing robot of automatically walk cleaning

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20170315

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