JP2023043885A - Method and device for wall cultivation of tea trees suitable for work of plucking robot - Google Patents

Abstract

To provide a method and device for the wall cultivation of tea trees suitable for the work of a plucking robot, which are related to the technical field of smart agricultural equipment.SOLUTION: The method for the wall cultivation of tea trees comprises cultivating the tea trees on a flat surface, making the tea trees into a wall-like shape using an auxiliary device, regulating a thickness of a wall surface shaped by the tea trees to a preset width or less, and thereby allowing a plucking robot to pluck tea leaves from side surfaces of the tea trees.EFFECT: Adopting this method for the wall cultivation of tea trees can add ornamental value, increase tourism income, improve the attractiveness of urban agriculture, and help the work of a plucking robot. The device for the wall cultivation of tea trees comprise an auxiliary device used to fix the tea tree branches, and since a position in a height direction of the support columns of the metal frame of the auxiliary device can be adjusted, the tea tree can be shaped like a wall surface to realize management by devices and convenience.SELECTED DRAWING: Figure 2

Description

TECHNICAL FIELD The present disclosure relates to the technical field of smart farming equipment, and in particular to a tea plant wall cultivation method and equipment suitable for plucking robot work.

Tea leaves have a high economic value, and tea cultivation is an important source of income for farmers. The cultivation method of tea leaves should be suitable for the use of smart devices and easy for mechanization and robot work. We have to develop.

To solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a tea plant wall cultivation method and apparatus suitable for plucking robot operations.

The present disclosure is to cultivate a tea tree on a flat surface, shape the tea tree into a wall-like shape using an auxiliary device, and reduce the thickness of the wall formed by the tea tree to a predetermined width or less. provides a wall-like cultivation method for tea plants that is suitable for the work of the plucking robot, including that the plucking robot can pluck tea leaves from the side of the tea plant.

It is possible to make the tea tree into a wall-like shape using an auxiliary device, specifically:
fixing the branches of the tea tree using an auxiliary device to grow the branches of the tea tree horizontally away from the main trunk of the tea tree;
The end of the tea tree branch away from the main trunk of the tea tree is bent toward the main trunk of the tea tree, and an auxiliary device is used to fix the bent tea tree branch to the tea tree. growing the tree branches horizontally toward the main trunk of the tea tree;
The end of the tea tree branch near the main trunk of the tea tree is bent in a direction away from the main trunk of the tea tree, and the bent tea tree branch is fixed using an auxiliary device to produce tea. growing the branches of the tea tree horizontally away from the main trunk of the tea tree.

Optionally, the wall thickness formed by the tea tree is less than or equal to 20 cm, and the height of the wall formed by the tea tree is greater than 300 cm.

selectable, a plurality of tea plants are planted in rows, each row of tea plants includes at least one tea plant, and a wall surface formed by all the tea plants of each row of tea plants are in the same direction.

Optionally, two rows of tea trees are planted side by side, and a reflector is provided between the two rows of tea trees planted side by side.

Optionally, each row of tea plants includes at least two tea plants, and the branches of two adjacent tea plants in each row of tea plants are provided overlapping.

A selectable method of wall cultivation of tea plants suitable for the work of said plucking robot is to use the automatic movement of the work robot to supplement the tea plants from the sides of the tea plants, thereby cultivating tea plants. It further comprises providing sufficient light illumination to the plucked surface of the tree.

Tea plants suitable for plucking robot work, characterized in that the present disclosure further includes an auxiliary device used to form the tea plants into a wall-like shape by fixing the branches of the tea plants. providing a wall-shaped cultivation device of
The auxiliary device includes a base and an auxiliary bracket fixed to the base, the auxiliary bracket includes a vertical support column and a multi-level metal frame connected to the vertical support column, and the metal frame is The vertical position of the support column is adjustable.

The optional tea plant wall cultivation device suitable for the work of the plucking robot further comprises a supplementary light plucking device, the supplementary light plucking device comprising a working robot, a mechanical arm and a supplementary light plucking machine. including
The mechanical arm is attached to the working robot, the supplemental light picking machine is attached to the mechanical arm, the supplemental light picking machine includes a supplemental light and a picking machine.

Optionally, said mechanical arm includes a first vertical arm segment, a horizontal arm segment and a second vertical arm segment connected in series, said first vertical arm segment being rotatably connected to said work robot. wherein the horizontal arm segment is rotatably connected to the first vertical arm segment, the second vertical arm segment is rotatably connected to the horizontal arm segment, and the supplemental light plucker is connected to the second Attached to the vertical arm segment.

The technical solutions provided by the embodiments of the present disclosure have the following advantages compared with the prior art.
The wall-shaped cultivation method of tea plants suitable for the work of the plucking robot provided by the present disclosure is to cultivate tea plants in a flat surface, use an auxiliary device to make the tea plants into a wall-shaped shape, The thickness of the walls formed by the trees is set below a preset width. Helps to achieve harvesting objectives and improve harvesting efficiency. Adopting such an artistic cultivation method can add ornamental value, increase tourism income, improve the attractiveness of urban agriculture, and help robot operations.

The wall-shaped cultivation device for tea trees suitable for the work of the plucking robot provided by the present disclosure uses an auxiliary device to fix the branches of the tea tree to fix the tea tree in a designed shape, In the process of growing the tea tree, by adjusting the vertical position of the vertical column of the metal frame of the auxiliary device, the gradual adjustment of the shape of the tea tree is realized, and finally the tea tree grows. By making it a wall-like shape, it realizes management and convenience.

The drawings set forth herein are incorporated into the specification as a part thereof, illustrate embodiments consistent with the present disclosure, and, together with the specification, serve to interpret the principles of the disclosure.
Next, in order to describe the embodiments of the present disclosure or the technical solutions according to the prior art more clearly, the drawings required for the description of the embodiments or the prior art are briefly introduced, and needless to say, those skilled in the art can derive further drawings from these drawings without novelty.
FIG. 1 is a schematic diagram of the shape of tea plants cultivated using a method of growing tea plants in a wall suitable for the operation of the plucking robot according to the embodiments of the present disclosure. FIG. 2 is a structural schematic diagram of working on the walls of tea plants by adopting supplementary light plucking device of the wall-type cultivation device for tea plants, which is suitable for the work of the plucking robot according to the embodiments of the present disclosure. . FIG. 3 is a structural schematic diagram of a superimposed and densely planted tea plant cultivated by adopting the wall-like cultivation method of tea plants suitable for the operation of the plucking robot according to the embodiments of the present disclosure. FIG. 4 is a structural schematic diagram of fixing tea plants by adopting the auxiliary device of the tea plant wall-like cultivation device suitable for the work of the plucking robot according to the embodiments of the present disclosure. FIG. 5 is a structural schematic diagram of the mechanical arm of the working robot of the tea plant wall-like cultivation device suitable for the work of the plucking robot according to the embodiments of the present disclosure.

Next, the solution of the present disclosure will be further described so that the above objects, features and advantages of the present disclosure can be understood more clearly. It should be noted that the embodiments and features of the embodiments of the present disclosure can be combined with each other unless inconsistent.

Although the following description sets forth numerous details for a thorough understanding of the disclosure, the disclosure may be embodied in other ways than those described herein, and it should be understood that the specification The examples are merely some, but not all examples of the disclosure.

As shown in FIGS. 1 and 2, the method of wall cultivation of tea plants (tea plants) suitable for the work of the plucking robot provided by certain embodiments of the present disclosure is to cultivate tea plants in a plane, The plucking robot plucks tea leaves from the side of the tea tree by shaping the tea tree into a wall-like shape using an auxiliary device and making the thickness of the wall formed by the tea tree less than a preset width. Including what you can do. FIG. 1 shows a schematic front view of a tea plant 1 cultivated by adopting the wall-shaped cultivation method for tea plants of the present disclosure, and FIG. 1 shows a schematic side view of a tea plant 1 grown in

Adopting the wall-like cultivation method of tea trees suitable for the work of the plucking robot of the present disclosure can cultivate tea trees with a high wall-like shape, and such an artistic cultivation method can be used for ornamental purposes. It can add value, using high walls to design labyrinths can increase tourism income, improve the attractiveness of urban agriculture, and help plucking robots work.

In a specific embodiment, as shown in FIGS. 1 and 4, shaping the tea plant into a wall shape using an auxiliary device specifically includes:
Step S1 of fixing the branches of the tea tree using an auxiliary device and growing the branches of the tea tree horizontally away from the trunk of the tea tree;
The end of the tea tree branch away from the main trunk of the tea tree is bent toward the main trunk of the tea tree, and an auxiliary device is used to fix the bent tea tree branch to the tea tree. a step S2 of horizontally growing the branches of the tea tree in a direction close to the main trunk of the tea tree;
The end of the tea tree branch near the main trunk of the tea tree is bent in a direction away from the main trunk of the tea tree, and the bent tea tree branch is fixed using an auxiliary device to produce tea. growing the branches of the tea tree horizontally in a direction away from the main trunk of the tea tree S3.

After step S3, steps S2 and S3 are repeated if necessary to cause the tea tree to finally form a high-walled structure with a small thickness and a high height, and the branches of the tea tree are directed downward. It can be formed into a labyrinth-like structure that gradually curves upward from the top, which is suitable for harvesting by plucking robots and enhances the ornamental value of tea plants.

In a particular embodiment, as shown in FIGS. 1 and 2, the wall thickness formed by the tea tree is no greater than 20 cm, and the wall height formed by the tea tree is greater than 300 cm. , such a tea tree wall is not only suitable for the harvesting of the plucking robot, but also can increase the ornamental value of the tea tree, and the wall thickness formed by the tea tree is small, By setting the height of the wall surface formed by the tea plant to be greater than 300 cm, the tea leaf yield of the tea plant is guaranteed. Of course, the thickness and height of the walls formed by the tea tree are not specifically limited to the above, and can be reasonably set if necessary.

In a specific embodiment, as shown in FIG. 2, a plurality of tea plants are planted in rows, each row of tea plants includes at least one tea plant, and all of the tea plants in each row are The walls formed by tea trees in Tea trees planted in this way can be easily harvested by plucking robots, so harvesting efficiency is likely to be effectively improved.

Furthermore, as shown in FIG. 2, two rows of tea trees are planted side by side, and a reflector 5 is provided between the two rows of tea trees planted side by side. Since the reflector 5 can effectively reflect the light, when supplementing the light to the tea tree from the side opposite to the reflector 5 of the tea tree, the light can irradiate the tea tree as much as possible. Emission from the other side of the tree can be avoided, in this way the supplementary light efficiency can be effectively improved, and the brown tree can be supplemented with light from the side opposite to the reflector 5 of the brown tree. helps the tea leaves of the tea plant grow toward the supplementary light side, so that the plucking surface of the tea leaves becomes larger and faces outward, so that the plucking robot plucks the tea leaves from the supplementary light side of the tea plant. useful for.

Further, as shown in FIG. 3, each row of tea plants includes at least two tea plants, and the branches of two adjacent tea plants in each row of tea plants are provided overlapping. . In this way, the yield of tea leaves from the tea plants can be improved, the number of tea leaves picked per unit area of the picking robot can be increased, and the space required for cultivating the tea plants can be saved.

In certain embodiments, as shown in FIG. 2, the wall-growing method of tea plants suitable for the work of picking robots provided by certain embodiments of the present disclosure utilizes automatic movement of picking robots. By providing supplemental light to the tea plant from the side of the tea plant, sufficient light irradiation is provided to the plucked surface of the tea plant, and tea leaves are encouraged to grow on the supplemental light side. further including assisting in the plucking of

As shown in FIG. 4, a tea tree wall-growing apparatus suitable for the work of a plucking robot provided by certain embodiments of the present disclosure can grow tea trees on a wall surface by fixing the branches of the tea tree. Includes ancillary equipment used for shaping. Specifically, the auxiliary device includes a base 4 and an auxiliary bracket fixed to the base 4. The auxiliary bracket comprises a vertical support column 2 and a multi-level metal frame 3 connected to the vertical support column 2. Including, the position in the height direction of the support column 2 of the metal frame 3 is adjustable.

The wall-growing device for tea plants suitable for the work of the plucking robot provided by the embodiments of the present disclosure allows the tea plants to grow into the designed shape by fixing the branches of the tea plants with the help of an auxiliary device. In the process of growing the tea plant, by adjusting the height direction of the vertical column of the metal frame of the auxiliary device, the gradual adjustment of the shape of the tea plant is realized, and finally the tea plant grows. By making the tree into a wall-like shape, we realize the convenience and deviceization of management.

In a specific embodiment, firstly, the multi-tiered metal frame 3 of the auxiliary device is used to fix the tea tree branches so that the tea tree branches are fixed in a horizontal state (see FIG. 3), Branches of the tea tree may be grown horizontally away from the main trunk of the tea tree. After the branch of the tea tree grows horizontally for a predetermined time, the end of the branch of the tea tree away from the main trunk of the tea tree is bent toward the main trunk of the tea tree, and the metal frame 3 is bent. The position of the vertical column in the height direction may be adjusted, and the branch of the tea tree after bending is fixed using an auxiliary device, and the branch of the tea tree is moved in a direction close to the main trunk of the tea tree. Grow horizontally. After the tea tree branch grows horizontally for a predetermined time, the end of the tea tree branch near the main trunk of the tea tree is bent away from the main trunk of the tea tree, and the metal frame is bent. The position of the vertical column in the direction of height can be adjusted, and an auxiliary device is used to fix the tea tree branch after bending, so that the tea tree branch is moved away from the main trunk of the tea tree. grow horizontally towards In this way, after bending and fixing the branches of the tea tree several times, finally the tea tree forms a high-walled shape.

In a particular implementation, the multi-level metal frame 3 and the support column 2, and the support column 2 and the base 4 are detachably connected by bolts, so that each metal frame 3 in each level can be removed one by one. , useful for transportation and storage.

As shown in FIG. 2, the wall-growing apparatus for tea plants suitable for the operation of the picking robot provided by certain embodiments of the present disclosure further includes a supplemental light plucking device, which provides a supplemental light plucking device for the operation It includes a robot 6, a mechanical arm 7, and a supplementary light plucking machine 8, the mechanical arm 7 being attached to the work robot 6, the supplementary light plucking machine 8 being attached to the mechanical arm 7, and the supplementary light plucking machine 8 being , a supplementary light 801 and a plucking machine 802, the supplementary light 801 supplementing the wall of the tea tree to encourage the tea leaves to grow on the supplementary light side, which is useful for later plucking. The plucking machine 802 is used to pluck mature tea leaves.

In implementation, the supplemental light plucker has two functions. One is supplementary light, which adopts one or more rows of led supplementary light 801, and the light intensity can be adjusted quantitatively by the adjuster. Specifically, the fill light 801 may be a led bank light that combines white, red and green light. Another is plucking, where one or more pluckers 802 may be provided. Specifically, the plucking machine may employ a push-fold structure for harvesting. The tea tree is fixed into a high wall shape by an auxiliary device. The reflector 5 is placed between two rows of tea trees, and the working robot 6 travels back and forth, realizing the work on one row of trees at a time, and realizing supplementary lighting or harvesting work. The mechanical arm 7 is used to work together with the supplementary light plucking machine 8. When the supplementary light plucking machine 8 is lifted during work, and the mechanical arm 7 is folded after the work is completed, the volume is reduced, which is convenient for transportation. .

In a particular embodiment, as shown in FIG. 5, the mechanical arm 7 includes a first vertical arm segment 701, a horizontal arm segment 702, and a second vertical arm segment 703 connected in sequence, the first vertical arm A segment 701 is rotatably connected to the working robot 6 so that the mechanical arm 7 can be folded down when not in use to facilitate transportation and storage. Since the horizontal arm segment 702 is rotatably connected to the first vertical arm segment 701, it is realized to pull back the arm segment over the width distance when the mechanical arm 7 is not in use. A supplemental light plucking machine 8 attached to the second vertical arm segment 703 with the second vertical arm segment 703 rotatably connected to the horizontal arm segment 702 so as to change the second vertical arm segment 703 from a vertical state to a horizontal state. It can be changed from a vertical state to a horizontal state, which is convenient for transportation and storage.

In the realization, the three rotating mechanisms are respectively driven by three motors, and can work simultaneously to achieve multi-directional supplemental lighting and plucking of the tea tree wall, and the mechanical arm 7 after the work is finished. Also useful for transportation and storage of

In particular embodiments, the work robot 6 includes a power system, the power system includes a secondary battery and a solar cell, both of which are used to provide power to the work robot 6. . When the working robot 6 is working, the solar battery can be preferentially used for power supply, and when the remaining amount of the solar battery is low, the secondary battery may be used for power supply, which is effective in this way. can save energy.

In this specification, related terms such as "first" and "second" are merely used to distinguish a specific object or action from another object or action, and are not necessarily It is not intended to claim or imply that there actually is any such relationship or order between these objects or actions. Also, by using the terms "including", "having" or any other similar term to cover the non-exclusive inclusiveness, a process, method, object or apparatus comprising a series of elements includes only those elements. Instead, it further includes other elements not specified or specific to such process, method, object or apparatus. Unless otherwise specified, an element defined by the phrase "comprising a" may be present in addition to the same element in the process, method, object or apparatus that includes said element.

The foregoing merely describes specific embodiments of the present disclosure to enable those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. To that end, the present disclosure is not limited to the embodiments described herein, but is to be accorded the fullest scope consistent with the principles and novel features disclosed herein.

In the figure, 1... brown tree, 2... vertical support column, 3... metal frame, 4... base, 5... reflector, 6... working robot, 7... machine arm, 701... first vertical arm segment, 702... horizontal Arm segment, 703...Second vertical arm segment, 8...Complementary light plucking machine, 801...Complementary light plucking machine, 802...Picking machine.

Claims (10)

A plucking robot is provided by cultivating a tea tree on a flat surface, making the tea tree into a wall-like shape using an auxiliary device, and reducing the thickness of the wall formed by the tea tree to a predetermined width or less. is a wall-like cultivation method for tea plants suitable for the work of a plucking robot, characterized in that the tea leaves can be plucked from the sides of the tea plants. Specifically, making the tea tree into a wall-like shape using an auxiliary device is as follows.
fixing the branches of the tea tree using an auxiliary device to grow the branches of the tea tree horizontally away from the main trunk of the tea tree;
The end of the tea tree branch away from the main trunk of the tea tree is bent toward the main trunk of the tea tree, and an auxiliary device is used to fix the bent tea tree branch to the tea tree. growing the tree branches horizontally toward the main trunk of the tea tree;
The end of the tea tree branch near the main trunk of the tea tree is bent in a direction away from the main trunk of the tea tree, and the bent tea tree branch is fixed using an auxiliary device to produce tea. growing the branches of the tree horizontally away from the main trunk of the tea tree. Method. The plucking robot work according to claim 1, characterized in that the thickness of the wall formed by the tea tree is 20 cm or less, and the height of the wall formed by the tea tree is greater than 300 cm. Suitable tea plant wall cultivation method. A plurality of tea trees are planted in rows, each row of tea plants includes at least one tea tree, and the walls formed by all the tea trees of each row of tea trees are oriented in the same direction. The wall-like cultivation method of tea plants suitable for the work of the plucking robot according to claim 1, characterized in that: The wall shape of the tea tree suitable for the work of the plucking robot according to claim 4, characterized in that two rows of tea trees are planted side by side, and a reflector is provided between the two rows of tea trees planted side by side. Cultivation method. 5. The method according to claim 4, wherein each row of tea plants includes at least two tea plants, and branches of two adjacent tea plants in each row of tea plants are overlapped. A wall-growing method of tea plants suitable for the operation of the described plucking robot. The method further comprises providing sufficient light irradiation to the plucked surface of the tea plant by supplementing the light to the tea plant from the side of the tea plant using automatic movement of the working robot. A wall-like cultivation method for tea plants suitable for the operation of the plucking robot according to any one of claims 1 to 6. including an auxiliary device used to shape the tea tree into a wall-like shape by fixing the branches of the tea tree;
The auxiliary device includes a base and an auxiliary bracket fixed to the base, the auxiliary bracket includes a vertical support column and a multi-level metal frame connected to the vertical support column, and the metal frame is The wall-shaped cultivation device for tea plants suitable for the operation of the plucking robot, characterized in that the vertical position of the supporting column is adjustable. further comprising a supplemental light plucking device, said supplemental light plucking device comprising a working robot, a mechanical arm and a supplemental light plucking machine;
3. The mechanical arm is attached to the work robot, the supplemental light plucking device is attached to the mechanical arm, the supplemental light plucking device comprising a supplemental light and a plucking device. 9. A wall-shaped cultivation device for tea plants suitable for the work of the picking robot according to 8. The mechanical arm includes a first vertical arm segment, a horizontal arm segment and a second vertical arm segment connected in sequence, the first vertical arm segment being rotatably connected to the work robot and the horizontal arm segment being rotatably connected to the work robot. An arm segment is rotatably connected to the first vertical arm segment, the second vertical arm segment is rotatably connected to the horizontal arm segment, and the supplemental light plucker is connected to the second vertical arm segment. The wall-like cultivation device for tea plants suitable for the work of the plucking robot according to claim 9, characterized in that it is attached.

Images