JP2023088825A - Imitation tea picking tool, tea picking device and tea picking method - Google Patents

Abstract

SOLUTION: The current invention discloses an imitation tea picking tool, a tea picking device, and a tea picking method and is related to a technical field of tea leaf picking. The imitation tea picking tool includes an upper support plate and two side plates integrally molded with the upper support plate. Between the two side plates, a sliding tooth plate and an anchor tooth plate are fitted. Both ends of the anchor tooth plate are fixedly fitted to corresponding side plate. The sliding tooth plate is slidably fitted to the anchor tooth plate. The sliding tooth plate includes a base body and a cutting tooth. An outline of a blade of the cutting tooth presents a copying structure. Onto the upper support plate, a drive unit fitted. The drive unit and the sliding tooth plate are transmissively coupled.EFFECT: The current invention can automatically perform imitation collection of raw leaves at the top of a tea tree by cooperation operation of a laser radar sensor and a tea picking mechanism, guarantees efficiency and accuracy of mechanical sampling of tea leaves comparatively well, and promotes further improvement of development standard of picking mechanization in a tea leaf industry.SELECTED DRAWING: Figure 1

Description

The present invention relates to the technical field of tea leaf picking, and more particularly to an imitation tea picking tool, a tea picking device and a tea picking method.

China is a major country in tea culture and tea cultivation and production. It has a large tea cultivation area, diverse climates, many varieties of tea, a long history of tea cultivation, and many different local varieties. is formed. On the other hand, in the tea industry, with the development of market demand, the area of tea plantations is constantly expanding and the output of tea leaves is increasing rapidly. Tea leaves are a product with high seasonality and aging requirements, and failure to pick the tea leaves within the prescribed time will have a significant impact on the quality of the tea leaves. The quality and efficiency of picking directly affect the quality of tea leaves and the profits of the tea industry, especially for Mingqian tea and Spring tea, which grow quickly and need to be picked quickly and with high quality.

The traditional method of picking tea leaves involves artificial picking. Although the picking quality is relatively good, the efficiency is extremely low. According to research, a tea picker picks about 3 kg of tea leaves in 8 hours a day. With the development of science and technology, mechanical equipment for tea picking is gradually appearing on the market. Hand-held tea picking equipment is most commonly used today. Although it is more efficient than the conventional artificial picking method, manual labor is also required. In addition, current tea picking devices often need to pick three times each to the left, middle, and right sides due to the shape limitation of tea ridges. Energy consumption and efficiency still cannot meet the increasing demand of tea picking.

In view of the above problems, the object of the present invention is to provide an imitation tea-picking tool, a tea-picking device and a tea-picking method for automatically picking fresh leaves from tea tree tops through the cooperation of a laser radar sensor and a tea-picking mechanism. It can be used for imitation picking, which guarantees the efficiency and accuracy of mechanized tea picking relatively well, and promotes further improvement of the development level of mechanized picking in the tea industry.

Specifically, the imitation tea picking tool of the present invention includes an upper support plate and two side plates integrally formed with the upper support plate. A sliding tooth plate and a fixed tooth plate are mounted between the two side plates. Both ends of the fixed tooth plate are fixedly attached to corresponding side plates. The sliding tooth plate is slidably attached to the fixed tooth plate. The sliding tooth plate includes a base body and cutting teeth. The contour of the cutting edge of the cutting tooth presents a profiling structure. A drive unit is attached to the upper support plate. The driving unit and the sliding tooth plate are transmission-connected.

Further, the base body is provided with a plurality of heat radiation holes and striped holes, and the heat radiation holes and the striped holes are spaced apart from each other.

Furthermore, one or more positioning bolts are provided between the sliding tooth plate and the fixed tooth plate, and the one or more positioning bolts are all provided in the grooves.

Furthermore, the outline of the cutting edge of the cutting tooth has an incisor tooth structure that imitates the mouthparts of the larvae of the Geometridae of the family Geometridae, and the imitation curve is Y = 6.214 sin (0.1429x + 0.2629) + 8.148 sin (0.5242x - 1.737) + 2.309sin (0.9112x + 1.212) + 6.217sin (0.5843x + 0.5042) - 0.4521sin (1.669x - 8.656) + 0.3548sin (1.99x - 10.61), where xε[0, 21.4] in mm.

Furthermore, the pitch of said cutting teeth is 30-35 mm and the height of the teeth is 20-23 mm.

Further, the drive mechanism includes a drive motor, a pulley assembly, and a cam fixedly attached to the output shaft of the pulley assembly, the drive plate is provided with a connecting groove, and the cam is positioned in the connecting groove. It is provided in a connecting groove that matches the shape.

Further, the pulley assembly includes a first pulley and a second pulley in a belt transmission connection, the first pulley being fixedly connected to the output shaft of the drive motor and the second pulley being fixedly attached to the frame. and is provided coaxially with the cam.

The present invention also discloses a tea picking device. The tea picking device includes a moving base and a frame attached to the moving base. Two tea picking mechanisms are fixedly attached to the frame. The tea picking mechanism includes a track unit and a support stage slidably mounted on the track unit. The track unit is fixedly attached to the frame. A DC pusher motor and a laser radar sensor are fixedly attached to the support stage. An imitation tea picking tool according to any one of claims 1 to 4 is fixedly attached to the free end of the pusher rod of the DC pusher motor. The tea picking device further includes a PLC controller. The laser radar sensor is signal-connected to the signal input of the PLC controller. A signal output end of the PLC controller is signal-connected to a DC pusher motor.

Furthermore, said track unit includes a ball screw and a roller track installed in parallel. One end of the ball screw is fixedly attached to the frame via a bearing seat, and the other end is fixedly connected to a rotary motor. The rotary motor is fixedly attached to the frame. Both ends of the roller track are fixedly attached to the frame via bearing seats. The support stage includes a base and a support plate that are fixedly connected. The ball screw and roller track are drilled in the base.

Further, the roller track is provided with a groove with an upward opening. Two symmetrical support ears are fixedly attached to the support plate at positions corresponding to the grooves. A moving roller is mounted between the two support ears. The moving roller is positioned within the groove and contacts the bottom of the groove.

In addition, the present invention further discloses a method of picking tea leaves using the tea picking device, specifically including the following steps.

S1: By moving the tea-picking device to the tea ridge to be picked, the moving bases are located on both sides of the tea ridge, the frame straddles the tea ridge, and the two tea-picking mechanisms are respectively attached to the tea ridge. Place them in corresponding positions on both sides.

S2: The DC pusher motor moves the tea plucking mechanism to a state in which the tool is close to the tea ridge but not in contact with the tea tree, and the entire tool is tilted upward along the center of the tea tree to reach the crown of the tea tree. Match the shape.

S3: Activate the laser radar on the two tea picking mechanisms, detect the positions of the two cutters respectively, fit the tea tree canopy with the laser point cloud data, and calculate the matching plan between the tea tree canopy curve and the cutter curve. Furthermore, according to the matching plan, the PLC controller controls the DC pusher motor, adjusts the position of the pusher rod of the DC pusher motor, and further controls the posture and height of the tool to collect tea leaves.

S4: Move the mobile base along the tea ridge, continue picking tea leaves with the tea picking tool, and continue the dynamic detection of the cutter and the matching of the tea tree canopy with the two laser radars, and the PLC controller , based on the received signal, dynamically controls the up-down control of the DC pusher motor until sampling is complete.

Furthermore, in the step S3, when matching the crown curve of the tea tree and the cutter curve, a criterion for matching is determined from the angle α formed by the crown curve and the cutter curve after matching and the average distance L between the two curves, If α>α0 or L>L0, then drive the DC pusher motor until α<α0 and L<L0 (α0, L0 are the measured allowable deviation values given according to the actual working situation and the operating situation of the execution mechanism) keep adjusting.

1. The present invention discloses an imitation tea picking tool, which is imitation design based on biological incisor leaves as a prototype, providing imitation scientific basis for the design of tea tree pruning tool structure. For the cutting teeth of the moving blade of the present invention, an imitation tooth was designed based on the leaf of the cutting tooth at the tip of the upper jaw of a larva of the Geometridae of the Geometridae family, and its geometric structure was simulated. Advantageously, it reduces power consumption and increases productivity.

2. The present invention discloses a tea-picking device, which uses two sets of profile tea-picking mechanisms to adapt to picking fresh leaves from arc-shaped top tea trees, with high profile accuracy, good harvesting effect, and reasonable space. A structure is adopted and placed on a moving stage. During operation, a moving stage on which two sets of tea picking mechanisms are attached moves along the longitudinal direction of the ridges of tea plants, and the PLC controller controls the orderly movement of the moving base and each tea picking mechanism, and the device runs. It realizes "disposable" automatic picking of the target fresh leaves on one row of tea plants, reduces the labor intensity of workers, and greatly improves the speed and quality of mechanical picking of tea leaves.

3. The tea picking method disclosed in the present invention is based on the tea picking device, uses the laser radar sensor to fit the tea tree surface curve online without delay, and matches the cutter and the tea tree surface in real time, so that the response time is It is short, has high detection accuracy, and has good environmental adaptability.Real-time adjustment of the blade position of the tea picking machine by each tracing actuator before and during the movement stage is realized by real-time data feedback processing and controller control. As a result, the accuracy of picking fresh leaves from the top of the tea tree by each tracing tea picking unit is improved.

4. The present invention adopts a DC pusher motor to realize the posture tracing of the tea-plucking tool, which has a stable movement process, high precision and quick response. The support stage can realize the lateral movement of each tea picking mechanism by driving the ball screw by the rotary motor, maximally meeting the demand for picking fresh leaves of different widths of tea plants.

1 is a schematic configuration diagram of a tea picking device of the present invention; FIG. FIG. 4B is a bottom view of the support stage of the present invention; FIG. 3 is a cross-sectional view along the line AA in FIG. 2; It is a schematic block diagram of the tool of this invention. FIG. 5 is a cross-sectional view along the line BB in FIG. 4; 1 is a schematic configuration diagram of a moving blade of the present invention; FIG. 1 is a scanning electron micrograph of a maxillary apical incisor leaf of a larva of a larva of the Geometridae Geometridae. FIG. 4 shows a fitting curve of the present invention;

Hereinafter, the present invention will be described in detail based on specific examples.

As shown in FIGS. 1 to 8, the tea picking device of the present invention includes a moving base 1 and a frame 2 attached to the moving base 1. As shown in FIGS. One or more tea picking mechanisms are fixedly attached to the frame 2 . In this embodiment, two tea-plucking mechanisms are selected and provided, and when picking tea, they can correspond to both sides of the tea ridge, so that the shape of the tea ridge can be better matched. . The tea picking mechanism includes a track unit and a support stage 3 slidably attached to the track unit. The track unit comprises a ball screw 4 and a roller track 5 which are installed in parallel. The support stage 3 includes a base 31 and a support plate 32 that are fixedly connected. The ball screw 4 and roller track 5 are drilled in the base 31 . One end of the ball screw 4 is fixedly attached to the frame 2 via a bearing seat 6, and the other end is connected to a rotary motor 7 via a coupling. The rotary motor 7 is fixedly attached to the frame 2 . Both ends of the roller track 5 are fixedly attached to the frame 2 via bearing seats 6 . The roller track 5 is provided with a groove 51 whose opening faces upward. Two symmetrical support ears 33 are fixedly attached to the support plate 32 at positions corresponding to the grooves 51 . A moving roller 34 is mounted between the two support ears 33 . The moving roller 34 is positioned within the groove 51 and is in contact with the bottom of the groove 51 . The structure of the ball screw 4 and the roller track 5 allows the support stage 3 to operate more smoothly. During use, the ball screw 4 is rotationally driven by the rotary motor 7, and the ball screw 4 horizontally moves the support stage 3, thereby adjusting the position of the cutting unit. On the other hand, the arrangement of the grooves 51 and the moving rollers 34 reduces the frictional force between the base 31 and the track unit. During movement, the operation is smoother, the response is faster, and it is advantageous for reducing power consumption.

Two DC pusher motors 8 are articulated on the support stage 3 . Two DC pusher motors 8 are installed symmetrically on the support stage 3 . A laser radar sensor 9 is also fixedly attached to the support stage 3 at an intermediate position between the two DC pusher motors 8 . The tea picker of the present invention further includes a PLC controller. The laser radar sensor 9 is signal-connected with the signal input end of the PLC controller, and the signal output end of the PLC controller is signal-connected with the DC pusher motor 8 to ensure the efficient progress of cutting to some extent. An imitation tea picking tool 10 is pivotally attached to the free end of the pusher of the DC pusher motor 8, and a laser radar sensor 9 can detect the distance between the imitation tea picking tool and the tea ridge. The PLC controller can be used to drive the DC pusher motor to adjust the position of the imitation tea picking tool to achieve the purpose of picking with certain precision.

The imitation tea picking tool 10 of the present invention includes an upper support plate 11 and two side plates 12 integrally formed with the upper support plate 11 . A sliding tooth plate 13 and a fixed tooth plate 14 are attached between the two side plates 12 . Both ends of the fixed tooth plate 14 are fixedly attached to the corresponding side plates 12 . The sliding tooth plate 13 is slidably attached to the fixed tooth plate 14 . The sliding tooth plate 13 includes a base body 131 and cutting teeth 132 . A plurality of heat radiation holes 15 and strip holes 16 are formed in the base body 131 . The heat radiation hole 15 and the strip hole 16 are provided apart from each other. The design of the slot 16 and the heat dissipation hole 15 can not only reduce the temperature of the tool to some extent, but also reduce the mass of the sliding tooth plate 13 to some extent, making its use lighter and energy consumption. It is advantageous to reduce Specifically, the base 131 includes a drive plate 1311 and an arcuate cut piece 1312 that are fixedly connected. A plurality of cutting teeth 132 are fixed on the cutting piece 1312, and the heat dissipation holes 15 and the slots 16 are provided in the cutting piece. One or more positioning bolts 17 are drilled between the sliding tooth plate 13 and the fixed tooth plate 14, and each of the one or more positioning bolts 17 is installed in the slot. Specifically, this embodiment selectively installs two positioning bolts 17 symmetrically on the base 131 , and the structure of the slot 16 does not affect the reciprocating motion of the moving blade 2 . The contour of the blade of the incisor exhibits an imitation structure, specifically, an incisor structure that imitates the mouthparts of a larva of the Geometridae, the family Geometridae. .2629) + 8.148 sin (0.5242 x - 1.737) + 2.309 sin (0.9112 x + 1.212) + 6.217 sin (0.5843 x + 0.5042) - 0.4521 sin (1.669 x - 8.656) + 0. 3548 sin(1.99x−10.61), where xε[0, 21.4], in mm.

A drive unit is attached to the upper support plate 11 . The driving unit and the sliding tooth plate 13 are transmission-connected. The drive unit includes a drive motor 18, a pulley assembly and a cam 19 fixed to the output shaft of the pulley assembly. A connecting groove 20 is formed in the drive plate 1311 , and the cam 19 is arranged in the connecting groove 20 and matches the shape of the connecting groove 20 . The pulley assembly includes a first pulley 21 and a second pulley 22 in belt transmission connection. The first pulley 21 is fixedly connected to the output shaft of the drive motor 18 , and the second pulley 22 is fixedly attached to the upper support plate 11 and provided coaxially with the cam 19 . In use, the drive motor 18 rotates to rotate the first pulley 21 which in turn drives the second pulley 22 via the belt to further rotate the cam 19 . The left and right reciprocating motion of the sliding tooth plate 13 is driven by the engagement between the cam 19 and the connecting groove.

A specific operating procedure for picking tea leaves using the above tea picking device is as follows.

S1: By moving the tea-picking device to the tea ridge to be picked, the moving bases are located on both sides of the tea ridge, the frame straddles the tea ridge, and the two tea-picking mechanisms are respectively attached to the tea ridge. Place them in corresponding positions on both sides.

S2: The DC pusher motor moves the tea plucking mechanism to a state in which the tool is close to the tea ridge but not in contact with the tea tree, and the entire tool is tilted upward along the center of the tea tree to reach the crown of the tea tree. Match the shape.

S3: Activate the laser radar on the two tea picking mechanisms, detect the positions of the two cutters respectively, fit the tea tree canopy with the laser point cloud data, and calculate the matching plan of the tea tree canopy curve and the cutter curve. . That is, the standard of matching is determined from the angle α between the crown curve and the cutter curve after matching and the average distance L between the two curves, and if α>α0 or L>L0, α<α0 and L<L0 ( α0, L0 continue to adjust the DC pusher motor up to a given measurement tolerance) according to the actual working situation and the operating situation of the execution mechanism. Based on the matching plan, the DC pusher motor is controlled by the PLC controller to adjust the position of the pusher rod of the DC pusher motor, and the angle α between the cutter curve and the crown curve of the tea tree calculated in real time and both curves The tool posture and height are controlled to achieve the tea plant top profile and tea leaf picking until the average distance L between the two meets the requirements of the above measuring principle.

S4: The moving base moves along the tea ridge and the tea picking tool continues picking tea leaves. The tea leaves collected by the tool are blown into a preset collection bag at the rear by a fan provided on the tool. At the same time the two laser radars both continue the dynamic detection of the cutter and the fitting of the tea tree canopy. The PLC controller controls the DC pusher motor based on the received signal to perform dynamic lifting. If none of the laser radar sensors can detect the tea plant (that is, they are out of range), it is assumed that the tea picking of the area corresponding to the bottom of this flat tea picking unit has been completed. The controller controls and rotates each DC pusher motor, and each flat tea plucking unit returns to its initial state. After all the trailing tea picking units have returned to their initial states, the controller stops the movement of the moving base and each device. When the collection is finished, the picking of the fresh leaves of the tea trees on this ridge is completed.

The above examples are only for describing the technical solutions of the present invention, but not for limiting them. Although the present invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention. Modifications or equivalent modifications of the means are possible, all of which fall within the scope of the claims of the present invention. The parts of technology, shape, and structure that are not described in detail in the present invention are all known technologies.

(Appendix)
(Appendix 1)
An imitation tea picking tool comprising:
comprising an upper support plate and two side plates integrally formed with the upper support plate;
A sliding tooth plate and a fixed tooth plate are mounted between the two side plates,
Both ends of the fixed tooth plate are fixedly attached to the corresponding side plates,
The sliding tooth plate is slidably attached to the fixed tooth plate,
The sliding tooth plate includes a base body and cutting teeth,
the contour of the cutting edge of the cutting tooth exhibits a profile structure,
A drive unit is attached to the upper support plate,
The imitation tea-picking tool, wherein the driving unit and the sliding tooth plate are transmission-connected.

(Appendix 2)
a plurality of heat radiation holes and striped holes are formed in the base body,
The imitation tea picking tool according to appendix 1, wherein the heat radiation hole and the streak hole are spaced apart from each other.

(Appendix 3)
one or more positioning bolts are drilled between the sliding tooth plate and the fixed tooth plate;
3. The imitation tea picking tool according to claim 2, wherein the one or more positioning bolts are all provided in the slots.

(Appendix 4)
The contour of the cutting edge of the cutting tooth has an incisor tooth structure that imitates the mouthparts of the larvae of the Geometridae of the family Geometridae. .5242x-1.737) + 2.309sin (0.9112x + 1.212) + 6.217sin (0.5843x + 0.5042) - 0.4521sin (1.669x-8.656) + 0.3548sin (1.99x-10. 61), where xε[0, 21.4] in mm.

(Appendix 5)
A tea picking device,
comprising a movement base and a frame attached to said movement base;
Two tea picking mechanisms are fixedly attached to the frame,
the tea picking mechanism includes a track unit and a support stage slidably attached to the track unit;
The track unit is fixedly attached to the frame,
A DC pusher motor and a laser radar sensor are fixedly attached to the support stage,
The imitation tea picking tool according to any one of Appendices 1 to 4 is fixedly attached to the free end of the pusher rod of the DC pusher motor,
The tea picking device further includes a PLC controller,
the laser radar sensor is signal-connected to a signal input terminal of the PLC controller;
The tea picking device, wherein the signal output end of the PLC controller is signal-connected to the DC pusher motor.

(Appendix 6)
the track unit includes a ball screw and a roller track installed in parallel;
One end of the ball screw is fixedly attached to the frame via a bearing seat, and the other end is fixedly connected to a rotary motor,
The rotary motor is fixedly attached to the frame,
Both ends of the roller track are fixedly attached to the frame through the bearing seats,
the support stage includes a fixedly connected base and a support plate;
6. The tea picking device of claim 5, wherein the ball screw and the roller track are drilled into the base.

(Appendix 7)
The roller track has a groove with an opening facing upward,
Two symmetrical support ears are fixedly attached to the support plate at positions corresponding to the grooves,
a moving roller is mounted between two said support ears;
6. The tea picking device according to claim 6, wherein the moving roller is positioned within the groove and is in contact with the bottom of the groove.

(Appendix 8)
Based on the tea picking device according to any one of appendices 5 to 7,
By moving the tea-picking device to the tea ridge to be picked, the moving bases are located on both sides of the tea ridge, the frame straddles the tea ridge, and the two tea-picking mechanisms are positioned on both sides of the tea ridge, respectively. a step S1 of positioning at corresponding positions;
A DC pusher motor moves the tea picking mechanism to a state in which the tool is close to the tea ridge but not in contact with the tea tree, and the entire tool is tilted upward in the direction along the center of the tea tree to form the crown shape of the tea tree. a matching step S2;
Activate the laser radar on the two tea picking mechanisms, detect the positions of the two cutters respectively, fit the tea tree canopy with the laser point cloud data, calculate the matching plan between the tea tree canopy curve and the cutter curve, and Based on the matching plan, the PLC controller controls the DC pusher motor, adjusts the position of the pusher rod of the DC pusher motor, and further controls the posture and height of the tool to collect tea leaves;
The mobile base moves along the tea ridge, and the tea picking tool continues to pick tea leaves, and the two laser radars continue to detect the cutter dynamics and match the tea tree canopy, and the PLC controller receives and a step S4 of dynamically controlling the up/down motion of the DC pusher motor until the picking is completed based on the signal generated by the tea picking.

(Appendix 9)
In step S3, when the crown curve of the tea tree and the cutter curve are matched, a criterion for matching is determined from the angle α formed by the crown curve and the cutter curve after matching and the average distance L between the two curves, and α> If α0 or L>L0, then adjust the DC pusher motor to α<α0 and L<L0 (α0, L0 are the measured allowable deviation values given according to the actual work situation and the operating situation of the execution mechanism) 9. The method of picking tea according to claim 8, characterized by continuing.

1: moving base, 2: frame, 3: supporting stage, 31: base, 32: supporting plate, 33: supporting ear, 34: moving roller, 4: ball screw, 5: roller track, 51: groove, 6: bearing seat, 7: rotary motor, 8: DC pusher motor, 9: laser radar sensor, 10: imitation tea picking tool, 11: upper support plate, 12: side plate, 13: sliding tooth plate, 131: base, 1311: drive Plate 1312: Cutting piece 132: Cutting tooth 14: Fixed tooth plate 15: Radiation hole 16: Slot 17: Positioning bolt 18: Drive motor 19: Cam 20: Connecting groove 21: Third 1 pulley, 22: second pulley.

Claims (9)

An imitation tea picking tool comprising:
comprising an upper support plate and two side plates integrally formed with the upper support plate;
A sliding tooth plate and a fixed tooth plate are mounted between the two side plates,
Both ends of the fixed tooth plate are fixedly attached to the corresponding side plates,
The sliding tooth plate is slidably attached to the fixed tooth plate,
The sliding tooth plate includes a base body and cutting teeth,
the contour of the cutting edge of the cutting tooth exhibits a profile structure,
A drive unit is attached to the upper support plate,
The imitation tea-picking tool, wherein the driving unit and the sliding tooth plate are transmission-connected. a plurality of heat radiation holes and striped holes are formed in the base body,
2. The imitation tea picking tool according to claim 1, wherein said heat radiation hole and said streak hole are spaced apart from each other. one or more positioning bolts are drilled between the sliding tooth plate and the fixed tooth plate;
3. The imitation tea picking tool according to claim 2, wherein the one or more positioning bolts are all provided in the slots. The contour of the cutting edge of the cutting tooth has an incisor tooth structure that imitates the mouthparts of the larvae of the Geometridae of the family Geometridae. .5242x-1.737) + 2.309sin (0.9112x + 1.212) + 6.217sin (0.5843x + 0.5042) - 0.4521sin (1.669x-8.656) + 0.3548sin (1.99x-10. 61), where xε[0, 21.4], in mm. A tea picking device,
comprising a movement base and a frame attached to said movement base;
Two tea picking mechanisms are fixedly attached to the frame,
the tea picking mechanism includes a track unit and a support stage slidably attached to the track unit;
The track unit is fixedly attached to the frame,
A DC pusher motor and a laser radar sensor are fixedly attached to the support stage,
The imitation tea picking tool according to any one of claims 1 to 4 is fixedly attached to the free end of the pusher rod of the DC pusher motor,
The tea picking device further includes a PLC controller,
the laser radar sensor is signal-connected to a signal input terminal of the PLC controller;
The tea picking device, wherein the signal output end of the PLC controller is signal-connected to the DC pusher motor. the track unit includes a ball screw and a roller track installed in parallel;
One end of the ball screw is fixedly attached to the frame via a bearing seat, and the other end is fixedly connected to a rotary motor,
The rotary motor is fixedly attached to the frame,
Both ends of the roller track are fixedly attached to the frame through the bearing seats,
the support stage includes a fixedly connected base and a support plate;
6. The tea picking device of claim 5, wherein the ball screw and the roller track are drilled into the base. The roller track has a groove with an opening facing upward,
Two symmetrical support ears are fixedly attached to the support plate at positions corresponding to the grooves,
a moving roller is mounted between two said support ears;
7. The tea picking device according to claim 6, wherein said moving roller is positioned within said groove and is in contact with the bottom of said groove. Based on the tea picking device according to any one of claims 5 to 7,
By moving the tea-picking device to the tea ridge to be picked, the moving bases are located on both sides of the tea ridge, the frame straddles the tea ridge, and the two tea-picking mechanisms are positioned on both sides of the tea ridge, respectively. a step S1 of positioning at corresponding positions;
A DC pusher motor moves the tea picking mechanism to a state in which the tool is close to the tea ridge but not in contact with the tea tree, and the entire tool is tilted upward in the direction along the center of the tea tree to form the crown shape of the tea tree. a matching step S2;
Activate the laser radar on the two tea picking mechanisms, detect the positions of the two cutters respectively, fit the tea tree canopy with the laser point cloud data, calculate the matching plan between the tea tree canopy curve and the cutter curve, and Based on the matching plan, the PLC controller controls the DC pusher motor, adjusts the position of the pusher rod of the DC pusher motor, and further controls the posture and height of the tool to collect tea leaves;
The mobile base moves along the tea ridge, and the tea picking tool continues to pick tea leaves, and the two laser radars continue to detect the cutter dynamics and match the tea tree canopy, and the PLC controller receives and a step S4 of dynamically controlling the up/down motion of the DC pusher motor until the picking is completed based on the signal generated by the tea picking. In step S3, when the crown curve of the tea tree and the cutter curve are matched, a criterion for matching is determined from the angle α formed by the crown curve and the cutter curve after matching and the average distance L between the two curves, and α> If α0 or L>L0, then adjust the DC pusher motor to α<α0 and L<L0 (α0, L0 are the measured allowable deviation values given according to the actual work situation and the operating situation of the execution mechanism) 9. The method of picking tea according to claim 8, characterized by continuing.

Images