CN103444360B - Intelligent tea leaf picking machine - Google Patents
Intelligent tea leaf picking machine Download PDFInfo
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- CN103444360B CN103444360B CN201310406555.1A CN201310406555A CN103444360B CN 103444360 B CN103444360 B CN 103444360B CN 201310406555 A CN201310406555 A CN 201310406555A CN 103444360 B CN103444360 B CN 103444360B
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Abstract
The invention relates to an intelligent tea leaf picking machine and belongs to the technical field of agricultural machinery. The machine comprises a lowering device and a control circuit, wherein the lowering device is mounted on the upper part of a walking machine; the signal input end of the control circuit is connected to tea leaf image shooting and identifying devices; a support extended forwards from the walking machine is provided with a track extended forwards and backwards; a carriage which is supported on the track and a track screw rod form a screw pair; a shearing seat which forms a sliding pair with the carriage is arranged on the carriage; the shearing seat and a carriage screw rod form a screw pair; a cutter seat which forms a lifting screw pair with a vertical screw rod is arranged on the shearing seat; a horizontal rotating movable blade is arranged on the cutter seat; a sheared edge is formed between the movable blade and a fixed blade; a negative pressure tea leaf collecting pipe which is communicated with the lowering device is arranged on the upper part of the sheared edge; the control output end of the control circuit is respectively connected with a controlled end of each motor. Compared with the prior art that tea leaves are individually picked each time, the intelligent tea leaf picking machine has the advantages that the work efficiency is greatly improved, and the needs of picking and collecting the tea leaves are met.
Description
Technical field
The present invention relates to a kind of tea picking, especially a kind of tealeaves intelligence picking machine, belongs to agricultural machinery technological field.
Background technology
Retrieval finds, application number be 200410081482.4 Chinese patent application disclose a kind of automatic tea plucker, this machine not only vision system only has an image collecting joint, only tentatively can identify the fluffy tender tip of tea, the elevation information of the fluffy tender tip of tea can not be obtained, the three-dimensional information of tender tea cannot be simulated, be difficult to control tealeaves picking mechanism accurately pluck, and pluck and adopt part and adopt picking knife pawl, by the shearing of plucking actuating mechanism controls cutter pawl opening and closing and realize tender tea, be only applicable to the single harvesting of single.Application number be 201320025340.0 Chinese patent disclose a kind of tea picking system, this system adopts laser two-dimensional distance measuring method to measure tealeaves elevation, and the some distance measuring method of laser head exists the shortcoming that finding range is little, the time is long, and the efficiency of perpendicular positioning is low; Although this system adopts binocular camera to identify tender tea image, experiment shows, because the tender tip density of tea tree is large, two images adopting the method to collect are very similar, are difficult to carry out accurate match to characteristic point, cannot solve the identification problem of tender tea; Especially pluck and adopt the tender tea of part employing scissor cut, be only applicable to the single harvesting of single equally.
In a word, above prior art all exists can only the limitation of the single harvesting of single, therefore completes that the time of once plucking is long, efficiency is very low, is not suitable for pluck ageing height, pluck the large tea picking operation of intensity.
Summary of the invention
The object of the invention is to: the shortcoming existed for above-mentioned prior art, the tealeaves intelligence picking machine that the high but also operating efficiency of a kind of not only automaticity significantly improves is proposed, thus meet ageing strong, pluck the large famous-brand and high-quality tea picking job requirements of intensity.
In order to reach above object, tealeaves of the present invention intelligence picking machine basic technical scheme is: comprise be placed in walking machine top the control circuit that glassware and signal input part connect tealeaves image capture recognition device falls; Described tealeaves image capture recognition device comprises video camera and the projecting apparatus to the fluffy projection grating fringe of tea; Described walking machine extends support forward, the track extended before and after described support has, and described track is supported with the balladeur train forming with it moving sets, the track leading screw that described balladeur train and orbit motor drive forms screw pair; Described balladeur train is equipped with the Cut Block forming with it moving sets, the balladeur train leading screw that described Cut Block and carriage motor drive forms screw pair; Described Cut Block is equipped with the Cutter apron forming elevating screw thread pair with vertical motor-driven vertical leading screw, what described Cutter apron is equipped with the driving of vertical shear motor horizontally rotates knife section, forms sheared edge between described knife section and ledger-plate; Described sheared edge top is installed towards the negative pressure tealeaves collecting pipe falling glassware, and the control output end of described control circuit connects the controlled end of each motor respectively.
During work, the Cutter apron be positioned on three-dimensional driving mechanism not only can under walking mechanical straps be dynamic, not by the restriction that tea is capable, according to tealeaves image capture recognition device to the identification of tealeaves tender shoots, and then control three-dimensional motor by control circuit, accurately make sheared edge arrive and need pluck position, and by continuous shear stress that cutting knife rotary motion produces, tealeaves is constantly picked, and then to be drawn onto by negative pressure and to fall in glassware, compared with the prior art of therefore harvesting single with single, operating efficiency improves greatly, can meet the needs of tea picking and collection.
The present invention further improves, described in horizontally rotate knife section and ledger-plate and there is multiple circumference uniform radial direction respectively extend cutter tooth, form sheared edge between knife section and the adjacent cutter tooth of ledger-plate.Like this, when knife section rotates, multiple cutter tooth is sheared simultaneously, thus can complete the harvesting of contiguous tealeaves simultaneously, significantly improves operating efficiency.
It is that described walking machine front lower portion is equipped with power-actuated double rocker mechanism, has vertical connecting rod in described double rocker mechanism that the present invention further improves, and described vertical connecting rod extends support forward.Like this, under the drive of walking machine, control can be operated by double rocker mechanism and make Cutter apron Fast Coarse in place, then control three-dimensional driving mechanism by control circuit and accurately locate, not only avoid the interference effect that whole harvesting stage apparatus is fluffy to tea, also improve picking efficiency further.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated.
Fig. 1 is the structural representation of a preferred embodiment of the invention.
Fig. 2 is that the A of Fig. 1 is to partial view.
Fig. 3 is that the B of Fig. 1 is to partial view.
Fig. 4 is the C place partial enlarged drawing of Fig. 1.
Fig. 5 is the D-D cutaway view of Fig. 4.
Fig. 6 is the continuous harvesting route schematic diagram of Fig. 1 embodiment.
Embodiment
Embodiment one
The tealeaves intelligence picking machine basic structure of the present embodiment as shown in Figure 1, the front lower portion of walking machine 22 is equipped with oil cylinder 13 as power-actuated double rocker mechanism, the straight rocking bar 3 of this double rocker mechanism and one end of curved rocking bar 1 cut with scissors the front lower portion being contained in walking machine 22 respectively, its other end is hinged with vertical connecting rod 2 respectively, and this vertical connecting rod 2 extends support 4 forward.The top of walking machine 22 is provided with and falls glassware 14.Support 4 is supported with video camera 10 and the projecting apparatus 11 of signal output part connection control circuit, thus can image procossing be passed through, realize the identification of waiting to pluck tealeaves.In addition, support 4 support workbench 8 on both sides have before and after extend track 9.
As shown in Figure 2, two tracks 9 are supported with the balladeur train 19 forming with it moving sets, the track leading screw 17 that balladeur train 19 and orbit motor 18 drive forms screw pair.Balladeur train 19 is equipped with the Cut Block 23 forming with it moving sets, the balladeur train leading screw 19-1 that Cut Block 23 and carriage motor 16 drive forms screw pair.
As shown in Figure 3, Cut Block 23 is equipped with the Cutter apron 24 that the vertical leading screw 21 driven with vertical motor 20 forms elevating screw thread pair, what Cutter apron 24 is equipped with shear motor 7 driving horizontally rotates knife section 6(see Fig. 1).As shown in Figure 4, Figure 5, the plate-like knife section 6 horizontally rotated and the ledger-plate 5 be close to have the uniform radial direction of multiple circumference respectively and extend cutter tooth, form sheared edge between knife section 6 and the adjacent cutter tooth of ledger-plate 5.
Sheared edge top is installed towards the negative pressure tealeaves collecting pipe 12 falling glassware 14, and fall glassware 14 top and install centrifugal blower 15, the control output end of control circuit connects each motor respectively.
During work, walking machine system can be shifted as required flexibly, and make Cutter apron Fast Coarse in place by manipulation double rocker mechanism, then the result that draws according to tealeaves image acquisition and processing of control circuit, control three-dimensional driving mechanism and make Cutter apron accurate tracking, by rotary cutter continuous shear stress, the tealeaves precise and high efficiency realizing the track of curved surface shown in Fig. 6 is plucked automatically.
Be summed up, the tealeaves of the present embodiment intelligence picking machine also tool has the following advantages:
1) monocular-camera is adopted to obtain the fluffy image of tea, the tender tip of y-c color factor pair tea tree based on CMY space identifies, and selects OTSU method to carry out carrying out image threshold segmentation, finally by medium filtering stress release treatment, realize distinguishing the tender tip information of tea tree, recognition time is short, accuracy is high;
2) projecting apparatus to the fluffy projection grating fringe of tea is adopted, utilize the method for optical projection type measuring three-dimensional profile, by project to tea fluffy on deformed grating picture deformation quantity with height relation to determine the height of the tender tip of tea tree, once project the whole tender tea height can measured in projected area, substantially increases the efficiency identifying location;
3) the tender tip contour surface of tea tree in the projected area that simulates according to monocular-camera and optical grating projection instrument of control system, is divided into the little curved surface that several width are 15mm, controls picking mechanism with this curved surface for track plucks tender tea continuously;
4) the tender tea of negative pressure tealeaves collecting pipe real-time collecting installed of sheared edge top, solves the problem of plucking two and above tender tea and damage adjacent tender tea when single that tea tree tender tip density causes greatly is single to be plucked, plucks quality and ultrahigh in efficiency;
5) self-propelled harvesting platform is adopted, operating flexibility is strong, frame and the fluffy height of tea is controlled by double rocker mechanism, the height that bonding lens camera, projecting apparatus and tea are fluffy, guarantee that monocular-camera is with the work of the tea tree of the best tender tip status recognition, it also avoid the interference effect that whole harvesting stage apparatus is fluffy to tea.
Claims (3)
1. a tealeaves intelligence picking machine, comprise be placed in walking machine top the control circuit that glassware (14) and signal input part connect tealeaves image capture recognition device falls; Described tealeaves image capture recognition device comprises video camera (10) and the projecting apparatus (11) to the fluffy projection grating fringe of tea; It is characterized in that: described walking machine extends support (4) forward, the track (9) extended before and after described support (4) has, described track is supported with the balladeur train (19) forming with it moving sets, the track leading screw (17) that described balladeur train (19) and orbit motor (18) drive forms screw pair; Described balladeur train (19) is equipped with the Cut Block (23) forming with it moving sets, the balladeur train leading screw that described Cut Block (23) and carriage motor (16) drive forms screw pair; The Cutter apron (24) that the vertical leading screw (21) driven with vertical motor (20) forms elevating screw thread pair described Cut Block (23) is equipped with, what described Cutter apron (24) is equipped with vertical shear motor (7) drives horizontally rotates knife section (6), forms sheared edge between described knife section (6) and ledger-plate (5); Described sheared edge top is installed towards the negative pressure tealeaves collecting pipe (12) falling glassware, and the control output end of described control circuit connects the controlled end of each motor respectively.
2. tealeaves intelligence picking machine according to claim 1, it is characterized in that: described in horizontally rotate knife section (6) and ledger-plate (5) and there is multiple circumference uniform radial direction respectively extend cutter tooth, form sheared edge between the adjacent cutter tooth of knife section (6) and ledger-plate (5).
3. tealeaves intelligence picking machine according to claim 1 and 2, it is characterized in that: described walking machine front lower portion is equipped with power-actuated double rocker mechanism (1,3), have vertical connecting rod in described double rocker mechanism, described vertical connecting rod extends support (4) forward.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310406555.1A CN103444360B (en) | 2013-09-09 | 2013-09-09 | Intelligent tea leaf picking machine |
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| CN201310406555.1A CN103444360B (en) | 2013-09-09 | 2013-09-09 | Intelligent tea leaf picking machine |
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| CN103444360A CN103444360A (en) | 2013-12-18 |
| CN103444360B true CN103444360B (en) | 2015-07-22 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103999635B (en) * | 2014-05-21 | 2016-01-06 | 浙江工业大学 | Based on intelligent automatic cutting type tea picking machine and the method for work of machine vision |
| CN104063862B (en) * | 2014-06-18 | 2017-01-18 | 浙江工业大学 | Method for controlling cutting knife of tea-leaf picker based on visual inspection |
| CN105027830A (en) * | 2015-08-31 | 2015-11-11 | 梧州市旺捷机械制造有限公司 | Control system of tea leaf picking machine |
| CN107231889B (en) * | 2017-07-31 | 2019-05-21 | 崔金芬 | Automate tea picking machine |
| CN107969210A (en) * | 2017-12-31 | 2018-05-01 | 连云港金喜食品有限公司 | The picking of broccoli and cleaning device |
| CN109005904A (en) * | 2018-09-07 | 2018-12-18 | 浙江赞城科技有限公司 | A kind of tealeaves recovering device of intelligent accurate |
| CN113115638A (en) * | 2019-12-31 | 2021-07-16 | 季华实验室 | Intelligent tea picking robot |
| CN113519270A (en) * | 2021-07-30 | 2021-10-22 | 中国农业科学院都市农业研究所 | Low-carbon tea harvesting robot |
| CN114295614B (en) * | 2021-12-31 | 2023-06-27 | 湖北省农业科学院农业质量标准与检测技术研究所 | Tea plant disease and insect pest detection vehicle, detection device, detection system and detection method |
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|---|---|---|---|---|
| WO2000072659A1 (en) * | 1999-05-26 | 2000-12-07 | Williames Hi-Tech International Pty Ltd. | Tea harvester |
| CN1620848A (en) * | 2004-12-15 | 2005-06-01 | 西南交通大学 | Automatic tea plucker |
| JP3996934B2 (en) * | 2005-07-22 | 2007-10-24 | 松元機工株式会社 | Tea leaf picking machine |
| JP2012223185A (en) * | 2011-04-04 | 2012-11-15 | Hiroya Masuda | Two-stage tea leaf picking machine |
| CN202998870U (en) * | 2013-01-18 | 2013-06-19 | 丽水学院 | Tea picking system |
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2013
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000072659A1 (en) * | 1999-05-26 | 2000-12-07 | Williames Hi-Tech International Pty Ltd. | Tea harvester |
| CN1620848A (en) * | 2004-12-15 | 2005-06-01 | 西南交通大学 | Automatic tea plucker |
| JP3996934B2 (en) * | 2005-07-22 | 2007-10-24 | 松元機工株式会社 | Tea leaf picking machine |
| JP2012223185A (en) * | 2011-04-04 | 2012-11-15 | Hiroya Masuda | Two-stage tea leaf picking machine |
| CN202998870U (en) * | 2013-01-18 | 2013-06-19 | 丽水学院 | Tea picking system |
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| 采茶机械手结构设计及运动控制研究;曹兴伟;《农业技术与装备》;20130128;第[]卷(第2期);13-15 * |
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