CN104521435A - Automatic cutting type tea harvester cutting bench automatic levelling method and device - Google Patents
Automatic cutting type tea harvester cutting bench automatic levelling method and device Download PDFInfo
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Abstract
The invention discloses an automatic cutting type tea harvester cutting bench automatic levelling device used for improving tea new shoot picking integrity and consistency, and for improving tea leaf overall quality and picking efficiency. Through synchronously controlling the displacements of two support rods of a cutting bench, the height of the cutting bench from the ground is kept consistent, wherein the cutting bench is used for fixing a cutting blade. A tilt sensor is used for sensing the tilt state of the cutting bench, and a displacement difference of the two support rods of the cutting bench is adjusted, such that the shape of the cutting blade substantially matches the shape of a tea tree crown. Therefore, the automatic cutting type tea harvester can be well popularized in tea plantations at hilly areas. The invention also discloses an automatic cutting type tea harvester cutting bench automatic levelling method.
Description
Technical field
The invention belongs to tealeaves agronomic technique, electromechanical integration technology, the levelness control technology of cutting tool and Computer Control Technology to pick tea-leaves in intellectuality the application of mechanical aspects, be specifically related to a kind of auto-cutting type tea picking machine ceding of Taiwan method for automatically leveling and device.
Background technology
Tea picking has very strong seasonality, and plucking cycle is short, and labour intensity is high, belongs to labour-intensive operation.At present, the contradiction of China's tea picking and recruitment has become the bottleneck of Development of Tea Industry.The tea picking machine promoted the use of now is mostly all plucked fresh leaf for large tea and produces, and it utilizes machine power to drive blade movement, and THE ADIABATIC SHEAR IN also collects tealeaves.It is high that this kind of tea picking machine has picking efficiency, can reduce labor cost and labour intensity, alleviates artificial not enough contradiction of picking tea-leaves to a certain extent.
Though tea picking machine can improve picking efficiency, it lacks selectivity, and regardless of always tender during work, under single solution for diverse problems, make bud-leaf not of uniform size, integrality is poor, and larger to the mechanical injuries of tea tree; Pluck that leaf is always tender mixes simultaneously, old stalk Lao Ye and blade breakage content higher, have impact on promoting the use of of tea picking machine to a certain extent.
The tea picking machinery of automation and intelligentification is the active demand of tealeaves industry.Intelligent tea picking technique and equipment, the automation of the finishing and large tealeaves such as spring tea later stage and Summer-autumn tea that are mainly used in tea tree is plucked, by tealeaves agronomic technique, tea tree grooming function can be unified tea tree top contour shape, the automation harvesting that can be large tealeaves is provided convenience.Improve integrality and the uniformity of young sprout harvesting, improve tealeaves total quality.
The patent of invention " inter-bank is from walking riding type tea picking machine and method of work thereof " (publication number: CN103098617A. publication date: 2013.05.15) of the application such as Nanjing Agriculturing Mechanization Inst., Ministry of Agriculture Xiao Hong scholar, discloses a kind of inter-bank from walking riding type crawler belt tea picking machine.The omnidistance operation of this tea picking machine can by driver's one man operation, adopt full hydraulic drive technology, motor is directly arranged among the driving wheel of crawler belt, be applicable to pick tea-leaves operation and the pruning operation of the 1.5 meters of line-spacings in tea place, level land, it has 25 ° of climbing capacities and certain obstacle climbing ability, and can according to different tea trees height the height and position of dynamic conditioning picking mechanism to adapt to different work operating mode (tea tree height, degree surface evenness) demand.The dark brownish green collecting mechanism of this tea picking machine can remove the larger Lao Ye of profile and base of leaf by Automatic sieve in picking process, can remove disintegrating slag by Automatic sieve again, to reduce the man-hour that subsequent artefacts screens required fresh leaf; The major defect of this tea picking machine lacks selectivity, and regardless of always tender during work, under single solution for diverse problems, make bud-leaf not of uniform size, integrality is poor, and larger to the mechanical injuries of tea tree.
The patent of invention " tea-leaf pick-up robot " (publication number: CN102487667A. publication date: 2012.06.13) of the application such as Nanjing Forestry University Chen Yong, discloses a kind of tea-leaf pick-up robot.This robot comprises vision system, control and treatment circuit, executing agency and gathering unit, and its space mechanism arm mechanism can realize accurately in place, and left and right side blade can ensure the integrality of blade, whole picking process full automation.The automation that this tea-leaf pick-up robot is not suitable for large tealeaves is plucked, and is only suitable for the harvesting of Famous High-quality Tea.
The at present external riding shape tea picking machine produced, as the riding shape tea picking machine that Japanese Luo Heren thing Industrial Co., Ltd and Kawasaki Machinery Co., Ltd. produce, Mechaniaed harvest is carried out in the tea place of comparing the technical merit that is applicable to tree plant cultivation management high.Japan tree plant cultivation management technical merit very high, tea place specification, tea capable straight, tea is neatly fluffy, has carried out standardization, mechanization production completely.The standardization level in its tea field especially allows people speak approvingly of, a ridge, ridge one, very beautiful, and tea field is with regard to two sizes, and the amplitude of tea machinery matches, and does not also have terraced fields, be all depositional gradient, its gradient is all in the scope in several years, very convenient in do mechanization operation.On the other hand, current riding shape tea picking machine, because riding seat is too high and side is partial at seat, to holding the height of cutting tool and aiming at longitudinal tea Gansu Province center line and there are some difficulties in picking process.
China's tea picking mode is from artificial transformation of plucking towards Mechaniaed harvest mode, but the technical merit of the current tree plant cultivation management of China is also in, also will be in just intermediate stage for a long time in a period of time from now on.This is because the geomorphological environment of China's tea tree planting determines.China is vast in territory, the area of tea tree planting is often all in hilly country, the slope change in tea place is more more complicated than the landforms of Japanese tea tree planting, and this feature result in current overseas-built riding shape tea picking machine technology and can not apply in the tea place of China hilly country.Shown in accompanying drawing 6 is cause the excessively cutting of part tea hat due to the slope change in tea place, and a part of tea hat does not obtain cutting harvesting; Shown in accompanying drawing 6 is the cutter situation that have employed circular arc type design, and can be more outstanding for this situation of cutter of flat design.
Not yet retrieve at present both at home and abroad in tea picking machine about the Patents how being applicable to hilly country automation and plucking, how to utilize the effectively auxiliary tea picking machine operating personnel of the video image in tea picking machine front effectively adjust the height of cutting tool and aim at longitudinal tea Gansu Province center line, and how to allow the ceding of Taiwan of tealeaves cutter and the earth horizontal plane be consistent bibliographical information.
Summary of the invention
Lack a unified picking surface level height benchmark when hilly country operation due to the slope change in tea place cause fluffy of tea Gansu Province according to the heeling condition of tea picking machine by the drawback under old tender single solution for diverse problems to overcome riding shape tea picking machine, the present invention overcomes this problem from agronomic technique and picked technology two aspects.In agronomic technique, pruning is carried out in the machine face of adopting of winter to tea Gansu Province unified picking surface level height benchmark in former years, fluffy face, tea Gansu Province is shaped as the unified circular arc ridge crown with a unified picking surface level height benchmark, add training management measure of spreading manure, the tender tea shoot length that spring is sent is basically identical, the tender tea shoot layer of the picking surface level height benchmark that formation one is unified on fluffy of tea Gansu Province; When machine is adopted, the tender shoots of more than 70% highly reaches 1.5-2.0cm and carries out harvesting operation in time; In picked technology, wish when picking tea-leaves to cut the tender shoots layer on fluffy of tea Gansu Province with a unified picking surface level height benchmark, what cut down like this is all tender tea substantially.
The technical solution adopted for the present invention to solve the technical problems is:
In order to improve integrality and the uniformity of the harvesting of tealeaves young sprout, improving tealeaves total quality and picking efficiency, in the present invention, adopting a kind of standardized tealeaves agronomic technique; Carry out pruning by the machine face of adopting of tea picking machine to tea Gansu Province, make the fluffy face, tea Gansu Province of the often row tea tree in whole tea place be shaped as unified circular arc Gansu Province crown.Standardized tealeaves agronomic technique is realized by following 4 uniformity; The tea picking machine when tea picking machine of pruning and machine are adopted cutter used parameter is consistent, the ceding of Taiwan of fixing cutter is overhead highly consistent, the ceding of Taiwan of fixing cutter is consistent with the earth horizontal plane, and the central track trace of cutter is consistent with the center line in fluffy of the tea Gansu Province of plucking row; By adopting standardized pruning agronomic measures, cultivate the tea tree crown adapting to automation machine and adopt.
Ensureing that the tea picking machine cutter parameter used when the tea picking machine of pruning and machine are adopted is consistent, realizing by adopting the identical cutter of size shape.
Ensureing that the ceding of Taiwan of fixing cutter is overhead highly consistent, is realized by the displacement of two support bars of the Synchronization Control ceding of Taiwan.
Because tea place is uneven, it is very crucial that the ceding of Taiwan of the fixing cutter of guarantee and horizontal plane are consistent.If do not carry out the horizontal adjusting of the ceding of Taiwan, just there will be a cutter part undue cutting tea tree tree crown as shown in Figure 6, not cutting or few phenomenon of cutting appears again in another part; Here by the heeling condition of the inclination sensor perception ceding of Taiwan, the displacement difference then adjusting two support bars of the ceding of Taiwan realizes; By after the levelness that adjusts the ceding of Taiwan, the shape of cutter matches with the shape of tea tree tree crown substantially, as shown in Figure 7, makes picking surface be the tender tea shoot layer of tea tree tree crown substantially.
The self adaptation dynamic equilibrium ceding of Taiwan is fixed in the frame of tea picking machine by two support bars, be hinged on the left of one end of Left-side support bar and the ceding of Taiwan, one end of Right side support bar with carry out sliding hinge on the right side of the ceding of Taiwan and be connected, the height of left and right sidesing post is controlled by two linear servo-actuators respectively, controls two linear servo-actuators for adjusting the height on the relative ground of the ceding of Taiwan and controlling the levelness of the ceding of Taiwan simultaneously.
Central track trace about cutter is consistent with the center line in fluffy of the tea Gansu Province of plucking row to be adjusted, invention broadly provides a kind of man-machine interface mode, show the shaped position of cutter and the moving rail trace at cutter center on a display screen, by demarcating described video camera and installation site adjustment, make the moving rail trace at cutter center overlapping with the primary optical axis of described video camera; The operating personnel of auxiliary tea picking machine accurately set the cutting-height of tea tree tree crown and carry out inching to it, adjust, make the center line in fluffy of tea Gansu Province and the motion track line overlap at cutter center to the travel direction of tea picking machine.
Cutter is fixed by screws on cutter fixed support, and the shape of cutter is circular arc, and power reaches cutter by flexible axle, drives cutter and collect leaf device reciprocating; Tealeaves under cutting is sent in fresh tea leaf collecting box under collection tea fan action.
Auto-cutting type tea picking machine ceding of Taiwan method for automatically leveling provided by the invention, comprises step:
1) height and the center line of tea tree tree crown is obtained;
2) according to the cutting-height H of described height setting tea tree tree crown
s, according to the moving rail trace at described adjusting of centerline cutter center;
3) inclination sensor is adopted, the tilt angle alpha of the perception ceding of Taiwan;
4) according to the distance W between the strong point of ceding of Taiwan both sides, the Height Adjustment value of each strong point when level is adjusted in the ceding of Taiwan is calculated, and according to Height Adjustment value to ceding of Taiwan leveling;
5) utilize the displacement sensor strong point to the distance H on ground
a, according to the inclined angle alpha on ground, calculate the height H of the liftoff plane of cutter central point after leveling "
c,
6) according to formula Δ H=H "
c-H
scarry out altimetric compensation to cutter, after making harvesting, tea hat center line peak is H perpendicular to the height on ground
s.
A kind of intelligent automatic cutting type tea picking machine ceding of Taiwan self-level(l)ing device, comprise in the process of picking tea-leaves to the operation and control system of ceding of Taiwan Altitude control and ceding of Taiwan levelness, display and control screen, video camera and the ceding of Taiwan;
Described camera arrangement in the middle part of tea picking machine towards dead ahead, overlook 10 ° of inclination angles for obtaining the situation of front tea tree tree crown in the process of picking tea-leaves, the operating personnel of auxiliary tea picking machine easily observe height and the center line of tea tree tree crown, and described video camera is connected with described operation and control system by USB interface;
Described display and control screen, for showing the cutting-height of the tea tree tree crown of operating personnel set by described operation and control system of tea picking machine, shows the video image of the front tea tree tree crown obtained by described video camera; The operating personnel of tea picking machine according to the growing state of tea picking machine and tea tree tree crown to be cut, the suitably cutting-height of the setting tea tree tree crown of adjustment tea picking machine; Key light axis and the center line degree of agreement of tea tree tree crown longitudinally to be cut of the video camera of operating personnel according to described display screen display of tea picking machine adjust the travel direction of tea picking machine, and the moving rail trace at the cutter center of tea picking machine is coincide with the center line of tea tree tree crown longitudinally to be cut;
The described ceding of Taiwan, for performing the ceding of Taiwan action module of the cutter be fixed on tea picking machine being carried out to Height Adjustment and Level-adjusting, described ceding of Taiwan action module controls primarily of cutter height control unit and ceding of Taiwan levelness control unit; Described ceding of Taiwan action module is formed primarily of two support bars, ceding of Taiwan body, cutter; Ceding of Taiwan body is fixed in the frame of tea picking machine by two support bars, be hinged on the left of one end of ceding of Taiwan Left-side support bar and the ceding of Taiwan, one end of Right side support bar with carry out sliding hinge on the right side of the ceding of Taiwan and be connected, the height of left and right sidesing post is controlled by two linear servo-actuators respectively, controls two linear servo-actuators for adjusting the height on the relative ground of the ceding of Taiwan and controlling the levelness of the ceding of Taiwan simultaneously; Ceding of Taiwan body and cutter adopt removably to be connected, and are fixed on ceding of Taiwan body by hold-down screw by cutter;
Described operation and control system also comprises:
Cutter height control unit, cutting-height value for the tea tree tree crown of operating personnel set by described operation and control system according to tea picking machine adjusts the height of cutter automatically, make the Altitude control of the tea tree tree crown be cut in the scope of setting value, make the tender shoots layer on circular arc line of cut aligning fluffy of circular arc tea Gansu Province of cutter;
Ceding of Taiwan levelness control module, mainly comprises ceding of Taiwan tilt detection unit and ceding of Taiwan level control unit, and the ceding of Taiwan for fixing cutter is consistent with the earth horizontal plane;
Display translation module, for showing the cutting-height of the tea tree tree crown of operating personnel set by described operation and control system of tea picking machine, show the video image of the front tea tree tree crown obtained by described video camera, the middle part of video image shows the primary optical axis of described video camera, for representing the travel direction of current tea picking machine;
Cutter cut-sytle pollination unit moves back and forth by driving blade to produce, and is cut off by the tea tree germ tip.
Described ceding of Taiwan tilt detection unit, by the cutter level described in the inclination sensor perception that is arranged on the described ceding of Taiwan; Described inclination sensor is fixed on the centre on described ceding of Taiwan top, for the heeling condition of the perception ceding of Taiwan; Inclination sensor adopts SCA103T chip, SCA103T series have employed height integrated electronic and ripe MEMS sensor technology, for high-precision tilt angle measure and design, can be used in more severe industrial and agricultural production environment, especially insensitive to vibration, be useful in very much on the levelling device of intelligent tea picking machine, its functional block diagram as shown in Figure 3;
SCA103T series has two modulating output, be respectively OUT_1 and OUT_2, carry out difference with these two signals and carry out signal input, as shown in Figure 4, improve the sensitivity of inclination measurement and significantly reduce common-mode noise, this chip contains internal stability to be measured and compensates, and has higher environmental suitability; SCA103T-D05 type differential sensitivity in SCA103T series is 8V/g, and gather the inclination information of the ceding of Taiwan from modulating output, the corresponding relation at the inclination angle of modulating output and the ceding of Taiwan is calculated by formula (1);
In formula, V
outfor measuring the difference of chip two modulating output, i.e. OUT_1-OUT_2; Sensiticity is the susceptibility measuring chip, and its value is 8V/g; α is the inclination angle of the ceding of Taiwan, defines with the clockwise inclination alpha that is the visual angle ceding of Taiwan of line direction before riding shape tea picking machine for just, otherwise is negative; The Left-side support point of the ceding of Taiwan is defined as A point, and the Right side support point of the ceding of Taiwan is defined as B point, as shown in Figure 5; First need to return to zero to inclination sensor and demarcate during actual use.
Ceding of Taiwan level control unit, the ceding of Taiwan for fixing cutter is consistent with the earth horizontal plane; Control the left side of the ceding of Taiwan described in supporting and the linear servo-actuator action of Right side support bar, make the described ceding of Taiwan and the earth horizontal plane maintenance level; Adopt datum mark leveling to heighten algorithm in the present invention to control to the level realizing the ceding of Taiwan; So-called datum mark refers to the neighbouring vertical range between level ground of the central point of cutter, and this value is the plucking height value of user's setting on a display screen, the vertical height of tea hat after namely plucking; Because this datum mark is not easy directly to measure to obtain, during calculating, the central point of cutter is as datum mark.
Except adjusting the level of the ceding of Taiwan, also need the Altitude control of cutter central point at a specified value H
s, H
svalue is inputted by man-machine interface by the man-machine interface of console, H
svalue represents plucks rear tea hat center line peak perpendicular to the distance of ground level to ground, as shown in Figure 5.
When whole tea picking machine is with inclined angle alpha run-off the straight, the ceding of Taiwan comprises cutter also can run-off the straight thereupon, if tea picking machine cuts with the state tilted, after plucking, the vertical height formula (3) of tea hat calculates,
H'
C＝H
s×cosα (3)
Therefore, by tea hat center line peak after harvesting perpendicular to the distance H of ground level to ground
ccontrol at a specified value H
s, just need H
cslope compensation is carried out with formula (4);
H
C＝H'
C+H
s×(1-cosα) (4)
After making the harvesting after compensating, tea hat center line peak is perpendicular to the distance H of ground level to ground
cwith specified value H
sunanimously;
In the present invention, the Left-side support point A point of the ceding of Taiwan installing displacement transducer, for measuring Left-side support point A point along support bar to the distance on ground, in accompanying drawing 5, having used H
arepresent; Strong point A point is perpendicular to the distance H' of ground level to ground
acalculate with formula (5);
H'
a＝H
a×cosα (5)
If with displacement measurement H
aleveling is carried out, by H as datum mark
acontrol at H
s≈ H
a, consider the inclination angle on ground, the height H of the liftoff plane of cutter central point can be calculated "
c;
The height H of plane that cutter central point is liftoff "
cbe H with the height of the desirable liftoff plane of cutter central point
sbetween difference, here as datum mark controlled estimation error, calculate by relational expression (7);
Simulation calculation is carried out to formula (7), finds in inclined angle alpha within the scope of 15 °, use displacement measurement H
acarry out cutter Height Adjustment as datum mark and meet engineering requirement.
The above analysis, the height of the ceding of Taiwan is that benchmark carries out ceding of Taiwan height and position SERVO CONTROL by the Left-side support point A point of the ceding of Taiwan, and the leveling of the ceding of Taiwan is controlled by the positional servosystem of the left and right strong point.
Described ceding of Taiwan level control unit, the ceding of Taiwan for fixing cutter is consistent with the earth horizontal plane; Control the left side of the ceding of Taiwan described in supporting and the linear servo-actuator action of Right side support bar, make the described ceding of Taiwan and the earth horizontal plane maintenance level;
The left side of the described ceding of Taiwan and the displacement formula (2) of Right side support bar calculate;
δ＝W×sinα/2 (2)
In formula, α is the inclination angle of the ceding of Taiwan, and W is the distance between two strong points of the ceding of Taiwan, and defining two strong point centre positions is here datum mark; Be coordinates computed initial point according to formula (2) with datum mark, calculate and level is adjusted in the ceding of Taiwan, the adjustment shift value of the Left-side support point A point of the ceding of Taiwan is-sgn (α) × δ, and the adjustment shift value of the Right side support point B point of the ceding of Taiwan is sgn (α) × δ.
According to calculating the site error of each strong point of the ceding of Taiwan to datum mark; Respectively the site error value of each strong point to datum mark is given the positional servosystem of each strong point and carried out uneoupled control, calculate the related data such as moving displacement and translational speed of each strong point, then respective motor is driven to turn over certain angle with some movement velocity patterns, make the position of each strong point rises or the given distance that declines, thus each strong point is in same elevation of water, the ceding of Taiwan is up to the standard state.
In actual leveling process, first the adjustment speed of inclined angle alpha is determined according to formula (2), just terminate leveling action when ceding of Taiwan inclined angle alpha is adjusted in some threshold value δ α, the size of threshold value δ α requires to determine according to the horizontal control accuracy of the ceding of Taiwan; The strong point A, B is made to move together with identical speed with positive and negative different adjustment displacement and arrive datum mark level.
When leveling, the calculated difference according to the strong point and datum mark controls its direction of motion and displacement size, aligns with datum mark, and when each strong point reaches reference point location, the ceding of Taiwan is in level; It is noted herein that the action of each strong point must be coordinate, namely two strong points to supporting the ceding of Taiwan are needed to carry out uneoupled control, so-called decoupling and controlling system is exactly adopt suitable control law to eliminate the relation that intercouples in leveling system between each position SERVO CONTROL, make each input only control a corresponding output, each exports and is only subject to again an effect controlled.
Concrete methods of realizing is: according to the signal at the inclination angle that inclination sensor detects, the highs and lows of the ceding of Taiwan strong point is calculated by the length gauge of ceding of Taiwan crossbeam, and using datum mark as the initial point of coordinate system, then calculate the site error of each strong point of the ceding of Taiwan to datum mark; Respectively the site error value of each strong point to datum mark is given the positional servosystem of each strong point and carried out uneoupled control, calculate the related data such as moving displacement and translational speed of each strong point, then respective motor is driven to turn over certain angle with some movement velocity patterns, make the position of each strong point rises or the given distance that declines, thus each strong point is in same elevation of water, the ceding of Taiwan is up to the standard state.
Ceding of Taiwan feet position servo control driver element, for receiving displacement and the rate travel data of the feet that described cutter height control unit or described ceding of Taiwan level control unit send, the actual position signal converse servomotor signals of rotating transformer and actual speed signal realize closed-loop control as position ring feedback signal and loop feedback signal, and make system quickly and smoothly follow position setting value, realize the leveling of the ceding of Taiwan or the adjustment of height.
Described cutter height control unit, cutting-height value for the tea tree tree crown of operating personnel set by described operation and control system according to tea picking machine adjusts the height of cutter automatically, make the Altitude control of the tea tree tree crown be cut in the scope of setting value, defining cutter height is here datum mark.
Be difficult to direct measured value because cutter height is one, adopting the Left-side support point A point of the ceding of Taiwan is here measuring basis, indirectly controls cutter height with Synchronization Control ceding of Taiwan feet position servo control driver element.
Described cutter height control unit carrys out indirect perception cutter height by the displacement transducer be placed on the Left-side support bar of the ceding of Taiwan.
In actual cutter height adjustment process, according to the measured value H of the displacement transducer on the Left-side support bar of the ceding of Taiwan
awith the cutting-height value H of the tea tree tree crown of operating personnel set by described operation and control system
sbetween difference, make the difference between both be less than δ H, namely
H
s-H
a≤δH (8)
Just terminate Height Adjustment action when difference in height is adjusted in some threshold value δ H, the size of threshold value δ H requires to determine according to the Height Adjustment precision controlling of the ceding of Taiwan; The strong point A, B are moved together and the height of the cutting of the tea tree tree crown set by operation and control system described in arriving with identical speed.
Described display translation module, for showing the cutting-height of the tea tree tree crown of operating personnel set by described operation and control system of tea picking machine, as shown in Figure 8; Show the video image of the front tea tree tree crown obtained by described video camera on a display screen, the middle part vertical direction of video image shows the primary optical axis of described video camera, for representing the travel direction of current tea picking machine; Here first multiwindow division is carried out in the effective coverage of image; So-called multiwindow divides, and be exactly the subgraph of the geometry complete Iamge Segmentation being become rule, each subgraph is as a rectangular window.
Operating personnel in order to auxiliary tea picking machine accurately set the cutting-height of tea tree tree crown and carry out inching to it, adjust the travel direction of tea picking machine, make the center line in fluffy of tea Gansu Province and the motion track line overlap at cutter center; Showing the shaped position of cutter and the moving rail trace at cutter center on a display screen, by demarcating described video camera and installation site adjustment, making the moving rail trace at cutter center overlapping with the primary optical axis of described video camera.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
Embodiment 1
With reference to Fig. 1 ~ 8, intelligent automatic cutting type tea picking machine ceding of Taiwan self-level(l)ing device, for improving integrality and the uniformity of the harvesting of tealeaves young sprout, improving tealeaves total quality and picking efficiency, in the present invention, adopting a kind of standardized tealeaves agronomic technique; Carry out pruning by the machine face of adopting of tea picking machine to tea Gansu Province, make the fluffy face, tea Gansu Province of the often row tea tree in whole tea place be shaped as unified circular arc Gansu Province crown.Standardized tealeaves agronomic technique is realized by following 4 uniformity; The tea picking machine when tea picking machine of pruning and machine are adopted cutter used parameter is consistent, the ceding of Taiwan of fixing cutter is overhead highly consistent, the ceding of Taiwan of fixing cutter is consistent with the earth horizontal plane, and the central track trace of cutter is consistent with the center line in fluffy of the tea Gansu Province of plucking row; By adopting standardized pruning agronomic measures, cultivate the tea tree crown adapting to automation machine and adopt.
Ensureing that the tea picking machine cutter parameter used when the tea picking machine of pruning and machine are adopted is consistent, realizing by adopting the identical cutter of size shape; Ensureing that the ceding of Taiwan of fixing cutter is overhead highly consistent, is realized by the displacement of two support bars of the Synchronization Control ceding of Taiwan.
Because tea place is uneven, it is very crucial that the ceding of Taiwan of the fixing cutter of guarantee and horizontal plane are consistent; If do not carry out the horizontal adjusting of the ceding of Taiwan, just there will be a cutter part undue cutting tea tree tree crown as shown in Figure 6, not cutting or few phenomenon of cutting appears again in another part; Here by the heeling condition of the inclination sensor perception ceding of Taiwan, the displacement difference then adjusting two support bars of the ceding of Taiwan realizes; By after the levelness that adjusts the ceding of Taiwan, the shape of cutter matches with the shape of tea tree tree crown substantially, as shown in Figure 7, makes picking surface be the tender tea shoot layer of tea tree tree crown substantially.
The self adaptation dynamic equilibrium ceding of Taiwan is fixed in the frame of tea picking machine by two support bars, as shown in Figures 1 and 2.Intelligent automatic cutting type tea picking machine comprises the anti-running gear 11 of jolting of many wheels, the self adaptation dynamic equilibrium ceding of Taiwan and cutter 12, operation and control system 13, collection tea blower fan 14, power drive system 15 and fresh tea leaf collecting box.Be hinged on the left of one end of ceding of Taiwan Left-side support bar in accompanying drawing 2 and the ceding of Taiwan, one end of Right side support bar with carry out sliding hinge on the right side of the ceding of Taiwan and be connected, the height of left and right sidesing post is controlled by two linear servo-actuators respectively, controls two linear servo-actuators for adjusting the height on the relative ground of the ceding of Taiwan and controlling the levelness of the ceding of Taiwan simultaneously.
Cutter is fixed by screws on cutter fixed support, and the shape of cutter is circular arc, and power reaches cutter by flexible axle, drives cutter and collect leaf device reciprocating; Tealeaves under cutting is sent in fresh tea leaf collecting box under collection tea fan action.
Intelligent automatic cutting type tea picking machine ceding of Taiwan self-level(l)ing device, comprise in the process of picking tea-leaves to the operation and control system of ceding of Taiwan Altitude control and ceding of Taiwan levelness, display and control screen, video camera and the ceding of Taiwan.
Camera arrangement in the middle part of tea picking machine towards dead ahead, overlook 10 ° of inclination angles for obtaining the situation of front tea tree tree crown in the process of picking tea-leaves, the operating personnel of auxiliary tea picking machine easily observe height and the center line of tea tree tree crown, and video camera is connected with described operation and control system by USB interface;
Display and control shields, for showing the cutting-height of the tea tree tree crown of operating personnel set by operation and control system of tea picking machine, as shown in Figure 8; The video image of the front tea tree tree crown that display screen display is obtained by video camera; The operating personnel of tea picking machine according to the growing state of tea picking machine and tea tree tree crown to be cut, the suitably cutting-height of the setting tea tree tree crown of adjustment tea picking machine; The operating personnel of tea picking machine adjust the travel direction of tea picking machine according to the key light axis of described display screen display video camera and the center line degree of agreement of tea tree tree crown longitudinally to be cut, the moving rail trace at the cutter center of tea picking machine is coincide with the center line of tea tree tree crown longitudinally to be cut;
Inclination sensor is fixed on the centre on described ceding of Taiwan top, for the heeling condition of the perception ceding of Taiwan; Inclination sensor adopts SCA103T chip, SCA103T series have employed height integrated electronic and ripe MEMS sensor technology, for high-precision tilt angle measure and design, can be used in more severe industrial and agricultural production environment, especially insensitive to vibration, be useful in very much on the levelling device of intelligent tea picking machine, its functional block diagram as shown in Figure 3.
SCA103T series has two modulating output, be respectively OUT_1 and OUT_2, carry out difference with these two signals and carry out signal input, as shown in Figure 4, improve the sensitivity of inclination measurement and significantly reduce common-mode noise, this chip contains internal stability to be measured and compensates, and has higher environmental suitability; SCA103T-D05 type differential sensitivity in SCA103T series is 8V/g, and gather the inclination information of the ceding of Taiwan from modulating output, the corresponding relation at the inclination angle of modulating output and the ceding of Taiwan is calculated by formula (1);
In formula, V
outfor measuring the difference of chip two modulating output, i.e. OUT_1-OUT_2; Sensiticity is the susceptibility measuring chip, and its value is 8V/g; α is the inclination angle of the ceding of Taiwan, defines with the clockwise inclination alpha that is the visual angle ceding of Taiwan of line direction before riding shape tea picking machine for just, otherwise is negative; The Left-side support point of the ceding of Taiwan is defined as A point, and the Right side support point of the ceding of Taiwan is defined as B point, as shown in Figure 5; First need to return to zero to inclination sensor and demarcate during actual use.
Ceding of Taiwan level control unit, for controlling the levelness of the ceding of Taiwan, mainly comprises ceding of Taiwan feet site error computing module and ceding of Taiwan feet position servo control module.
Ceding of Taiwan feet site error computing module, the ceding of Taiwan will be adjusted to horizontal level and the displacement of each strong point of the ceding of Taiwan under given tea tree cutting-height state of value for calculating, namely algorithm is heightened in leveling; Datum mark leveling is adopted to heighten algorithm in the present invention; So-called datum mark refers to the neighbouring vertical range between level ground of the central point of cutter, and this value is the plucking height value of user's setting on a display screen, the vertical height of tea hat after namely plucking; Because this datum mark is not easy directly to measure to obtain, during calculating, the central point of cutter is as datum mark, according to design the ceding of Taiwan two strong points central point to cutter central point between vertical range be Δ h, distance between two strong points of the ceding of Taiwan is W, calculates the site error value of ceding of Taiwan feet owing to tilting to cause with formula (2);
δ＝W×sinα/2 (2)
Can calculate according to formula (2) and level is adjusted in the ceding of Taiwan, the alignment error value of the Left-side support point A point of the ceding of Taiwan is-sgn (α) × δ, and the alignment error value of the Right side support point B point of the ceding of Taiwan is sgn (α) × δ.
Except adjusting the level of the ceding of Taiwan, also need the Altitude control of cutter central point at a specified value H
s, H
svalue is inputted by man-machine interface by the man-machine interface of console, H
svalue represents plucks rear tea hat center line peak perpendicular to the distance of ground level to ground, as shown in Figure 5.
When whole tea picking machine is with inclined angle alpha run-off the straight, the ceding of Taiwan comprises cutter also can run-off the straight thereupon, if tea picking machine cuts with the state tilted, after plucking, the vertical height formula (3) of tea hat calculates,
H'
C＝H
s×cosα (3)
Therefore, by tea hat center line peak after harvesting perpendicular to the distance H of ground level to ground
ccontrol at a specified value H
s, just need H
cslope compensation is carried out with formula (4);
H
C＝H'
C+H
s×(1-cosα) (4)
After making the harvesting after compensating, tea hat center line peak is perpendicular to the distance H of ground level to ground
cwith specified value H
sunanimously;
In the present invention, the Left-side support point A point of the ceding of Taiwan installing displacement transducer, for measuring Left-side support point A point along support bar to the distance on ground, in accompanying drawing 5, having used H
arepresent; Strong point A point is perpendicular to the distance H' of ground level to ground
acalculate with formula (5);
H'
a＝H
a×cosα (5)
If with displacement measurement H
aleveling is carried out, by H as datum mark
acontrol at H
s≈ H
a, consider the inclination angle on ground, the height H of the liftoff plane of cutter central point can be calculated "
c;
The height H of plane that cutter central point is liftoff "
cand the height of the desirable liftoff plane of cutter central point is the difference between Hs, here as datum mark controlled estimation error, calculate by relational expression (7);
Simulation calculation is carried out to formula (7), finds in inclined angle alpha within the scope of 15 °, use displacement measurement H
acarry out cutter Height Adjustment as datum mark and meet engineering requirement.
Ceding of Taiwan level control unit, the ceding of Taiwan for fixing cutter is consistent with the earth horizontal plane; Control the left side of the ceding of Taiwan described in supporting and the linear servo-actuator action of Right side support bar, make the described ceding of Taiwan and the earth horizontal plane maintenance level.
The left side of the ceding of Taiwan and the displacement formula (2) of Right side support bar calculate;
δ＝W×sinα/2 (2)
In formula, α is the inclination angle of the ceding of Taiwan, and W is the distance between two strong points of the ceding of Taiwan, and defining two strong point centre positions is here datum mark; Be coordinates computed initial point according to formula (2) with datum mark, calculate and level is adjusted in the ceding of Taiwan, the adjustment shift value of the Left-side support point A point of the ceding of Taiwan is-sgn (α) × δ, and the adjustment shift value of the Right side support point B point of the ceding of Taiwan is sgn (α) × δ.
According to calculating the site error of each strong point of the ceding of Taiwan to datum mark; Respectively the site error value of each strong point to datum mark is given the positional servosystem of each strong point and carried out uneoupled control, calculate the related data such as moving displacement and translational speed of each strong point, then respective motor is driven to turn over certain angle with some movement velocity patterns, make the position of each strong point rises or the given distance that declines, thus each strong point is in same elevation of water, the ceding of Taiwan is up to the standard state.
In actual leveling process, first the adjustment speed of inclined angle alpha is determined according to formula (2), just terminate leveling action when ceding of Taiwan inclined angle alpha is adjusted in some threshold value δ α, the size of threshold value δ α requires to determine according to the horizontal control accuracy of the ceding of Taiwan; The strong point A, B is made to move together with identical speed with positive and negative different adjustment displacement and arrive datum mark level.
When leveling, the calculated difference according to the strong point and datum mark controls its direction of motion and displacement size, aligns with datum mark, and when each strong point reaches reference point location, the ceding of Taiwan is in level; It is noted herein that the action of each strong point must be coordinate, namely two strong points to supporting the ceding of Taiwan are needed to carry out uneoupled control, so-called decoupling and controlling system is exactly adopt suitable control law to eliminate the relation that intercouples in leveling system between each position SERVO CONTROL, make each input only control a corresponding output, each exports and is only subject to again an effect controlled.
Concrete methods of realizing is: according to the signal at the inclination angle that inclination sensor detects, the highs and lows of the ceding of Taiwan strong point is calculated by the length gauge of ceding of Taiwan crossbeam, and using datum mark as the initial point of coordinate system, then calculate the site error of each strong point of the ceding of Taiwan to datum mark; Respectively the site error value of each strong point to datum mark is given the positional servosystem of each strong point and carried out uneoupled control, calculate the related data such as moving displacement and translational speed of each strong point, then respective motor is driven to turn over certain angle with some movement velocity patterns, make the position of each strong point rises or the given distance that declines, thus each strong point is in same elevation of water, the ceding of Taiwan is up to the standard state.
Ceding of Taiwan feet position servo control driver element, for receiving displacement and the rate travel data of the feet that cutter height control unit or ceding of Taiwan level control unit send, the actual position signal converse servomotor signals of rotating transformer and actual speed signal realize closed-loop control as position ring feedback signal and loop feedback signal, and make system quickly and smoothly follow position setting value, realize the leveling of the ceding of Taiwan or the adjustment of height.
Cutter height control unit, cutting-height value for the tea tree tree crown of operating personnel set by described operation and control system according to tea picking machine adjusts the height of cutter automatically, make the Altitude control of the tea tree tree crown be cut in the scope of setting value, defining cutter height is here datum mark.
Be difficult to direct measured value because cutter height is one, adopting the Left-side support point A point of the ceding of Taiwan is here measuring basis, indirectly controls cutter height with Synchronization Control ceding of Taiwan feet position servo control driver element.
Cutter height control unit carrys out indirect perception cutter height by the displacement transducer be placed on the Left-side support bar of the ceding of Taiwan.
In actual cutter height adjustment process, according to the measured value H of the displacement transducer on the Left-side support bar of the ceding of Taiwan
awith the cutting-height value H of the tea tree tree crown of operating personnel set by operation and control system
sbetween difference, make the difference between both be less than δ H, namely
H
s-H
a≤δH (8)
Just terminate Height Adjustment action when difference in height is adjusted in some threshold value δ H, the size of threshold value δ H requires to determine according to the Height Adjustment precision controlling of the ceding of Taiwan; The strong point A, B are moved together and the height of the cutting of the tea tree tree crown set by operation and control system described in arriving with identical speed.
Display translation module, for showing the cutting-height of the tea tree tree crown of operating personnel set by operation and control system of tea picking machine, as shown in Figure 8; Show the video image of the front tea tree tree crown obtained by described video camera on a display screen, the middle part vertical direction of video image shows the primary optical axis of video camera, for representing the travel direction of current tea picking machine; Here first multiwindow division is carried out in the effective coverage of image; So-called multiwindow divides, and be exactly the subgraph of the geometry complete Iamge Segmentation being become rule, each subgraph is as a rectangular window.
Operating personnel in order to auxiliary tea picking machine accurately set the cutting-height of tea tree tree crown and carry out inching to it, adjust the travel direction of tea picking machine, make the center line in fluffy of tea Gansu Province and the motion track line overlap at cutter center; Showing the shaped position of cutter and the moving rail trace at cutter center on a display screen, by demarcating video camera and installation site adjustment, making the moving rail trace at cutter center overlapping with the primary optical axis of video camera.
Embodiment 2
Other are identical with embodiment 1, and difference adopts linear pattern cutter, cut after tea tree tree crown be plane; Here replace circular arc type cutter with linear pattern cutter, other leveling control strategies and cutter Altitude control strategy are all identical with circular arc type cutter Softening.
Accompanying drawing explanation
Fig. 1 is the design concept figure of intelligent automatic cutting type tea picking machine;
Fig. 2 is the physical model of intelligent automatic cutting type tea picking machine, and wherein 1 is the frame of intelligent automatic cutting type tea picking machine, and 2 is the right support bar supporting the ceding of Taiwan, and 3 be the left support bar supporting the ceding of Taiwan, and 4 is the ceding of Taiwan, and 5 is cutter, and 6 is vision sensor;
Fig. 3 is the built-in function block diagram of inclination sensor SCA103T;
Fig. 4 is typical output characteristic curve and the external circuit figure of inclination sensor SCA103T;
Fig. 5 is the geometrical relationship figure of the ceding of Taiwan under intelligent automatic cutting type tea picking machine run-off the straight state status, cutter and each strong point;
Fig. 6 is the cut state figure when the relative tea tree tree crown of cutter under intelligent automatic cutting type tea picking machine run-off the straight state status;
Fig. 7 be when under intelligent automatic cutting type tea picking machine run-off the straight state status the ceding of Taiwan is carried out level control after the cut state figure of the relative tea tree tree crown of cutter;
Fig. 8 is the control display screen of intelligent automatic cutting type tea picking machine.
Claims (9)
1. an auto-cutting type tea picking machine ceding of Taiwan method for automatically leveling, is characterized in that, comprise step:
1) height and the center line of tea tree tree crown is obtained;
2) according to the cutting-height H of described height setting tea tree tree crown
s, according to the moving rail trace at described adjusting of centerline cutter center;
3) inclination sensor is adopted, the tilt angle alpha of the perception ceding of Taiwan;
4) according to the distance W between the strong point of ceding of Taiwan both sides, the Height Adjustment value of each strong point when level is adjusted in the ceding of Taiwan is calculated, and according to Height Adjustment value to ceding of Taiwan leveling;
5) utilize the displacement sensor strong point to the distance H on ground
a, according to the inclined angle alpha on ground, calculate the height H of the liftoff plane of cutter central point after leveling "
c;
6) according to formula Δ H=H "
c-H
scarry out altimetric compensation to cutter, after making harvesting, tea hat center line peak is H perpendicular to the height on ground
s.
2. an auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device, is characterized in that, comprises the operation and control system for controlling ceding of Taiwan height and levelness in the process of picking tea-leaves, display and control screen and video camera and ceding of Taiwan action module;
Described video camera, is positioned at the middle part of the ceding of Taiwan, and overlooks 10 ° of inclination angles installations, for obtaining the video image of front tea tree tree crown;
Described display and control screen, for showing the cutting-height of the tea tree tree crown set in operation and control system and described video image, and the moving rail trace at center line determination cutter center according to tea tree tree crown in video image;
Described operation and control system, comprises tilt detection unit, ceding of Taiwan levelness control unit, cutter height control unit and the displacement transducer for measuring ceding of Taiwan lateral support point height;
Described tilt detection unit, for being fixed on the inclination sensor in the middle part of the ceding of Taiwan, for measuring the tilt angle alpha of the ceding of Taiwan;
Described ceding of Taiwan levelness control unit, according to described tilt angle alpha, and the distance W between the strong point of ceding of Taiwan both sides, calculate the Height Adjustment value needed for each strong point leveling;
Described cutter height control unit, the strong point height obtained according to displacement sensor and tilt angle alpha, obtain the height H of the liftoff plane of cutter central point after leveling "
c, then by height H "
ccompare with the cutting-height of the tea tree tree crown of setting, obtain cutter altimetric compensation value;
Ceding of Taiwan action module, for according to described Height Adjustment value and cutter altimetric compensation value, adjusts levelness and the height of the ceding of Taiwan.
3. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 2, it is characterized in that, described ceding of Taiwan action module comprises ceding of Taiwan body, cutter and support bar, ceding of Taiwan body is arranged in the frame of tea picking machine by two support bars, the strong point of support bar top and the ceding of Taiwan are by being hinged, the height of two support bars is controlled by two linear servo-actuators respectively, controls two linear servo-actuators for adjusting the height on the relative ground of the ceding of Taiwan and controlling the levelness of the ceding of Taiwan simultaneously.
4. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 3, it is characterized in that, described inclination sensor adopts SCA103T chip, differential sensitivity is 8V/g, gather the inclination information of the ceding of Taiwan from modulating output, the corresponding relation at the inclination angle of modulating output and the ceding of Taiwan is calculated by formula (1);
In formula, V
outfor measuring the difference of chip two modulating output, i.e. OUT_1-OUT_2; Sensiticity measures the susceptibility of chip, the inclination angle of its value to be 8V/g, α be ceding of Taiwan.
5. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 4, it is characterized in that, the Height Adjustment value formula (2) of the support bar of the described ceding of Taiwan calculates;
δ＝W×sinα/2 (2)
In formula, α is the inclination angle of the ceding of Taiwan, and W is the distance between two strong points of the ceding of Taiwan.
6. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 5, it is characterized in that, defining two strong point centre positions is datum mark, be coordinates computed initial point according to formula (2) with datum mark, calculate and level is adjusted in the ceding of Taiwan, the adjustment shift value of the side strong point A of the ceding of Taiwan is-sgn (α) × δ, and the adjustment shift value of the opposite side strong point B of the ceding of Taiwan is sgn (α) × δ;
According to calculating the site error of each strong point of the ceding of Taiwan to datum mark, respectively the site error value of each strong point to datum mark is given the positional servosystem of each strong point and carried out uneoupled control, calculate the related data such as moving displacement and translational speed of each strong point, then respective motor is driven to turn over certain angle with some movement velocity patterns, make the position of each strong point rises or the given distance that declines, thus each strong point is in same elevation of water, the ceding of Taiwan is up to the standard state;
In actual leveling process, first the adjustment speed of inclined angle alpha is determined according to formula (2), leveling action is just terminated when ceding of Taiwan inclined angle alpha is adjusted in some threshold value δ α, the size of threshold value δ α requires to determine according to the horizontal control accuracy of the ceding of Taiwan, makes the strong point A, B to move together with identical speed with positive and negative different adjustment displacement and arrive datum mark level.
7. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 2, is characterized in that, described ceding of Taiwan action module in height adjustment process, according to the measured value H of the displacement transducer on the support bar of the ceding of Taiwan
awith the cutting-height value H of the tea tree tree crown of operating personnel set by described operation and control system
sbetween difference, make the difference between both be less than δ H, namely
H
s-H
a≤δH
Just terminate Height Adjustment action when difference in height is adjusted in some threshold value δ H, the size of threshold value δ H requires to determine according to the Height Adjustment precision controlling of the ceding of Taiwan; The strong point of both sides is moved together and the height of the cutting of the tea tree tree crown set by operation and control system described in arriving with identical speed.
8. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 7, is characterized in that, described cutter, for the cutting profile of the employing circular arc type in fluffy of single-strain planting tea Gansu Province.
9. auto-cutting type tea picking machine ceding of Taiwan self-level(l)ing device as claimed in claim 7, is characterized in that, described cutter, for the linear cutting profile of employing of more than two strains and two strains planting fluffy of tea Gansu Province.
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