CN107231889A - Automate tea picking machine - Google Patents
Automate tea picking machine Download PDFInfo
- Publication number
- CN107231889A CN107231889A CN201710635763.7A CN201710635763A CN107231889A CN 107231889 A CN107231889 A CN 107231889A CN 201710635763 A CN201710635763 A CN 201710635763A CN 107231889 A CN107231889 A CN 107231889A
- Authority
- CN
- China
- Prior art keywords
- arch
- transfer arm
- curved
- tea
- leaf
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/04—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of tea
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
Automate tea picking system, it is characterised in that：Including the track being laid in the tea tree array element interval of tea place, one is erected at tea tree array element both sides across the curved rail of the arch that can be slided in orbit on tea tree array element, mechanical arm on the curved rail of arch, the mechanical arm can in curved rail Slideslip；Leaf recognition device and distance detection system are installed, the front of identifying device is a phyllidium device, and the inner side of phyllidium device is provided with mechanical chopper close to the edge of port on mechanical arm；Phyllidium device is connected with the leaf collecting box close to curved rail end.The achievable Unmanned operation of the present invention, energy twenty four hours all-weather machine, it is ensured that the efficiency that machine is adopted reduces hand labor intensity, and can replace artificial hand getting completely.
Description
Technical field
The present invention relates to a kind of tea picking machine, and in particular to automation tea picking machine, belongs to IPC classification A01D technical fields.
Background technology
The means of bud-leaf are won from And Development of Tea Shoot, have hand getting and machine to adopt.Hand getting is artificial harvesting, have pinch adopt, handle
Adopt and both hands are adopted, but inefficiency, labor intensity is big.Machine is adopted, and is tapped using instrument, and operating efficiency is high, but
Also need artificial operation, can not twenty four hours all-weather tap, this is the greatest problem that machine is adopted.
The content of the invention
The purpose of the present invention is exactly to adopt to solve existing machine to be unable to twenty four hours all-weather machine and adopt and can not be full-automatic
The technical problem adopted automates tea picking machine there is provided one kind.
The technical problem that the present invention to be solved problem is as follows：
Automate tea picking system, it is characterised in that：Including the track being laid in the tea tree array element interval of tea place, one is erected at
Tea tree array element both sides are across the curved rail of the arch that can be slided in orbit on tea tree array element, installed in the curved rail of arch
On mechanical arm, the mechanical arm can in curved rail Slideslip；
Leaf recognition device and distance detection system are installed, the front of identifying device is a phyllidium device, is inhaled on mechanical arm
The inner side of leaf device is provided with mechanical chopper close to the edge of port；
Phyllidium device is connected with the leaf collecting box close to curved rail end.
The leaf recognition device and distance detection system are controlled by a single-chip microcomputer, and the output end of single-chip microcomputer is with being machinery
The hydraulic system that chopper provides power is connected, and single-chip microcomputer is also connected with color sensor, an illumination system.
The identifying device includes a video inputs and a data output end.
The mechanical arm includes the first transfer arm, the second transfer arm and the 3rd transfer arm, and first transfer arm one end is installed
On the inside of the top of the curved rail of arch, the other end be connected with the second transfer arm, second transfer arm one end be arranged on the curved trackside side of arch
Inner side, the other end are connected with the 3rd transfer arm, and the 3rd transfer arm one end is arranged on the curved trackside side of arch positioned at the second transfer arm
The lower section of inner side.
The phyllidium device includes flexible suction pipe, and suction pipe is connected with providing the leaf collecting box of suction for suction pipe.
The curved flange of rail portion of arch is provided with the movable motor that an output shaft is equipped with roller, and the power supply of movable motor is by an electricity
Source band is provided, and separator strip is provided with the outside of Power supply belt.
Color conversion module, color contrast module, digital-to-analogue conversion module are provided with single-chip microcomputer；Leaf recognition device will be recognized
As a result color conversion module is reached, conversion results are reached color contrast module and contrasted by color conversion module, distance detection
System is connected with digital-to-analogue conversion module, and digital-to-analogue conversion module and movable motor, hydraulic system, leaf collecting box and mechanical arm are connected.
Beneficial effects of the present invention are as follows：
The achievable Unmanned operation of the present invention, energy twenty four hours all-weather machine, it is ensured that the efficiency that machine is adopted, reduction hand labor is strong
Degree, and artificial hand getting can be replaced completely.
Brief description of the drawings：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of another angle of the invention；
Fig. 3 is modular construction schematic diagram of the present invention.
Embodiment：
Make further details of elaboration to the present invention below in conjunction with the accompanying drawings.
Refering to Fig. 1 to Fig. 3, tea picking system, including the track 2 being laid in the interval of tea place tea tree array element 1 are automated,
One is erected at the both sides of tea tree array element 1 across the curved rail 3 of the arch that can be slided in orbit on tea tree array element 1, peace
Mechanical arm 4 on the curved rail 3 of arch, the mechanical arm 4 can in the curved rail 3 of arch Slideslip；In force, track 2 is laid,
The more stable tea place of the gradient of selection plantation tea tree, can so avoid many troubles, and Cost Problems, such as gradient compared with
Greatly, several rows of tea tree height such as terraced fields, then the laying of track 2 will certainly be high low on one side on one side, the corresponding curved rail 3 of arch
Two ends also can be setting of both the high side and low side, and certainly such gap is to customize for existing tea place, and the present invention is implemented
When, the system is preferably first set, then tea tree array is planted between two tracks 2, so-called array is the rows of kind of tea tree
Plant, each row is individual array element.
Leaf recognition device and distance detection system are installed, the front of identifying device fills for a phyllidium on mechanical arm 4
6 are put, the inner side of phyllidium device 6 is provided with mechanical chopper 5 close to the edge of port；The mechanical arm 4 includes the first transfer arm 41, the
Two transfer arms 42 and the 3rd transfer arm 43, the one end of the first transfer arm 41 be arranged on the curved rail 3 of arch top on the inside of, the other end with
Second transfer arm 42 is connected, and the one end of the second transfer arm 42 is arranged on the curved side of rail 3 inner side of arch, the other end and the 3rd transfer arm 43
It is connected, the one end of the 3rd transfer arm 43 is located at the lower section that the second transfer arm 42 is arranged on the inside of the curved side of rail 3 of arch.Distance detection
System includes that ultrasonic distance sensor can be selected.
Above-mentioned first transfer arm 41, the second transfer arm 42 and the 3rd transfer arm 43 constitute coordinate XY systems, and in it
It is mobile, i.e., it is reference axis with the curved rail 3 of arch, coordinate X points is carried out by XY coordinate domains of the space of the corresponding tea tree in the curved rail 3 of arch
With the movement of Y points, these can be set installed in the first transfer arm 41, second by the size of the curved rail 3 of arch in single-chip microcomputer
The transfer arm 43 of transfer arm 42 and the 3rd realizes that this displacement can be three movements in the displacement of the curved inner end of rail 3 of arch
Arm end is driven by motor or three transfer arm ends are driven by a transmission belt respectively, for making after installation
With consideration, the present invention is preferential to be driven using motor.That is the first transfer arm 41, the second transfer arm 42 and the 3rd transfer arm 43 are installed
End in the curved rail 3 of arch is provided with motor, the two ends output shaft of motor and is nested with driving gear, is set in the curved inner side of rail 3 of arch
Corresponding cingulum is put, in the case of energization, driving gear slides to realize on cingulum.
It is of course also possible to use conveyer belt, the inner side of conveyer belt has double wedge, and in such cases, the first transfer arm 41, the
Two transfer arms 42 and the 3rd transfer arm 43 installed for driven gear, by the rotation of conveyer belt, realize the first transfer arm
41, the second transfer arm 42 and the 3rd transfer arm 43 are moved, in the case of this set, and the curved rail 3 of arch will set established practice shape,
Not so knee, such conveyer belt just is inconvenient to set, not so in structure for stability be certain to be affected.
Phyllidium device 6 is connected with the leaf collecting box 7 close to curved rail end.It is provided with leaf collecting box 7 identical with dust catcher principle
Dust absorbing structure, by single-chip microcomputer control machinery chopper 5 phyllidium device 6 run 1 second in start.
The leaf recognition device and distance detection system are controlled by a single-chip microcomputer, and the output end of single-chip microcomputer is with being machinery
Scissors hand 5 provides the hydraulic system connected 51 of power, and single-chip microcomputer is also connected with color sensor, an illumination system 8.The identification
Device includes a video inputs and a data output end.
The phyllidium device 6 includes flexible suction pipe 61, and suction pipe 61 is connected with providing the leaf collecting box 7 of suction for suction pipe 6.
The curved bottom of rail 3 of arch is provided with the movable motor 31 that an output shaft is equipped with roller, the power supply of movable motor 31
There is provided by a Power supply belt 9, Power supply belt is connected to movable motor 31 by the end of track 2, the outside of Power supply belt 9 is provided with separator strip
10.Separator strip 10 is when movable motor 31 is walked, and Power supply belt 9 can change in curved strip shape between separator strip 10 and track 2, can be with
Power supply belt 9 is protected without impinging on the place outside separator strip 10.
The realization principle of the present invention is as follows：
Installed in the both sides of tea tree array element 1 and lay track 2, the curved rail 3 of arch is placed on track 2, when season of picking tea-leaves
Come interim, illumination system 8 is irradiated against tea tree upper bit, leaf recognition device will be known against tea tree top tealeaves
Not, during identification, the color of main collection video Leaf is changed into RGB color pattern through color conversion module in single-chip microcomputer
Under data, color contrast module then is given into data transmission, color contrast module by the data of the RGB color pattern of collection with
Pre-set color data are contrasted, in certain controllable error tolerance（Tealeaves on the top of tea tree, the leaf color that can pick tea-leaves with can not
Tea picking leaf color has certain difference, and this difference is exactly error tolerance）The interior color by collection carries out matched indicia, then
The result is sent to digital-to-analogue conversion module, by the first transfer arm 41 of single-chip microcomputer control machinery arm 4, the second transfer arm 42 and
3rd transfer arm 43 is by the real detection tealeaves of distance detection system in mechanical arm 4 in the XY coordinate domains present in the curved rail 3 of arch
The interior distance for carrying out displacement.
When in-position, single-chip microcomputer is determined already close to control leaf collecting box 7 is phyllidium device according to distance detection system
6 provide suction, in startup suction 1 second, and single-chip microcomputer can control the mechanical chopper 5 of hydraulic closure system to pluck tealeaves.This
Suction, which can produce suction to the branch of tealeaves and be returned after mechanical chopper 5 cuts off tealeaves, during individual produces swing, so
Influence is produced for the other tealeaves of follow-up harvesting, therefore, distance determined by distance detection system is typically less than 1cm, and
The mouth of pipe of suction pipe 61 of phyllidium device 6 will be maintained within 30 degree of vertical range.
The tealeaves cut off by mechanical chopper 5 is preserved as suction pipe 61 enters in leaf collecting box 7.
In addition, for tealeaves be cut off after branches and leaves swing influence, can also take the curved rail 3 of arch on track 2 forward
Next tea tree of mobile collection, tea picking that back and forth several times just can be by the day of so on tea tree array unit is finished.
After harvesting task on the day of completion, the curved rail 3 of arch is moved into the end of track 2, and administrative staff can comform
Pass by collect tealeaves collected in each mining tea machine leaf collecting box 7 and conclude together i.e. in many tealeaves array unit sides
Can., can reduction significantly also, the present invention can also in the morning collect these tealeaves in night operation, administrative staff
The labor intensity and cost of labor of manual work, realize the automation picked tea-leaves in tea place and prosthetic.
Claims (7)
1. automate tea picking system, it is characterised in that：Set up including the track being laid in the tea tree array element interval of tea place, one
It is curved installed in arch in tea tree array element both sides across the curved rail of the arch that can be slided in orbit on tea tree array element
Mechanical arm on rail, the mechanical arm can in curved rail Slideslip；
Leaf recognition device and distance detection system are installed, the front of identifying device is a phyllidium device, is inhaled on mechanical arm
The inner side of leaf device is provided with mechanical chopper close to the edge of port；
Phyllidium device is connected with the leaf collecting box close to curved rail end.
2. automation tea picking system according to claim 1, it is characterised in that：The leaf recognition device and apart from inspection
Examining system is controlled by a single-chip microcomputer, and the output end of single-chip microcomputer is connected with the hydraulic system for providing power for mechanical chopper, single-chip microcomputer
Also it is connected with color sensor, an illumination system.
3. automation tea picking system according to claim 2, it is characterised in that：The identifying device includes a video input
End and a data output end.
4. automation tea picking system according to claim 1, it is characterised in that：The mechanical arm includes the first transfer arm,
Second transfer arm and the 3rd transfer arm, first transfer arm one end is arranged on the inside of the top of the curved rail of arch, the other end and second
Transfer arm is connected, and second transfer arm one end is arranged on the inside of the curved trackside side of arch, the other end is connected with the 3rd transfer arm, and the 3rd moves
Swing arm one end is located at the lower section that the second transfer arm is arranged on the inside of the curved trackside side of arch.
5. automation tea picking system according to claim 1, it is characterised in that：The phyllidium device includes flexible inhale
Pipe, suction pipe is connected with providing the leaf collecting box of suction for suction pipe.
6. automation tea picking system according to claim 1, it is characterised in that：It is defeated that the curved flange of rail portion of arch is provided with one
Shaft is equipped with the movable motor of roller, and the power supply of movable motor is provided by a Power supply belt, and separator strip is provided with the outside of Power supply belt.
7. automation tea picking system according to claim 1, it is characterised in that：Color conversion module is provided with single-chip microcomputer,
Color contrast module, digital-to-analogue conversion module；Recognition result is reached color conversion module, color conversion module by leaf recognition device
Conversion results are reached into color contrast module to be contrasted, distance detection system is connected with digital-to-analogue conversion module, digital-to-analogue conversion mould
Block and movable motor, hydraulic system, leaf collecting box and mechanical arm are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710635763.7A CN107231889B (en) | 2017-07-31 | 2017-07-31 | Automate tea picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710635763.7A CN107231889B (en) | 2017-07-31 | 2017-07-31 | Automate tea picking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107231889A true CN107231889A (en) | 2017-10-10 |
| CN107231889B CN107231889B (en) | 2019-05-21 |
Family
ID=59988223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710635763.7A Expired - Fee Related CN107231889B (en) | 2017-07-31 | 2017-07-31 | Automate tea picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107231889B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109121703A (en) * | 2018-09-18 | 2019-01-04 | 赣州双木科技有限公司 | The rail set and control method that a kind of harvesting machine people's air defense of tea place washes from |
| CN109496554A (en) * | 2019-01-25 | 2019-03-22 | 怀化学院 | A kind of Intelligent tea seed harvester |
| CN111226593A (en) * | 2020-04-02 | 2020-06-05 | 福建省农业科学院茶叶研究所 | Ride ridge formula tea plucking and repairment tea machine |
| CN112189447A (en) * | 2020-11-03 | 2021-01-08 | 杭州市农业科学研究院 | Intelligent tea picking machine with tea sprout tips positioned at four corners and working method of intelligent tea picking machine |
| CN112492975A (en) * | 2020-12-16 | 2021-03-16 | 何东光 | Unmanned full-automatic tea picking, weeding and fertilizing integrated machine |
| CN113366972A (en) * | 2021-06-21 | 2021-09-10 | 河海大学 | Mechanical structure of segmented tea picking robot based on visual positioning |
| CN115336471A (en) * | 2022-08-10 | 2022-11-15 | 宜宾职业技术学院 | Automatic recognition tea leaf picking device and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080013051A (en) * | 2006-08-07 | 2008-02-13 | 오정자 | Rail traveling type green tea harvesting system |
| CN103444360A (en) * | 2013-09-09 | 2013-12-18 | 农业部南京农业机械化研究所 | Intelligent tea leaf picking machine |
| CN104475326A (en) * | 2013-02-22 | 2015-04-01 | 蒋春花 | Fresh tea lea screening mechanism of tea-leaf picker and tea-leaf picker |
| CN205305441U (en) * | 2015-12-09 | 2016-06-15 | 农业部南京农业机械化研究所 | Tea garden aviation equipment of picking tea -leaves |
| CN206078124U (en) * | 2016-08-26 | 2017-04-12 | 漳州速锐智能科技有限公司 | Automatic tea leaf picking machine |
-
2017
- 2017-07-31 CN CN201710635763.7A patent/CN107231889B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080013051A (en) * | 2006-08-07 | 2008-02-13 | 오정자 | Rail traveling type green tea harvesting system |
| CN104475326A (en) * | 2013-02-22 | 2015-04-01 | 蒋春花 | Fresh tea lea screening mechanism of tea-leaf picker and tea-leaf picker |
| CN103444360A (en) * | 2013-09-09 | 2013-12-18 | 农业部南京农业机械化研究所 | Intelligent tea leaf picking machine |
| CN205305441U (en) * | 2015-12-09 | 2016-06-15 | 农业部南京农业机械化研究所 | Tea garden aviation equipment of picking tea -leaves |
| CN206078124U (en) * | 2016-08-26 | 2017-04-12 | 漳州速锐智能科技有限公司 | Automatic tea leaf picking machine |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109121703A (en) * | 2018-09-18 | 2019-01-04 | 赣州双木科技有限公司 | The rail set and control method that a kind of harvesting machine people's air defense of tea place washes from |
| CN109496554A (en) * | 2019-01-25 | 2019-03-22 | 怀化学院 | A kind of Intelligent tea seed harvester |
| CN111226593A (en) * | 2020-04-02 | 2020-06-05 | 福建省农业科学院茶叶研究所 | Ride ridge formula tea plucking and repairment tea machine |
| CN112189447A (en) * | 2020-11-03 | 2021-01-08 | 杭州市农业科学研究院 | Intelligent tea picking machine with tea sprout tips positioned at four corners and working method of intelligent tea picking machine |
| CN112189447B (en) * | 2020-11-03 | 2023-06-13 | 杭州市农业科学研究院 | Intelligent tea picking machine capable of positioning tea shoots at four corners and working method of intelligent tea picking machine |
| CN112492975A (en) * | 2020-12-16 | 2021-03-16 | 何东光 | Unmanned full-automatic tea picking, weeding and fertilizing integrated machine |
| CN113366972A (en) * | 2021-06-21 | 2021-09-10 | 河海大学 | Mechanical structure of segmented tea picking robot based on visual positioning |
| CN113366972B (en) * | 2021-06-21 | 2022-12-27 | 河海大学 | Mechanical structure of segmented tea picking robot based on visual positioning |
| CN115336471A (en) * | 2022-08-10 | 2022-11-15 | 宜宾职业技术学院 | Automatic recognition tea leaf picking device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107231889B (en) | 2019-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107231889A (en) | Automate tea picking machine | |
| EP3742883B1 (en) | System and method for autonomous harvesting of mushrooms | |
| CN102577755B (en) | Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot | |
| CN105123127B (en) | Medlar-picking machine device people and its control method | |
| CN107139182A (en) | A kind of citrus picking robot system and its control method | |
| CN105766220B (en) | A kind of combing formula branch shape fruit picking robot | |
| CN111955165B (en) | Self-propelled full-coverage multi-target safflower filament picking robot | |
| CN111758397B (en) | Intelligent pepper picking device based on visual identification | |
| CN207985879U (en) | A kind of intelligence handling system | |
| CN108391507A (en) | A kind of safflower picking robot | |
| CN106973631A (en) | One kind automation picker system | |
| CN107436340A (en) | A kind of plant root cap Integrated Monitoring System and method | |
| CN204616508U (en) | A kind of gardening nursing robot of business house property | |
| CN207626137U (en) | A kind of aspirated-air type apple harvesting robot | |
| CN110053799A (en) | Divide to boxing apparatus and picking packaging system | |
| CN205142899U (en) | But tea -leaf picker of leaf is held up to roll adjustment | |
| CN107960205A (en) | A kind of novel strawberry picking robot | |
| CN209314338U (en) | Pick the robot of day lily | |
| CN103718729A (en) | Potato harvesting machine | |
| CN110268861A (en) | A kind of Chinese prickly ash acquisition equipment | |
| CN205389515U (en) | Fruit picking device | |
| CN113892326A (en) | Direct planting machine and seedling throwing method | |
| CN208258440U (en) | Automatic strawberry harvesting device | |
| CN211129006U (en) | Castor harvester | |
| CN209453593U (en) | A kind of picking robot competition venue |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201023 Address after: No. 39, Pingshan North Road, Gulou District, Xuzhou City, Jiangsu Province Patentee after: Xuzhou xuanke Agricultural Machinery Co.,Ltd. Address before: 318050, No. 4, 63, Chen Jia village, Heng Street Town, Luqiao District, Zhejiang, Taizhou Patentee before: Cui Jinfen |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220221 Address after: 400000 No. 6, group 7, Fuya village, Shashi Town, Yunyang County, Chongqing Patentee after: Yunyang Nangong Yupin Tea Industry Co.,Ltd. Address before: 221000 No.39, Pingshan North Road, Gulou District, Xuzhou City, Jiangsu Province (a1-187, Guishan Folk Museum Cultural Park) Patentee before: Xuzhou xuanke Agricultural Machinery Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190521 |