CN109220227A - A kind of Famous High-quality Tea picking robot - Google Patents
A kind of Famous High-quality Tea picking robot Download PDFInfo
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- CN109220227A CN109220227A CN201811294419.7A CN201811294419A CN109220227A CN 109220227 A CN109220227 A CN 109220227A CN 201811294419 A CN201811294419 A CN 201811294419A CN 109220227 A CN109220227 A CN 109220227A
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- tealeaves
- quality tea
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- 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
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a kind of Famous High-quality Tea picking robots, belong to robotic technology field, including unmanned navigation vehicle, the high-definition camera system for carrying out Famous High-quality Tea tea picking camera shooting being arranged on unmanned navigation vehicle, the tealeaves collection system for being used to hold Famous High-quality Tea tealeaves being arranged in unmanned navigation vehicle, the picking hand for picking Famous High-quality Tea tealeaves being arranged in unmanned navigation vehicle and the running gear for driving unmanned navigation vehicle walking for providing support carrier for Famous High-quality Tea picking robot.The configuration of the present invention is simple, independent navigation unmanned vehicle, which carries two projecting mechanical arms, can realize winning for tealeaves, function is reliable and stable, all weather operations, high degree of automation, without human intervention, full automation is won, tea picking situation can be really simulated, is stored under natural ventilating status, guarantees the better quality of tealeaves.
Description
Technical field
The present invention relates to a kind of tea picking robots to belong to robot skill more particularly to a kind of Famous High-quality Tea picking robot
Art field.
Background technique
Currently, since tealeaves is picked tea-leaves, the time cycle is shorter, and when the opportunity of tea picking arrives, recruitment tea picking work is more difficult,
Long-term recruitment tea picking worker cost is excessively high；With the increase of living cost, aging quickening, tea picking worker is more and more rare,
It picks tea-leaves it is expected that mechanized tea plucking substitution is artificial.
Famous High-quality Tea is picked unavailable nail and is pinched, and pinches trace and does not come out after tealeaves is made, the method for adopting of standard is needed using " promotion
Method " wins the tender shoots of tea tree, and during tea picking, palm turned downwards, and thumb and index finger pinch tealeaves, and upward one mentions and adopts lower bud-leaf, and one
The good tealeaves of jin is made of 60,000 fresh buds, and under needing manually to pick 60,000, the bamboo basket for putting tealeaves is also worthy of careful study, it is desirable that ventilation
Property it is good, cannot be too big, fresh leaf cannot be pressed and can not be sealed, and adopting sufficient 1-2 jins just will go down the hill in time, uniformly spread in bamboo plaque, as
At shady and cool ventilation.
Artificial pick tea-leaves of mechanical picking substitution first has to guarantee tea quality, and existing common mechanical picking is at low cost, speed
Fastly, high-efficient, it is dark brownish green second-rate when being suitable for the tea place use of large area standardized management, but being adopted for the first time using machine, contain
A large amount of old stalk, old leaf, it is different in size, it not can guarantee the better quality of high-quality tea, postsearch screening causes to damage to tea quality
Wound, and labour cost is increased, therefore continual exploitation finds new mechanical equipment.
Summary of the invention
The main object of the present invention is to provide for a kind of Famous High-quality Tea picking robot, is carried by independent navigation unmanned vehicle
Two projecting mechanical arms realize that tealeaves is won.
The purpose of the present invention can reach by using following technical solution:
A kind of Famous High-quality Tea picking robot, including for providing the unmanned navigation of support carrier for Famous High-quality Tea picking robot
Vehicle is arranged on the unmanned navigation vehicle and picks tea-leaves the high-definition camera system imaged, setting in the nothing for carrying out Famous High-quality Tea
The tealeaves collection system for holding Famous High-quality Tea tealeaves in people's navigation vehicle, be arranged in the unmanned navigation vehicle for picking
The picking hand of Famous High-quality Tea tealeaves and running gear for driving the unmanned navigation vehicle walking.
Preferably, the unmanned navigation vehicle includes two connecting rods being parallel to each other and forms between two connecting rods
The muti-piece PVC barn door of enclosure space, the connecting rod use hollow steel pipe structure.
Preferably, the high-definition camera system is arranged on the PVC barn door at top, including camera head,
The high-definition night-viewing camera being arranged on the camera head and the high definition embedded host being arranged in the camera head, institute
High-definition night-viewing camera is stated to connect with the high definition embedded host.
Preferably, the camera head is made of holder shield and built-in high-definition digital video camera, and the high definition is embedding
Enter formula host for controlling and receiving, uploaded videos signal, be provided in the high definition embedded host NVR video storage device,
GPS module, cradle head control module, 3G module and WIFI module, NVR video storage device, 3G module, WIFI module pass through view
Frequency interface is connected with HI352X chip, and GPS module, cradle head control module are connected by UART interface with HI352X chip.
Preferably, the tealeaves collection system is arranged in the connecting rod, including tealeaves collecting box, setting are in the tea
The tea inlet on leaf collecting box top, the supply air system that tealeaves collecting box side is arranged in and setting are in the connecting rod
Conveyer belt.
Preferably, the conveyer belt is equipped with ventilation hole, and the bottom of the conveyer belt is arranged in the supply air system, described
It is provided with gravity sensor in tealeaves collecting box, for detecting the tea quality in the tealeaves collecting box.
Preferably, it is described picking hand be arranged in top the PVC barn door on, including two sets with it is described
The cooperation mechanical arm of conveyer belt cooperating, the cooperation mechanical arm are the mechanical arm with a freedom degree.
Preferably, one end of each cooperation mechanical arm is equipped with the two finger clamp hands for picking tealeaves, each described
It is equipped with high definition camera on two finger clamp hands, is equipped with the ripply silicagel pad of tool on the inside of the clamp hand of each two fingers clamp hand.
Preferably, the running gear includes multiple transmission shafts and the movable pulley that the transmission shaft lower end is arranged in, is used for
The steering driving motor and assisted diversion driving motor of the transmission shaft rotation are driven, each transmission shaft passes through steering and connects
Fitting is mounted in the connecting rod, and the steering linkage member rotates in the connecting rod.
Preferably, rack gear is equipped on each movable pulley, the structure of the movable pulley is steel skeleton, external sheath
Rubber material, between the movable pulley and the transmission shaft be equipped with travel driving motor and connecting shaft, the transmission shaft with it is described
By the connection axis connection between travel driving motor, worm shaft is installed in the connecting shaft, which nibbles with turbine
It closes, turbine is mounted in the travel driving motor.
Advantageous effects of the invention:
1, Famous High-quality Tea picking robot provided by the invention, structure is simple, and independent navigation unmanned vehicle carries two projecting machines
Tool arm can realize winning for tealeaves.
2, Famous High-quality Tea picking robot provided by the invention, function is reliable and stable, and robot is with mature system building
It forms, reliable and stable technology can guarantee the long-time of robot, all weather operations.
3, Famous High-quality Tea picking robot provided by the invention, high degree of automation, robot pass through Beidou satellite navigation
Mode is automatically positioned into tea place, identifies tea field mu by holder, then has mechanical arm tail end gripper cooperation CCD detection algorithm will
Tealeaves is won, then is transmitted in tealeaves collecting box, and without human intervention, full automation is won.
4, Famous High-quality Tea picking robot provided by the invention can really simulate tea picking situation, gravity-flow ventilation shape
It is stored under state, guarantees the better quality of tealeaves.
Detailed description of the invention
Fig. 1 is the overall structure diagram of a preferred embodiment of Famous High-quality Tea picking robot according to the invention；
Fig. 2 is the structure of the PVC barn door of dismantling of a preferred embodiment of Famous High-quality Tea picking robot according to the invention
Schematic diagram；
Fig. 3 is that the conveyer belt of a preferred embodiment of Famous High-quality Tea picking robot according to the invention and tealeaves collecting box connect
The structural schematic diagram connect；
Fig. 4 is the structural representation of the cooperation mechanical arm of a preferred embodiment of Famous High-quality Tea picking robot according to the invention
Figure；
Fig. 5 is another structure of the cooperation mechanical arm of a preferred embodiment of Famous High-quality Tea picking robot according to the invention
Schematic diagram；
Fig. 6 is what the transmission shaft of a preferred embodiment of Famous High-quality Tea picking robot according to the invention was connect with movable pulley
Structural schematic diagram；
Fig. 7 is what the transmission shaft of a preferred embodiment of Famous High-quality Tea picking robot according to the invention was connect with movable pulley
Another structural schematic diagram；
Fig. 8 is that the cooperation mechanical arm of a preferred embodiment of Famous High-quality Tea picking robot according to the invention and two refer to clamp hand
Enlarged drawing；
Fig. 9 is the enlarged drawing of the movable pulley of a preferred embodiment of Famous High-quality Tea picking robot according to the invention.
In figure: the unmanned navigation vehicle of 1-, 2- transmission shaft, 3- movable pulley, 4- travel driving motor, 5-PVC barn door, 6- camera
Holder, 7- high-definition night-viewing camera, 8- high definition embedded host, 9- turn to driving motor, 10- cooperation mechanical arm, and 11- two refers to folder
Hand, 12- high definition camera, 13- conveyer belt, 14- tealeaves collecting box, 15- supply air system, 16- connecting shaft, 17- steering linkage member,
18- connecting rod, 19- tea inlet, 20- assisted diversion driving motor, 21- rack gear.
Specific embodiment
To make the more clear and clear technical solution of the present invention of those skilled in the art, below with reference to examples and drawings
The present invention is described in further detail, and embodiments of the present invention are not limited thereto.
As depicted in figs. 1 and 2, a kind of Famous High-quality Tea picking robot provided in this embodiment, which is characterized in that including being used for
For Famous High-quality Tea picking robot provide support carrier unmanned navigation vehicle 1, be arranged on unmanned navigation vehicle 1 for carry out it is famous-brand and high-quality
The high-definition camera system of tea tea picking camera shooting, the tealeaves for holding Famous High-quality Tea tealeaves being arranged in unmanned navigation vehicle 1 collect system
Unite, be arranged in unmanned navigation vehicle 1 for picking the picking hand of Famous High-quality Tea tealeaves and for driving unmanned navigation vehicle
The running gear of 1 walking, tea picking robot carry 2 cooperation mechanical arms by an independent navigation unmanned vehicle and form, mechanical arm end
End refers to clamp hand equipped with high definition camera and 2, and under the auxiliary of CCD visual detection algorithm, 2 mechanical arms, which can cooperate, completes tealeaves
It wins, tealeaves is put on conveyer belt by tealeaves after winning, and is delivered in tealeaves collecting box by conveyer belt；Conveyer belt and collecting box peace
Equipped with supply air system, the water stain drying on tealeaves can be avoided hectic fever that tea leaf fermentation is caused to seal bad, influence tea leaf quality, machine
Device people's movable pulley is formed using the rubber of tooth-shape structure, can adapt to the soil road surface in tea place, guarantees there is enough road holdings；
Simultaneously under the action of turning to driving motor, robot, which can independently complete to turn to, changes ridge work；Robot top is equipped with phase
Machine head can pass high-definition image video back control room, staff is allowed to track field conditions in time；The night vision of holder camera
System also can guarantee that robot can equally work at night.
In the present embodiment, as shown in Figures 2 and 3, unmanned navigation vehicle 1 include two connecting rods 18 being parallel to each other and with
The muti-piece PVC barn door 5 of enclosure space is formed between two connecting rods 18, connecting rod 18 uses hollow steel pipe structure, and robot is flat
Platform is the main body of tea picking robot, undertakes the main by weight in mechanism, and material selects hollow steel pipe structure, is guaranteeing sufficient intensity
Under the conditions of, can also mitigate robot self weight, improve the cruising ability of battery, PVC barn door be mounted in robot surrounding every
Electro-optical device, since light on daytime is longer, CCD vision-based detection will affect the accuracy and sensitivity of detection under strong light action, be easy
It causes image to judge by accident, therefore in order to improve the accuracy of tealeaves identification, pvc shading is installed in four faces of robot platform
Plate, meanwhile, barn door also has the function of that radix saposhnikoviae is kept off the rain.
In the present embodiment, as depicted in figs. 1 and 2, high-definition camera system is arranged on the PVC barn door 5 at top,
It is embedded in including camera head 6, the high-definition night-viewing camera 7 being arranged on camera head 6 and the high definition being arranged in camera head 6
Formula host 8, high-definition night-viewing camera 7 are connect with high definition embedded host 8, and camera head 6 is by holder shield and built-in high definition
Digital camera composition, high definition embedded host 8 for controlling and receiving, uploaded videos signal, setting in high definition embedded host 8
There are NVR video storage device, GPS module, cradle head control module, 3G module and WIFI module, NVR video storage device, 3G mould
Block, WIFI module pass through video interface and are connected with HI352X chip, GPS module, cradle head control module by UART interface with
HI352X chip is connected.
In the present embodiment, as depicted in figs. 1 and 2, high-definition tripod system is by digital high-definition holder, and for controlling
It receives, the high definition embedded host of uploaded videos signal composition, high-definition tripod is installed at the top of robot platform, is protected by holder
Cover and built-in high-definition digital video camera form, and are provided with NVR video storage device, GPS mould in high definition embedded host
Block, cradle head control module, 3G module and WIFI module, NVR video storage device, 3G module, WIFI module pass through video interface
It is connected with HI352X chip, GPS module, cradle head control module are connected by UART interface with HI352X chip, and high definition is embedded
Host carries out wireless network connection by 3G module, WIFI module and digital supervision center.Achievable mobile video monitor is simultaneously right
Video image carries out the acquisition at scene, realizes that video dynamic monitors.
In the present embodiment, as shown in Figures 2 and 3, tealeaves collection system is arranged in connecting rod 18, including tealeaves is collected
Case 14, the tea inlet 19 that 14 top of tealeaves collecting box is set, the supply air system 15 that 14 side of tealeaves collecting box is set and
Conveyer belt 13 in connecting rod 18 is set, and conveyer belt 13 is equipped with ventilation hole, and the bottom of conveyer belt 13 is arranged in supply air system 15
Portion is provided with gravity sensor in tealeaves collecting box 14, for detecting the tea quality in tealeaves collecting box 14.
In the present embodiment, as shown in Figures 2 and 3, mechanical arm will transmit on the conveyer belt for being put into operating after tea picking
To the tealeaves collecting box of tail portion, there is ventilation hole on conveyer belt, the traditional artificial bamboo plaque transport tealeaves of true analog simulation
Method；Conveyer belt bottom is equipped with ventilating system, air-flow can be made constantly to recycle, water stain on drying tealeaves, prevents because empty
Tealeaves caused by gas hectic fever is sealed bad, influences tea quality and mouthfeel, and the air-flow that differential is blown reduces tealeaves and conveyer belt friction pair
It is damaged caused by leaf, can preferably store fine work tea.
In the present embodiment, as shown in Figures 2 and 3, conveyer belt stores up the tealeaves collecting box that tealeaves is transported to tail portion
It deposits；Tealeaves collecting box is provided with gravity sensor, detects tea quality in collecting box, avoids the excessive generation fermentation of tealeaves accumulation broken
Bad tea leaf quality；Collecting box once detects that tealeaves weight is more than setting value, and robot will stop working, and staff is notified to take
Tealeaves is walked, avoids fermentation that tealeaves is caused to damage；Tealeaves collecting box and conveyer belt two sides are mounted on ventilation by forced draft system, can blow
Dynamic air circulation, allows tealeaves be placed under fresh air environment always, guarantees that the ecosystem of tealeaves very transports storage naturally.
In the present embodiment, as shown in Figure 1, Figure 4 and Figure 5, picking hand is arranged in the PVC barn door at top
On 5, the mechanical arm 10 that cooperates including two sets with 13 cooperating of conveyer belt, cooperation mechanical arm 10 is the machine with 6 freedom degrees
Tool arm.
In the present embodiment, as shown in figure 8, one end of each cooperation mechanical arm 10 is equipped with two fingers for picking tealeaves
Clamp hand 11 is equipped with high definition camera 12 on each two fingers clamp hand 11, is equipped on the inside of the clamp hand of each two fingers clamp hand 11 with wave
The silicagel pad of line, the movement that there are mechanical arm 6 freedom degrees can really simulate human arm, " promotion " is completed when picking tea-leaves will
Bud-leaf picks, and mechanical will not pick to tealeaves, influence growth of tea plant；Manipulator obtains control system and sends over
Instruction, to system determine bud-leaf win.
In the present embodiment, as shown in figure 8, industrial camera forms charge packet by photoelectric conversion using CCD camera, then
It shifted under the action of driving pulse, amplify output picture signal, CCD camera is occurred by optical lens, timing and synchronization signal
Device, vertical driver, analog/digital signal processing circuit composition, CCD is as a kind of function element, compared with vacuum tube, has
Without burn, without lag, low voltage operating, low-power consumption the advantages that, bud-leaf is captured by the high-resolution precision of industrial camera, then lead to
It crosses neural network algorithm and confirmation is modified to bud-leaf, complete the image recognition of bud-leaf.
In the present embodiment, as shown in figure 8, tea picking machine is artificial more really to simulate the process manually picked tea-leaves, intend
Bud-leaf is picked using multi-joint mechanical arm, mechanical arm controls dynamics and the side of end mechanical paw by control algolithm
To guarantee gently picks bud-leaf, will not injure tea tree and tea quality；Robot arm end effector clamp hand installation simultaneously
There are the flexible materials such as silica gel, simulates the flexibility of finger, prevent mechanical paw from crushing bud-leaf.
In the present embodiment, as shown in Fig. 6, Fig. 7 and Fig. 9, running gear includes that multiple transmission shafts 2 and setting are being driven
The movable pulley 3 of 2 lower end of axis, steering driving motor 9 and assisted diversion driving motor 20 for driving transmission shaft 2 to rotate, each
Transmission shaft 2 is mounted in connecting rod 18 by steering linkage member 17, and steering linkage member 17 rotates in connecting rod 18, Mei Geyi
Rack gear 21 is equipped on driving wheel 3, the structure of movable pulley 3 is steel skeleton, external sheath rubber material, movable pulley 3 and transmission shaft 2
Between be equipped with travel driving motor 4 and connecting shaft 16, connected between transmission shaft 2 and travel driving motor 4 by connecting shaft 16, even
Worm shaft is installed in spindle 16, which engages with turbine, and turbine is mounted in travel driving motor 4.
In the present embodiment, as shown in Fig. 6, Fig. 7 and Fig. 9, tooth form rubber wheel, wheel structure is steel skeleton, external sheath
Rubber material, the design of tooth-shape structure are capable of increasing the road holding of robot, guarantee to occur to beat in upward slope and wet ground
Sliding phenomenon；
In the present embodiment, as shown in Fig. 6, Fig. 7 and Fig. 9, driving motor uses stepper motor, entire robot platform peace
Equipped with 6 stepper motors, wherein 4 vertically-mounted motors are responsible for the advance and retroversion of robot, 2 horizontal motors are responsible for
The steering of robot, driving motor handstand are placed in platform balance beam, and motor shaft is connected with a transmission shaft, is driven shaft end
Bevel gear engages with a rooted tooth wheel shaft, connect outside gear shaft with rubber wheel, and motor drives transmission shaft rotation, bevel gear band movable tooth
Wheel shaft rotation, so that rubber wheel be driven to rotate.
In the present embodiment, it as shown in Fig. 6, Fig. 7 and Fig. 9, turns to driving motor accumbency and is mounted on the crossbeam of platform tail portion,
Motor output shaft is equipped with worm shaft, engages with turbine, and turbine is mounted on vertical beam skeleton, when turbine and worm, which engages, to be rotated,
Turbine just drives the rubber wheel being mounted in vertical beam to turn to, and two motors act on controlling simultaneously the directionality problem of robot.
In the present embodiment, Famous High-quality Tea picking robot provided in this embodiment, independent navigation unmanned vehicle carry two and fall
Winning for tealeaves can be realized by hanging mechanical arm.
In the present embodiment, Famous High-quality Tea picking robot provided in this embodiment, robot is with mature system building
It forms, reliable and stable technology can guarantee the long-time of robot, all weather operations.
In the present embodiment, Famous High-quality Tea picking robot provided in this embodiment, robot pass through Beidou satellite navigation
Mode is automatically positioned into tea place, identifies tea field mu by holder, then has mechanical arm tail end gripper cooperation CCD detection algorithm will
Tealeaves is won, then is transmitted in tealeaves collecting box, and without human intervention, full automation is won.
In the present embodiment, Famous High-quality Tea picking robot provided in this embodiment can really simulate tea picking feelings
Condition stores under natural ventilating status, guarantees the better quality of tealeaves.
In the present embodiment, Famous High-quality Tea picking robot provided in this embodiment, its working principles are as follows:
In the present embodiment, Famous High-quality Tea picking robot provided in this embodiment, tea picking robot is by an independent navigation
Unmanned vehicle carries two cooperation mechanical arm compositions, and mechanical arm tail end is equipped with high definition camera and two finger clamp hands；
Under the auxiliary of CCD visual detection algorithm, two mechanical arms, which can cooperate, completes winning for tealeaves, after tealeaves is won
Tealeaves is put on conveyer belt, is delivered in tealeaves collecting box by conveyer belt；
Conveyer belt and collecting box are equipped with supply air system, hectic fever can be avoided to cause tealeaves the water stain drying on tealeaves
Fermenting, it is bad to seal, and influences tea leaf quality；
Robot movable pulley is formed using the rubber of tooth-shape structure, can adapt to the soil road surface in tea place, guarantees there is foot
Enough road holdings；
Simultaneously under the action of turning to driving motor, robot, which can independently complete to turn to, changes ridge work；
Robot top is equipped with camera head, can pass high-definition image video back control room, make staff timely
Track field conditions；
The night vision system of holder camera also can guarantee that robot can equally work at night.
In conclusion in the present embodiment, Famous High-quality Tea picking robot provided in this embodiment, structure is simple, it is certainly leading
Boat unmanned vehicle, which carries two projecting mechanical arms, can realize winning for tealeaves；Function is reliable and stable, and robot is with maturation
System building forms, and reliable and stable technology can guarantee the long-time of robot, all weather operations；High degree of automation, machine
Device people is automatically positioned into tea place by way of Beidou satellite navigation, identifies tea field mu by holder, then has mechanical arm last
Tealeaves is won by end gripper cooperation CCD detection algorithm, then is transmitted in tealeaves collecting box, without human intervention, completely certainly
Dynamicization is won；Tea picking situation can be really simulated, is stored under natural ventilating status, guarantees the better quality of tealeaves.
The above, further embodiment only of the present invention, but scope of protection of the present invention is not limited thereto, and it is any
Within the scope of the present disclosure, according to the technique and scheme of the present invention and its design adds those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (10)
1. a kind of Famous High-quality Tea picking robot, which is characterized in that including for providing support carrier for Famous High-quality Tea picking robot
Unmanned navigation vehicle (1), be arranged on the unmanned navigation vehicle (1) for carry out Famous High-quality Tea pick tea-leaves camera shooting high-definition camera system
System, be arranged in the unmanned navigation vehicle (1) for hold Famous High-quality Tea tealeaves tealeaves collection system, setting it is described nobody
Picking hand for picking Famous High-quality Tea tealeaves in navigation vehicle (1) and for driving the unmanned navigation vehicle (1) to walk
Running gear.
2. a kind of Famous High-quality Tea picking robot as described in claim 1, which is characterized in that the unmanned navigation vehicle (1) includes
Two connecting rods (18) being parallel to each other and the muti-piece PVC barn door that enclosure space is formed between two connecting rods (18)
(5), the connecting rod (18) uses hollow steel pipe structure.
3. a kind of Famous High-quality Tea picking robot as claimed in claim 2, which is characterized in that the high-definition camera system setting exists
On the PVC barn door (5) at top, including camera head (6), the high stillness of night being arranged on the camera head (6)
Depending on camera (7) and high definition embedded host (8) in the camera head (6) is set, the high-definition night-viewing camera (7) with
High definition embedded host (8) connection.
4. a kind of Famous High-quality Tea picking robot as claimed in claim 3, which is characterized in that the camera head (6) is by holder
Shield and built-in high-definition digital video camera composition, the high definition embedded host (8) is for controlling and receiving, uploaded videos are believed
Number, be provided in the high definition embedded host (8) NVR video storage device, GPS module, cradle head control module, 3G module and
WIFI module, NVR video storage device, 3G module, WIFI module pass through video interface and are connected with HI352X chip, GPS mould
Block, cradle head control module are connected by UART interface with HI352X chip.
5. a kind of Famous High-quality Tea picking robot as claimed in claim 2, which is characterized in that the tealeaves collection system setting exists
On the connecting rod (18), including tealeaves collecting box (14), setting tealeaves collecting box (14) top tea inlet
(19), be arranged tealeaves collecting box (14) side supply air system (15) and conveying on the connecting rod (18) is set
Band (13).
6. a kind of Famous High-quality Tea picking robot as claimed in claim 5, which is characterized in that the conveyer belt (13) is equipped with logical
Air holes, supply air system (15) setting are provided with weight in the bottom of the conveyer belt (13), the tealeaves collecting box (14)
Force snesor, for detecting the tea quality in the tealeaves collecting box (14).
7. a kind of Famous High-quality Tea picking robot as claimed in claim 5, which is characterized in that the picking hand setting exists
On the PVC barn door (5) at top, the mechanical arm that cooperates including two sets with the conveyer belt (13) cooperating
(10), the cooperation mechanical arm (10) is the mechanical arm with 6 freedom degrees.
8. a kind of Famous High-quality Tea picking robot as claimed in claim 7, which is characterized in that each cooperation mechanical arm (10)
One end be equipped with for picking tealeaves two refer to clamp hand (11), it is each it is described two refer to clamp hand (11) on be equipped with high definition camera
(12), each described two refer to that the clamp hand inside of clamp hand (11) is equipped with the ripply silicagel pad of tool.
9. a kind of Famous High-quality Tea picking robot as claimed in claim 2, which is characterized in that the running gear includes multiple biographies
The movable pulley (3) of moving axis (2) and setting in the transmission shaft (2) lower end, the steering for driving the transmission shaft (2) to rotate
Driving motor (9) and assisted diversion driving motor (20), each transmission shaft (2) are mounted on by steering linkage member (17)
On the connecting rod (18), the steering linkage member (17) rotates on the connecting rod (18).
10. a kind of Famous High-quality Tea picking robot as claimed in claim 9, which is characterized in that on each movable pulley (3)
Equipped with rack gear (21), the structure of the movable pulley (3) is steel skeleton, external sheath rubber material, the movable pulley (3) and institute
It states and is equipped with travel driving motor (4) and connecting shaft (16) between transmission shaft (2), the transmission shaft (2) and hoofing part electricity
It is connected between machine (4) by the connecting shaft (16), worm shaft is installed on the connecting shaft (16), which nibbles with turbine
It closes, turbine is mounted on the travel driving motor (4).
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| CN201811294419.7A CN109220227A (en) | 2018-11-01 | 2018-11-01 | A kind of Famous High-quality Tea picking robot |
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| CN201811294419.7A CN109220227A (en) | 2018-11-01 | 2018-11-01 | A kind of Famous High-quality Tea picking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110402683A (en) * | 2019-07-30 | 2019-11-05 | 盐城正邦环保科技有限公司 | A kind of intelligent cotton picker and its control method |
| CN110622698A (en) * | 2019-09-29 | 2019-12-31 | 华中农业大学 | Self-propelled tealeaves of level self-interacting prunes collection device |
| WO2020240398A1 (en) * | 2019-05-27 | 2020-12-03 | Interactive Fully Electrical Vehicles S.R.L. | Electric vehicle with autonomous drive |
| CN112273046A (en) * | 2020-12-02 | 2021-01-29 | 陕西中建建乐智能机器人股份有限公司 | Tea leaf picking robot |
| CN112840855A (en) * | 2021-01-07 | 2021-05-28 | 湖北省农业科学院经济作物研究所 | Artificial intelligence cotton picker |
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| CN110402683A (en) * | 2019-07-30 | 2019-11-05 | 盐城正邦环保科技有限公司 | A kind of intelligent cotton picker and its control method |
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| CN110622698A (en) * | 2019-09-29 | 2019-12-31 | 华中农业大学 | Self-propelled tealeaves of level self-interacting prunes collection device |
| CN113119068A (en) * | 2019-12-31 | 2021-07-16 | 季华实验室 | Multi-degree-of-freedom gripping device and robot applying same |
| CN112273046A (en) * | 2020-12-02 | 2021-01-29 | 陕西中建建乐智能机器人股份有限公司 | Tea leaf picking robot |
| CN113141871A (en) * | 2020-12-31 | 2021-07-23 | 北方民族大学 | Daylily picking robot system based on Beidou navigation |
| CN112840855A (en) * | 2021-01-07 | 2021-05-28 | 湖北省农业科学院经济作物研究所 | Artificial intelligence cotton picker |
| CN113841513A (en) * | 2021-10-10 | 2021-12-28 | 北京工业大学 | Picking robot |
| CN114600644A (en) * | 2022-04-19 | 2022-06-10 | 江苏农林职业技术学院 | Omnidirectional movement tealeaves on self-adaptation ground picks device |
| CN115384656A (en) * | 2022-08-18 | 2022-11-25 | 湖南工业大学 | Multi freedom robot running gear |
| CN115384656B (en) * | 2022-08-18 | 2023-08-01 | 湖南工业大学 | Multi-degree-of-freedom robot running mechanism |
| CN116508493A (en) * | 2023-04-27 | 2023-08-01 | 仲恺农业工程学院 | Gantry crawler type tea picking robot and picking method thereof |
| CN116508493B (en) * | 2023-04-27 | 2024-04-05 | 仲恺农业工程学院 | Gantry crawler type tea picking robot and picking method thereof |
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Application publication date: 20190118 |