CN114600644A - Omnidirectional movement tealeaves on self-adaptation ground picks device - Google Patents
Omnidirectional movement tealeaves on self-adaptation ground picks device Download PDFInfo
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- CN114600644A CN114600644A CN202210408498.XA CN202210408498A CN114600644A CN 114600644 A CN114600644 A CN 114600644A CN 202210408498 A CN202210408498 A CN 202210408498A CN 114600644 A CN114600644 A CN 114600644A
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- ground
- vehicle body
- picking device
- adaptive
- processor
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- 241001122767 Theaceae Species 0.000 claims abstract 14
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 235000013616 tea Nutrition 0.000 description 36
- 244000269722 Thea sinensis Species 0.000 description 35
- 235000009024 Ceanothus sanguineus Nutrition 0.000 description 3
- 240000003553 Leptospermum scoparium Species 0.000 description 3
- 235000015459 Lycium barbarum Nutrition 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 235000006468 Thea sinensis Nutrition 0.000 description 2
- RYYVLZVUVIJVGH-UHFFFAOYSA-N caffeine Chemical compound CN1C(=O)N(C)C(=O)C2=C1N=CN2C RYYVLZVUVIJVGH-UHFFFAOYSA-N 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 244000226021 Anacardium occidentale Species 0.000 description 1
- LPHGQDQBBGAPDZ-UHFFFAOYSA-N Isocaffeine Natural products CN1C(=O)N(C)C(=O)C2=C1N(C)C=N2 LPHGQDQBBGAPDZ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000020279 black tea Nutrition 0.000 description 1
- 229960001948 caffeine Drugs 0.000 description 1
- VJEONQKOZGKCAK-UHFFFAOYSA-N caffeine Natural products CN1C(=O)N(C)C(=O)C2=C1C=CN2C VJEONQKOZGKCAK-UHFFFAOYSA-N 0.000 description 1
- 235000020226 cashew nut Nutrition 0.000 description 1
- 150000001765 catechin Chemical class 0.000 description 1
- ADRVNXBAWSRFAJ-UHFFFAOYSA-N catechin Natural products OC1Cc2cc(O)cc(O)c2OC1c3ccc(O)c(O)c3 ADRVNXBAWSRFAJ-UHFFFAOYSA-N 0.000 description 1
- 235000005487 catechin Nutrition 0.000 description 1
- -1 cholestenones Natural products 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 235000009569 green tea Nutrition 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000020333 oolong tea Nutrition 0.000 description 1
- 235000020334 white tea Nutrition 0.000 description 1
- 235000020338 yellow tea Nutrition 0.000 description 1
Images
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
- A01D46/30—Robotic devices for individually picking crops
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an omni-directional mobile tea picking device adaptive to the ground, which comprises a vehicle body and a camera, wherein a robot hand and a collecting box are fixedly arranged at the top of the vehicle body, a picking device is fixedly arranged at the terminal of the robot hand, and the picking device is connected with a control switch; a plurality of pairs of advancing devices are rotatably arranged below any two opposite side surfaces of the vehicle body, one side of each advancing device is rotatably connected with a driving motor, a plurality of supporting shafts corresponding to the advancing devices are arranged on the side surfaces of the vehicle body, and a balancing device is arranged between each supporting shaft and each advancing device; the balance sensor, the control system and the power source used for supplying energy to all functional parts of the vehicle body are arranged in the vehicle body, the balance sensor is connected with the control system, and the control system is respectively connected with the robot arm, each balancing device and the driving motor. The invention aims to provide a ground-adaptive omnidirectional mobile tea picking device which can adapt to various tea garden terrains and can accurately pick tea.
Description
Technical Field
The invention relates to a tea leaf picking device, in particular to an omni-directional mobile tea leaf picking device adaptive to the ground.
Background
Tea, commonly known as tea, generally includes leaves and buds of tea trees, cashew, tea, and tea leaves are rich in catechins, cholestenones, caffeine, and the like. Tea drink made from tea leaves is a traditional Chinese drink.
The habit of using tea in life originates from China, the tea is used as food materials from the late spring and autumn, the medicinal value is gradually found in the middle of Western Han, the tea is made into drinks by a royal at the later stage of Western Han, and the tea is gradually popularized to the folk as the drinks after Western jin. Tea leaves are generally classified into six types, i.e., green tea, yellow tea, oolong tea, black tea and white tea, depending on the production method and the appearance of the product.
The tea trees have certain requirements on planting fields, hills are generally preferred, the drainage conditions of the hills are good, the planting fields are full of rainfall, small in annual temperature difference, large in day and night temperature difference, long in frost-free period and good in illumination conditions, and the planting fields meeting the conditions are very suitable for planting the tea trees. The traditional tea picking is carried out by manpower, but the labor intensity of tea picking is high, the requirement on the proficiency of workers is also high, and the tea picking efficiency is lower; if people want to use the machine to replace manpower, because the tea garden generally is in the hills that the rainfall is abundant, so the tea garden road condition is more complicated, and general machine is difficult to adapt to the tea garden topography, even get into the tea garden, because the tea garden topography is irregular, makes the automobile body can not be in the horizontality, and the position that the picking terminal discerned tealeaves produces the error with the position that tealeaves is actual, can not accurately, do not have the ground to pick tealeaves.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a ground-adaptive omnidirectional mobile tea picking device which can adapt to various tea garden terrains and can accurately pick tea.
The technical scheme is as follows: the ground-adaptive omni-directional mobile tea picking device comprises a vehicle body and a camera, wherein a robot hand and a collecting box are fixedly arranged at the top of the vehicle body, a picking device is fixedly arranged at the terminal of the robot hand, and the picking device is connected with a control switch; a plurality of pairs of advancing devices are rotatably arranged below any two opposite side surfaces of the vehicle body, one side of each advancing device is rotatably connected with a driving motor, a plurality of supporting shafts corresponding to the advancing devices are arranged on the side surfaces of the vehicle body, and a balancing device is arranged between each supporting shaft and each advancing device; the balance sensor is connected with the control system, and the control system is respectively connected with the robot arm, each balancing device and the driving motor. The balance sensor is used for detecting whether the vehicle body is in a horizontal state or not in real time, when the vehicle body is not in the horizontal state, the balance sensor sends a signal to the control system, and the control system controls the corresponding balancing device to stretch upwards or downwards, so that the vehicle body is in the horizontal state, errors between the recognition position of the picking terminal and the actual position of tea leaves are reduced, and the tea leaves can be picked accurately.
Furthermore, a plurality of limiting blocks are arranged on the supporting shaft in a sliding mode, and the upper portion of the balancing device is connected with the supporting shaft in a sliding mode. The balancing device slides along the supporting shaft, the distance between the two opposite advancing devices can be adjusted according to needs to adapt to tea ridges with different widths in the tea garden, and the balancing device is fixed and limited through the limiting block after the distance is adjusted.
Furthermore, the control system comprises a processor and a plurality of control units corresponding to the balancing devices, the balance sensors are connected with the processor, the processor is connected with the plurality of control units, and the control units are connected with the corresponding balancing devices. The intelligent driving module is arranged in the processor and used for replacing a traditional relay, and the function of controlling the posture of the vehicle body in real time can be better realized compared with the relay.
Furthermore, the control system comprises a GPS navigation positioning module and a processor, wherein the GPS navigation positioning module is connected with the processor, and the processor is connected with the robot arm. The GPS navigation positioning module is used for receiving various data such as positioning of a vehicle body, advancing postures of the vehicle body and spatial coordinate positions of tea leaves shot by the camera in real time, transmitting the data to the processor, and controlling the robot arm to move to a correct position after the processor calculates and processes the data so as to accurately and perfectly pick the tea leaves.
Furthermore, a plurality of connecting plates corresponding to the advancing devices are arranged on the side face of the vehicle body, and each advancing device is rotatably connected with the bottom of each connecting plate.
Furthermore, the vehicle body is provided with a signal receiver for receiving instructions, and the signal receiver is connected with the processor. The signal receiver is used for receiving a wireless signal sent by a signal transmitter (such as a remote controller) so as to control the vehicle body to act.
Further, the leveling device is a hydraulic support leg.
Further, the balance sensor is a gyroscope.
Further, the picking device is a three-jaw picking hand made of flexible materials.
Further, the traveling device is a Mecanum wheel.
Has the beneficial effects that: compared with the prior art, the invention has the following remarkable advantages: 1. the balance sensor is adopted to monitor the vehicle body in real time, and the posture of the vehicle body is adjusted in real time through the processor, so that the vehicle body can be ensured to be in a horizontal state, and tea leaves can be picked accurately; 2. because the balancing device can slide along the supporting shaft, the distance between the two opposite advancing devices can be adjusted according to requirements so as to adapt to different tea ridges with different widths in the tea garden; 3. adopt mecanum wheel can adapt to various roads in the tea garden, improve and pick efficiency.
Drawings
FIG. 1 is a perspective view of a first embodiment of the present invention;
FIG. 2 is a side view of a first embodiment of the present invention;
FIG. 3 is a top view of a first embodiment of the present invention;
FIG. 4 is a schematic view of the inside of a control box according to the present invention;
wherein: 101. a first Mecanum wheel; 102. a second Mecanum wheel; 2. a control box; 3. a control switch; 4. a six-axis robot hand; 5. a camera; 6. a collection box; 7. a support shaft; 8. a limiting block; 9. a hydraulic leg; 1001. a left connecting plate; 1002. a right connecting plate; 11. a drive motor; 12. picking hands with three claws; 13. a storage battery; 14. a gyroscope; 15. a processor; 16. a signal receiver 1; 7. a GPS navigation positioning module; 18. a control unit; 19. a vehicle body.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
Referring to the attached drawings 1-4, the ground-adaptive omni-directional mobile tea leaf picking device comprises a vehicle body 19, wherein a six-axis robot 4 and a collecting box 6 are fixedly arranged at the top of the vehicle body 19, the six-axis robot 4 can move in any direction in a three-dimensional space, a three-jaw picking hand 12 and a camera 5 are fixedly arranged at the terminal of the robot, the three-jaw picking hand 12 is made of a flexible material, and the three-jaw picking hand 12 is connected with a control switch 3; two left connecting plates 1001 are arranged on the left side face of the vehicle body 19, two right connecting plates 1002 are fixedly arranged on the right side face of the vehicle body 19, the left connecting plates 1001 correspond to the right connecting plates 1002 in position, the bottom of each left connecting plate 1001 is rotatably connected with a first Mecanum wheel 101, the bottom of each right connecting plate 1002 is rotatably connected with a second Mecanum wheel 102, the first Mecanum wheel 101 is formed by uniformly distributing a circle of independent planet wheels inclining at an angle of 45 degrees leftwards in the circumferential direction of a central wheel, the second Mecanum wheel 102 is formed by uniformly distributing a circle of independent planet wheels inclining at an angle of 45 degrees rightwards in the circumferential direction of the central wheel, the planet wheels are made of wear-resistant rubber, the advancing speed of the central wheel is divided into two perpendicular directions by the planet wheels, so as to realize an all-directional moving mode of advancing and traversing, one side of each first Mecanum wheel 101 and one side of each second Mecanum wheel 102 are rotatably connected with a driving motor 11, two supporting shafts 7 corresponding to the first Mecanum wheels 101 are arranged on the left side face of the vehicle body 19, two supporting shafts 7 corresponding to the second Mecanum wheels 102 are respectively arranged on the right side face of the vehicle body 19, hydraulic supporting legs 9 are arranged between the supporting shafts 7 and the first Mecanum wheels 101 or the second Mecanum wheels 102, a plurality of limiting blocks 8 are arranged on the supporting shafts 7 in a sliding mode, and the upper portions of the hydraulic supporting legs 9 are connected with the supporting shafts 7 in a sliding mode; the control box 2 is fixedly arranged on the vehicle body 19 (the control box 2 can be considered as a part of the vehicle body 19), a gyroscope 14, a control system processor 15, a plurality of control units 18 corresponding to the hydraulic support legs 9, a GPS navigation positioning module 17, a signal receiver 16 and a storage battery 13 for supplying power to all functional parts of the vehicle body 19 are arranged in the control box 2, the gyroscope 14 is connected with the processor 15, the processor 15 is connected with the plurality of control units 18, the control units 18 are connected with the corresponding hydraulic support legs 9, the GPS navigation positioning module 17 is connected with the processor 15, the processor 15 is connected with a robot hand, and the signal receiver 16 is connected with the processor 15.
Claims (10)
1. The utility model provides a device is picked to omnidirectional movement tealeaves on self-adaptation ground, includes automobile body (19) and camera (5), the fixed robot arm that sets up in top of automobile body (19) and collection box (6), the device is picked to the fixed setting in terminal of robot arm, it is connected its characterized in that with control switch (3) to pick the device: a plurality of pairs of advancing devices are rotatably arranged below any two opposite side surfaces of the vehicle body (19), one side of each advancing device is rotatably connected with a driving motor (11), a plurality of supporting shafts (7) corresponding to the advancing devices are arranged on the side surfaces of the vehicle body (19), and a balancing device is arranged between each supporting shaft (7) and each advancing device; set up balance sensor, control system and be used for the power supply of all function pieces energy supplies of automobile body (19) in automobile body (19), balance sensor is connected with control system, and control system is connected with manipulator, each balancing unit and driving motor (11) respectively.
2. The ground-adaptive omni-directional mobile tea picking device according to claim 1, wherein: the supporting shaft (7) is provided with a plurality of limiting blocks (8) in a sliding mode, and the upper portion of the balancing device is connected with the supporting shaft (7) in a sliding mode.
3. The ground-adaptive omni-directional mobile tea picking device according to claim 1, wherein: the control system comprises a processor (15) and a plurality of control units (18) corresponding to the balancing devices, the balance sensors are connected with the processor (15), the processor (15) is connected with the plurality of control units (18), and the control units (18) are connected with the corresponding balancing devices.
4. The ground-adaptive omni-directional mobile tea picking device according to claim 1, wherein: the control system comprises a GPS navigation positioning module (17) and a processor (15), wherein the GPS navigation positioning module (17) is connected with the processor (15), and the processor (15) is connected with the robot hand.
5. The ground-adaptive omni-directional mobile tea picking device according to claim 1, wherein: the side surface of the vehicle body (19) is provided with a plurality of connecting plates corresponding to the advancing devices, and each advancing device is rotatably connected with the bottom of each connecting plate.
6. The ground-adaptive omni-directional mobile tea picking device according to claim 1, wherein: the vehicle body (19) is provided with a signal receiver (16) for receiving instructions, and the signal receiver (16) is connected with the processor (15).
7. The ground-adaptive omni-directional mobile tea picking device according to claim 1, wherein: the leveling device is a hydraulic support leg (9).
8. The ground-adaptive omnidirectional mobile tea picking device according to claim 1, wherein the ground-adaptive omnidirectional mobile tea picking device comprises: the balance sensor is a gyroscope (14).
9. The ground-adaptive omni-directional mobile tea picking device according to claim 1, wherein: the picking device is a three-claw picking hand (12) made of flexible materials.
10. The ground-adaptive omni-directional mobile tea picking device according to claim 1, wherein: the traveling device is a Mecanum wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210408498.XA CN114600644A (en) | 2022-04-19 | 2022-04-19 | Omnidirectional movement tealeaves on self-adaptation ground picks device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210408498.XA CN114600644A (en) | 2022-04-19 | 2022-04-19 | Omnidirectional movement tealeaves on self-adaptation ground picks device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114600644A true CN114600644A (en) | 2022-06-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210408498.XA Pending CN114600644A (en) | 2022-04-19 | 2022-04-19 | Omnidirectional movement tealeaves on self-adaptation ground picks device |
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| Country | Link |
|---|---|
| CN (1) | CN114600644A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000139164A (en) * | 1998-11-05 | 2000-05-23 | Kawasaki Giken Kk | Picking of tea leaf |
| JP2008000094A (en) * | 2006-06-23 | 2008-01-10 | Bm Engineering:Kk | Working carriage |
| CN103999635A (en) * | 2014-05-21 | 2014-08-27 | 浙江工业大学 | Intelligent automatic cutting type tea-leaf picker based on machine vision and working method |
| US20160157428A1 (en) * | 2013-12-20 | 2016-06-09 | Harvest Croo, Llc | Robot positioning with station-keeping |
| CN107567823A (en) * | 2017-07-27 | 2018-01-12 | 杭州电子科技大学 | Intelligent tea picking robot |
| CN109220227A (en) * | 2018-11-01 | 2019-01-18 | 江苏集萃智能制造技术研究所有限公司 | A kind of Famous High-quality Tea picking robot |
| CN110122073A (en) * | 2019-05-28 | 2019-08-16 | 江苏大学 | A kind of strawberry picking robot based on machine vision |
| CN113317042A (en) * | 2021-04-29 | 2021-08-31 | 苏州技师学院 | Fruit tree picking robot |
| CN113767756A (en) * | 2021-10-27 | 2021-12-10 | 山东农业大学 | End effector of robot for rapidly picking fruits and picking method |
| TW202146185A (en) * | 2020-06-12 | 2021-12-16 | 南開科技大學 | Robot for automatically harvesting crops |
-
2022
- 2022-04-19 CN CN202210408498.XA patent/CN114600644A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000139164A (en) * | 1998-11-05 | 2000-05-23 | Kawasaki Giken Kk | Picking of tea leaf |
| JP2008000094A (en) * | 2006-06-23 | 2008-01-10 | Bm Engineering:Kk | Working carriage |
| US20160157428A1 (en) * | 2013-12-20 | 2016-06-09 | Harvest Croo, Llc | Robot positioning with station-keeping |
| CN103999635A (en) * | 2014-05-21 | 2014-08-27 | 浙江工业大学 | Intelligent automatic cutting type tea-leaf picker based on machine vision and working method |
| CN107567823A (en) * | 2017-07-27 | 2018-01-12 | 杭州电子科技大学 | Intelligent tea picking robot |
| CN109220227A (en) * | 2018-11-01 | 2019-01-18 | 江苏集萃智能制造技术研究所有限公司 | A kind of Famous High-quality Tea picking robot |
| CN110122073A (en) * | 2019-05-28 | 2019-08-16 | 江苏大学 | A kind of strawberry picking robot based on machine vision |
| TW202146185A (en) * | 2020-06-12 | 2021-12-16 | 南開科技大學 | Robot for automatically harvesting crops |
| CN113317042A (en) * | 2021-04-29 | 2021-08-31 | 苏州技师学院 | Fruit tree picking robot |
| CN113767756A (en) * | 2021-10-27 | 2021-12-10 | 山东农业大学 | End effector of robot for rapidly picking fruits and picking method |
Non-Patent Citations (1)
| Title |
|---|
| 崔天时: "《智能机器人》", vol. 1, 北京邮电大学出版社, pages: 28 * |
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Application publication date: 20220610 |