CN210352224U - Unmanned tea bud picking device - Google Patents
Unmanned tea bud picking device Download PDFInfo
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- CN210352224U CN210352224U CN201921221416.0U CN201921221416U CN210352224U CN 210352224 U CN210352224 U CN 210352224U CN 201921221416 U CN201921221416 U CN 201921221416U CN 210352224 U CN210352224 U CN 210352224U
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- 238000001514 detection method Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 9
- 210000000245 forearm Anatomy 0.000 claims description 8
- 210000004247 hand Anatomy 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 6
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Abstract
The utility model discloses a device is picked to tealeaves bud head unmanned aerial vehicle belongs to agricultural machinery technical field, it is long to solve tea-leaf picker operating time, the problem that intensity of labour is high, the device structure includes unmanned aerial vehicle, be provided with on the unmanned aerial vehicle and be used for the mould to imitate the picking device that the action of staff was accomplished the tealeaves bud head was picked, a suction wind device that is used for collecting the collecting box of picking good tealeaves bud head and is connected with the collecting box, unmanned aerial vehicle is last to carry image acquisition device and solar light panel, utilize image acquisition device to gather so that confirm and plan near unmanned aerial vehicle and pick the route, utilize the solar light panel to provide continuation of journey power, utilize the picking device to accomplish the picking of tealeaves bud head and put the tealeaves bud head in to the collecting box. The utility model discloses a pick device compact structure, the action that can simulate the people replaces the artifical picking of accomplishing fresh single bud head, and the tealeaves bud head high quality of picking has greatly alleviateed workman's intensity of labour, has improved and has picked efficiency.
Description
Technical Field
The utility model belongs to the technical field of agricultural machinery, concretely relates to tea bud unmanned aerial vehicle picks device.
Background
General tealeaves only need pick a bud one leaf or a bud two leaf tea stir-fry can, and high-quality tealeaves then need use fresh single bud head to make tea, generally 1 jin needs 8 ten thousand fresh single bud heads, at least need 4 jin of fresh single bud head can make 1 jin of finished tea, and the workman of picking tea can pick about 1 jin of fresh single bud head a day, still under the condition of uninterrupted duty 8 hours at least, its operating time is long, intensity of labour is high, in order to alleviate people's intensity of labour, it is necessary to design the picking device of the fresh single bud head that a kind of tea needs.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a device is picked to tealeaves bud unmanned aerial vehicle to solve the not enough of prior art.
The technical scheme of the utility model is that:
an unmanned tea bud picking device comprises an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a picking device for simulating human hands to complete tea bud picking, the picking device comprises a stand column arranged below the unmanned aerial vehicle, the stand column comprises a main stand column fixed with the unmanned aerial vehicle, one end of the main stand column, which is far away from the unmanned aerial vehicle, is provided with a curved connecting rod, the curved connecting rod comprises a first rod body, a second rod body and a third rod body which are sequentially and fixedly connected in an end-to-end mode, the first rod body and the third rod body are parallel, the second rod body is perpendicular to the third rod body, the free end of the first rod body is sleeved and fixed with the middle part of the main stand column, the length direction of the first rod body is perpendicular to the axis of the main stand column, one side, which is far away from the main stand column, of the third rod body is fixedly connected with a rotating, the rotating arm comprises a rotating arm body which is fixedly sleeved with an output shaft of the rotating arm motor, one side of the rotating arm body, which is far away from the third rod body, is connected with the tail end of the main upright post through a bearing, a cover plate is arranged above the bearing, and the cover plate is sleeved on the main upright post and is fixedly connected with the rotating arm body; a big arm motor is fixed at one end of the rotating arm body, which is far away from the main upright post, a fixed big arm is sleeved after an output shaft of the big arm motor passes through the rotating arm body, a small arm motor is fixed at one end of the big arm, which is far away from the rotating arm body, a fixed small arm is sleeved after an output shaft of the small arm motor passes through the big arm, a wrist motor is fixed at one end of the small arm, which is far away from the big arm, an output shaft of the wrist motor passes through a small arm rear fixed mounting block, a fixed clamping part motor is arranged on the mounting block, an output shaft of the clamping part motor is vertical to the output shaft of the wrist motor, a worm is connected with the output shaft of the clamping part motor, the other end of the worm is erected on a support, worm wheels are symmetrically arranged at two sides of the worm, the worm wheels are respectively engaged with the worm, the worm wheels are respectively erected on a support, the worm wheels, the middle part of clamping part is articulated with the one end of pendulum rod, the other end and the installation piece of pendulum rod are articulated, the end of clamping part is provided with power detection device, rocking arm motor, big arm motor, forearm motor and clamping part motor are connected with the controller electricity respectively, the controller is connected with the power supply electricity that sets up in unmanned aerial vehicle's cabin.
Preferably, the collecting box can be dismantled in unmanned aerial vehicle's the cabin and be connected with, the collecting box is used for accomodating the tealeaves bud that picks, still be provided with in unmanned aerial vehicle's the cabin and carry out the suction wind device of collecting with the tealeaves bud of picking, the suction wind device includes suction motor and suction device, the suction motor is connected with the controller electricity, suction device is connected with the suction motor electricity, suction device's one end and collecting box intercommunication, the hose of the other end passes and sets up between two clamping parts behind the installation piece.
Preferably, be provided with image acquisition device on the unmanned aerial vehicle, image acquisition device includes two cameras of symmetrical arrangement, two cameras are located unmanned aerial vehicle's front end respectively, the camera is connected with the controller electricity, the controller is through carrying on the computer signal connection for the control of wireless signal transceiver on unmanned aerial vehicle and control station.
Preferably, the upper surface and the side of the unmanned aerial vehicle are provided with solar light panels, and the solar light panels are electrically connected with a power supply.
Compared with the prior art, the utility model discloses a device is picked to tealeaves bud unmanned aerial vehicle, including unmanned aerial vehicle, be provided with on the unmanned aerial vehicle and be used for the action of mould emulation staff to accomplish the picking device that the tealeaves bud was picked, a suction wind device that is used for collecting the collecting box of picking good tealeaves bud and is connected with the collecting box, unmanned aerial vehicle is last to carry image acquisition device and solar light panel, utilize image acquisition device to gather so that confirm and plan near unmanned aerial vehicle's image and pick the route, utilize the solar light panel to provide continuation of the journey power, utilize the picking device to accomplish the picking of tealeaves bud and put the tealeaves bud in order to collect the incasement. The utility model discloses a pick device compact structure, the action that can simulate the people replaces the artifical picking of accomplishing fresh single bud head, picks the high quality, very big intensity of labour who has alleviateed the workman, has improved and has picked efficiency, and the practicality is strong, is worth promoting.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a left side view of the overall structure of the present invention;
FIG. 3 is a schematic structural view of the boom and its peripheral connecting members of the present invention;
fig. 4 is a front view of the structure of the picking device of the present invention;
fig. 5 is a left side view of the structure of the picking device of the present invention;
FIG. 6 is a front view of the structure of the clamping portion and its peripheral connecting members;
FIG. 7 is a left side view of the structure of the clamping portion and its peripheral connecting members of the present invention;
fig. 8 is a schematic view of the installation position of the image capturing device of the present invention 1;
fig. 9 is a schematic view of the installation position of the image capturing device according to the present invention 2;
fig. 10 is a flow chart of the method of picking using an unmanned aerial vehicle of the present invention.
Reference numerals:
1. a hose; 2. a clamping portion; 3. a swing rod; 4. a wrist portion; 5. a drive rod; 6. a worm; 7. a worm gear; 8. a grip portion motor; 9. a wrist motor; 10. a small arm; 11. a large arm; 12. a small arm motor; 13. a boom motor; 14. a large arm motor; 15. a rotating arm; 16. a column; 17. a camera; 18. a suction motor; 19. a suction device; 20. a collection box; 21. a wireless transceiver; 22. a power supply; 23. a solar light panel; 24. an unmanned aerial vehicle; 25. a computer; 26. a cover plate; 27. a swivel arm body; 28. a main upright post; 29. a curved connecting rod.
Detailed Description
The utility model provides a tea bud unmanned aerial vehicle picks device, below combine the structure schematic diagram of fig. 1 to fig. 10, it is right the utility model discloses explain.
Example 1
An unmanned tea bud picking device comprises an unmanned aerial vehicle 24, wherein the unmanned aerial vehicle 24 is provided with a picking device for simulating the action of hands to complete picking of tea buds, the picking device comprises a stand column 16 arranged below the unmanned aerial vehicle 24, the stand column 16 comprises a main stand column 28 fixed with the unmanned aerial vehicle 24, one end of the main stand column 28, which is far away from the unmanned aerial vehicle 24, is provided with a curved connecting rod 29, the curved connecting rod 29 comprises a first rod body, a second rod body and a third rod body which are sequentially and fixedly connected in an end-to-end mode, the first rod body and the third rod body are parallel, the second rod body is perpendicular to the third rod body, the free end of the first rod body is fixedly sleeved with the middle of the main stand column 28, the length direction of the first rod body is perpendicular to the axis of the main stand column 28, one side, which is far away from the main stand column 28, of the third rod body is fixedly connected with a rotating arm motor, the rotating arm 15 comprises a rotating arm body 27 which is fixedly sleeved with an output shaft of the rotating arm motor 13, one side of the rotating arm body 27, which is far away from the third rod body, is connected with the tail end of a main upright post 28 through a bearing, a cover plate 26 is arranged above the bearing, and the cover plate 26 is sleeved on the main upright post 28 and is fixedly connected with the rotating arm body 27; a big arm motor 14 is fixed at one end of the rotating arm body 27 departing from the main upright post 28, a big arm 11 is sleeved and fixed after an output shaft of the big arm motor 14 passes through the rotating arm body 27, a small arm motor 12 is fixed at one end of the big arm 11 departing from the rotating arm body 27, a small arm 10 is sleeved and fixed after an output shaft of the small arm motor 12 passes through the big arm 11, a wrist motor 9 is fixed at one end of the small arm 10 departing from the big arm 11, an output shaft of the wrist motor 9 passes through a small arm 10 and then is fixedly installed on an installation block, a fixed clamping part motor 8 is arranged on the installation block, an output shaft of the clamping part motor 8 is vertical to an output shaft of the wrist motor 9, a worm 6 is connected to an output shaft of the clamping part motor 8, the other end of the worm 6 is erected on a support, worm wheels 7 are symmetrically arranged at two sides of the worm 6, the worm wheels 7 are respectively engaged with the worm 6, the, worm wheel 7 is fixed with the one end of actuating lever 5, the other end of actuating lever 5 is articulated with the one end of clamping part 2, the middle part of clamping part 2 is articulated with the one end of pendulum rod 3, the other end of pendulum rod 3 is articulated with the installation piece, the end of clamping part 2 is provided with powerful detection device, power detection device, rocking arm motor 13, big arm motor 14, forearm motor 12 and clamping part motor 8 are connected with the controller electricity respectively, the controller is connected with the power supply 22 electricity that sets up in unmanned aerial vehicle 24's cabin.
Further, can dismantle in unmanned aerial vehicle 24's the cabin and be connected with collecting box 20, collecting box 20 is used for accomodating the tealeaves bud that picks, still be provided with in unmanned aerial vehicle 24's the cabin and carry out the suction wind device of collecting with the tealeaves bud of picking, the suction wind device is including suction motor 18 and suction device 19, suction motor 18 is connected with the controller electricity, suction device 19 is connected with suction motor 18 electricity, suction device 19's one end and collecting box 20 intercommunication, the hose 1 of the other end sets up between two clamping parts 2 after passing the installation piece.
Further, be provided with image acquisition device on the unmanned aerial vehicle 24, image acquisition device includes two cameras 17 of symmetrical arrangement, two cameras 17 are located unmanned aerial vehicle 24's front end respectively, camera 17 is connected with the controller electricity, the controller is through carrying on wireless signal transceiver 21 on unmanned aerial vehicle 24 and the control of control station with computer 25 signal connection.
Example 2
As a further optimization scheme on the basis of the embodiment 1, the endurance power of the unmanned aerial vehicle is optimized in the embodiment, so that the endurance power is more durable. Specifically, the upper surface and the side of the unmanned aerial vehicle 24 are provided with a solar light panel 23, and the solar light panel 23 is electrically connected with the power supply 22.
As shown in fig. 1 and 2, an unmanned aerial vehicle 24 picking device for tea bud heads comprises an unmanned aerial vehicle 24, a picking device, a wind suction device, a collecting box 20, an image acquisition device, a wireless signal transceiver, a power supply 22, a solar light panel and the like, wherein the unmanned aerial vehicle 24, the picking device, the wind suction device, the collecting box and the image acquisition device can be communicated with a computer 25 through the wireless signal transceiver.
As shown in fig. 3 to 7, the picking device includes a vertical column 16, the vertical column 16 is fixedly connected with an unmanned aerial vehicle 24, a rotating arm motor 13 is installed on the vertical column 16, the rotating arm 15 is connected with the vertical column 16 by a revolute pair, and the rotating arm motor 13 can drive the rotating arm 15 to rotate relative to the vertical column 16. The large arm motor 14 is installed on the rotating arm 15, the large arm 11 is connected with the rotating arm 15 through a rotating pair, and the large arm motor 14 can drive the large arm 11 to rotate relative to the rotating arm 15. The small arm motor 12 is installed on the large arm 11, the small arm 10 is connected with the large arm 11 through a revolute pair, and the small arm motor 12 can drive the small arm 10 to rotate relative to the large arm 11. The wrist motor 9 is installed on the small arm 10, the wrist 4 is connected with the small arm 10 through a revolute pair, and the wrist motor 9 can drive the wrist 4 to swing relative to the small arm 10. Clamping part motor 8 is installed on wrist 4, and clamping part motor 8 directly links with worm 6, and clamping part motor 8 can drive worm 6 and rotate. The worm wheel 7 is fixedly connected with the driving rod 5, the driving rod and the wrist portion 4 form a revolute pair connection through a pin shaft, the swing rod 3 and the wrist portion form a revolute pair connection through a pin shaft and the wrist portion 4, and the driving rod 5 and the swing rod 3 are respectively connected with the clamping portion 2 through a pin shaft to form a revolute pair connection. The worm wheel 7, the driving rod 5, the swing rod 3 and the clamping part 2 are respectively provided with two. When the worm 6 is rotated by the grip motor 8, since the two worm wheels 7 are arranged on both sides of the worm 6, the rotation directions of the two worm wheels 7 are opposite, so that the rotation directions of the two driving levers 5 fixedly coupled to the worm wheels 7 are opposite. In the two sets of parallel four-bar linkage about wrist 4, actuating lever 5, pendulum rod 3 and clamping part 2 are constituteed, control two actuating lever 5 rotation direction's difference, control two clamping part 2 and can accomplish the action of closing simultaneously or opening, install powerful detection device on the clamping part 2 in order to guarantee that clamping part 2 can not damage the single bud head of tealeaves at the clamping process.
As shown in fig. 8 and 9, the image acquisition device includes two cameras 17, the camera 17 is fixedly connected to the front end of the unmanned aerial vehicle 24, the shooting angle of the camera can be adjusted, and the image shot by the camera can be transmitted to the computer 25 through the wireless signal transceiver 21.
The collecting box 20 is installed in the cabin of the unmanned aerial vehicle 24 through a card slot, and the collecting box 20 can be taken out of the cabin of the unmanned aerial vehicle 24. The front end of the collecting box 20 is provided with a connector which can be connected with the hose 1, the tail end of the hose 1 is positioned above the clamping part 2 of the picking device, and the hose 1 is fixed on the picking device by a binding belt. The rear end of the collecting box 20 is connected with a connector which can be connected with a suction device 19, when the suction motor 18 is started, the suction device 19 can generate negative pressure in the collecting box 20, so that the picked single buds at the clamping part 2 of the picking device are sucked into the collecting box 20 through the hose 1.
The suction motor 18 and the suction device 19 are fixedly connected in a cabin of an unmanned aerial vehicle 24, the front end of the suction device 19 is connected with the collection box 20 through an interface, and the rear end of the suction device 19 is connected with the suction motor 18.
The power supply 22 is fixedly connected to the rear side of the cabin of the unmanned aerial vehicle 24 and supplies power to the unmanned aerial vehicle 24, the air suction device, the picking device, the image acquisition device and the wireless signal transceiver 21.
The attached unmanned aerial vehicle 24's of solar light panel 23 upper surface and side can carry out open-air self-charging to unmanned aerial vehicle 24 under the not enough condition of power supply 22 electric power, guarantees that unmanned aerial vehicle 24 in time navigates back.
As shown in fig. 10, the working process of the tea leaf picking device of the present invention is as follows:
when the power supply 22 of the unmanned aerial vehicle 24 is fully charged and the unmanned aerial vehicle is started, the initialization detection of each device is normal, people can designate the picking work area this time or continue the unfinished work area last time for the unmanned aerial vehicle 24 through the computer 25 or the mobile phone and the wireless signal transceiver 21, so that the unmanned aerial vehicle 24 flies to the work place according to the instruction.
When the tea picking machine reaches the position near the target working area, the two cameras 17 of the image acquisition device start to shoot images, the shot images are transmitted to the computer 25 or the mobile phone through the wireless signal transceiver 21, the computer 25 plans the path of tea picking at this time after analyzing and processing the images, and the tea picking path is transmitted to the unmanned aerial vehicle 24 through the wireless signal transceiver 21.
The unmanned aerial vehicle 24 flies according to the planned route, avoids obstacles such as branches and the like which may affect picking, reaches the vicinity of the picking position of the first single-bud head which needs picking at this time, and hovers at the designated position of the picking route. The first round of picking begins, the rotating arm motor 13 is started to drive the rotating arm 15 to rotate around the upright post 16 to a designated angle of the picking path, and then the rotating arm motor 13 is stopped. Then, the boom motor 14 is started to rotate the boom 11 around the rotating arm 15 to a designated angle in the picking path, and then the boom motor 14 is stopped. Then, the small arm motor 12 is started to rotate the small arm 10 to a designated angle around the rotating arm 11 in the picking path, and then the large arm motor 12 is stopped, when the clamping part 2 of the picking device is positioned at both sides of the first single bud to be picked. Then, the clamping part motor 8 is started to start to rotate positively, the worm 6 directly connected with the clamping part motor 8 rotates, and the worm wheel 7 starts to rotate under the driving of the worm 6. Since the two worm wheels 7 are arranged on both sides of the worm 6, the two worm wheels 7 rotate at the same speed but in opposite directions, and the driving rod 5 fixedly connected with the worm wheels 7 rotates at the same speed and direction as the worm wheels 7. In a flat four-bar mechanism consisting of the wrist 4, the driving rod 5, the swing rod 3 and the clamping part 2, the driving rod 5 drives the clamping part 2 to move in a translation manner, and the swing rod 3 swings. Because actuating lever 5, pendulum rod 3 and clamping part 2 are two and bilateral symmetry arrange, in addition two actuating lever 5's the same rotation of rotational speed is opposite, and two clamping parts 2 can be closed simultaneously about this moment, and the single bud head that will need to pick presss from both sides tightly, installs powerful detection device on the clamping part 2 in order to guarantee that clamping part 2 can not damage the single bud head of tealeaves at the clamping in-process, then clamping part motor 8 stops. Then, the wrist motor 9 starts forward rotation to drive the small arm 10 of the wrist 4 to swing rapidly, then the wrist motor 9 reversely rotates to return to the original position, the single bud heads of the tea leaves are broken off from the tea trees by simulating manual work, and the wrist motor 9 stops. Then, the suction motor 18 is started, the suction device 19 works in the collection box 20 to generate negative pressure, meanwhile, the clamping part motor 8 is started to rotate reversely, the two clamping parts 2 are slightly loosened, the clamping force detected on the pressure detection device is far smaller than the negative pressure adsorption force, the clamping part motor stops, the single-bud heads of the tea leaves clamped in the middle of the clamping parts 2 can be sucked into the collection box 20 along the hose 1, and the suction motor stops. The clamping part motor 8 is started to start to rotate reversely, the clamping part returns to the initial position, namely, whether the picking device needs to be recovered to the initial state or not is judged according to the path planning, and the first round of picking is finished.
Wherein, the force detection device adopts a force transducer.
Can be according to the picking process of first round, according to the tea single bud head that the route that plans is good will this needs is picked, picks the completion in proper order.
When the picking is finished, the picking device can be recovered to the initial state, the image acquisition is carried out again according to the first picking process, and the next picking is carried out by path planning.
When the collection box 20 is full or the computer 25 sends a return signal to the drone 24, the drone 24 will restore the initial state of each device, then return to the home, unload, wait for a subsequent command.
The utility model discloses a device is picked to tealeaves bud head unmanned aerial vehicle, including unmanned aerial vehicle, be provided with on the unmanned aerial vehicle and be used for the mould to imitate the picking device that the staff action was accomplished the tealeaves bud head and pick, a suction wind device for collecting the collecting box of picking good tealeaves bud head and being connected with the collecting box, unmanned aerial vehicle is last to carry out image acquisition device and solar light panel, utilize image acquisition device to gather so that confirm and plan near unmanned aerial vehicle and pick the route, utilize the solar light panel to provide continuation of the journey power, utilize the picking device to accomplish the picking of tealeaves bud head and put the tealeaves bud head in to the collecting box. The utility model discloses a pick device compact structure, the action that can simulate the people replaces the artifical picking of accomplishing fresh single bud head, picks the high quality, very big intensity of labour who has alleviateed the workman, has improved and has picked efficiency, and the practicality is strong, is worth promoting.
The above disclosure is only for the preferred embodiments of the present invention, but the present invention is not limited thereto, and any changes that can be considered by those skilled in the art shall fall within the protection scope of the present invention.
Claims (4)
1. An unmanned tea bud picking device is characterized by comprising an unmanned aerial vehicle (24), wherein the unmanned aerial vehicle (24) is provided with a picking device for simulating human hands to complete picking of tea buds, the picking device comprises a stand column (16) arranged below the unmanned aerial vehicle (24), the stand column (16) comprises a main stand column (28) fixed with the unmanned aerial vehicle (24), one end of the main stand column (28) departing from the unmanned aerial vehicle (24) is provided with a curved connecting rod (29), the curved connecting rod (29) comprises a first rod body, a second rod body and a third rod body which are sequentially and fixedly connected end to end, the first rod body and the third rod body are parallel, the second rod body is perpendicular to the third rod body, the free end of the first rod body is fixedly sleeved with the middle part of the main stand column (28), the length direction of the first rod body is perpendicular to the axis of the main stand column (28), one side, deviating from the main upright post (28), of the third rod body is fixedly connected with a rotating arm motor (13), an output shaft of the rotating arm motor (13) penetrates out of the third rod body and then is sleeved with a rotating arm (15), the rotating arm (15) comprises a rotating arm body (27) which is sleeved and fixed with the output shaft of the rotating arm motor (13), one side, deviating from the third rod body, of the rotating arm body (27) is connected with the tail end of the main upright post (28) through a bearing, a cover plate (26) is arranged above the bearing, and the cover plate (26) is sleeved on the main upright post (28) and is fixedly connected with the rotating arm body (27); the one end that the swivel arm body (27) deviates from the head mast (28) is fixed with big arm motor (14), the output shaft of big arm motor (14) passes the fixed big arm (11) of suit behind swivel arm body (27), the one end that big arm (11) deviates from swivel arm body (27) is fixed with forearm motor (12), the output shaft of forearm motor (12) passes big arm (11) back suit fixed forearm (10), the one end that forearm (10) deviates from big arm (11) is fixed with wrist motor (9), the output shaft of wrist motor (9) passes forearm (10) back fixed mounting piece, be provided with fixed clamping part motor (8) on the mounting piece, the output shaft of clamping part motor (8) is perpendicular with the output shaft of wrist motor (9), the output shaft of clamping part motor (8) is connected with worm (6), the other end of worm (6) erects on the support, the bilateral symmetry of worm (6) is provided with worm wheel (7), worm wheel (7) mesh with worm (6) respectively, worm wheel (7) erect respectively on the support, worm wheel (7) are fixed with the one end of actuating lever (5), the other end of actuating lever (5) is articulated with the one end of clamping part (2), the middle part of clamping part (2) is articulated with the one end of pendulum rod (3), the other end and the installation piece of pendulum rod (3) are articulated, the end of clamping part (2) is provided with powerful detection device, power detection device, rocking arm motor (13), big arm motor (14), forearm motor (12) and clamping part motor (8) are connected with the controller electricity respectively, the controller is connected with power supply (22) the electricity that sets up in the cabin of unmanned aerial vehicle (24).
2. The unmanned tea bud picking device according to claim 1, wherein a collecting box (20) is detachably connected to the cabin of the unmanned aerial vehicle (24), the collecting box (20) is used for containing picked tea buds, a suction air device for collecting the picked tea buds is further arranged in the cabin of the unmanned aerial vehicle (24), the suction air device comprises a suction motor (18) and a suction device (19), the suction motor (18) is electrically connected with the controller, the suction device (19) is electrically connected with the suction motor (18), one end of the suction device (19) is communicated with the collecting box (20), and a hose (1) at the other end is arranged between the two clamping parts (2) after passing through the mounting block.
3. The unmanned tea bud picking device as claimed in claim 1, wherein an image acquisition device is arranged on the unmanned aerial vehicle (24), the image acquisition device comprises two cameras (17) which are symmetrically arranged, the two cameras (17) are respectively positioned at the front end of the unmanned aerial vehicle (24), the cameras (17) are electrically connected with a controller, and the controller is in signal connection with a control computer (25) of a control station through a wireless signal transceiver (21) carried on the unmanned aerial vehicle (24).
4. The unmanned picking device for tea bud heads as claimed in claim 1, wherein the unmanned aerial vehicle (24) is provided with a solar light panel (23) on the upper surface and the side surface, and the solar light panel (23) is electrically connected with the power supply (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921221416.0U CN210352224U (en) | 2019-07-30 | 2019-07-30 | Unmanned tea bud picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921221416.0U CN210352224U (en) | 2019-07-30 | 2019-07-30 | Unmanned tea bud picking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210352224U true CN210352224U (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921221416.0U Expired - Fee Related CN210352224U (en) | 2019-07-30 | 2019-07-30 | Unmanned tea bud picking device |
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| CN (1) | CN210352224U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110249791A (en) * | 2019-07-30 | 2019-09-20 | 陕西理工大学 | A kind of tealeaves bud head unmanned plane picker and method |
-
2019
- 2019-07-30 CN CN201921221416.0U patent/CN210352224U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110249791A (en) * | 2019-07-30 | 2019-09-20 | 陕西理工大学 | A kind of tealeaves bud head unmanned plane picker and method |
| CN110249791B (en) * | 2019-07-30 | 2024-01-12 | 陕西理工大学 | Tea bud head unmanned aerial vehicle picking device and method |
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