Intelligent tea leaf picking machine

Abstract

The invention relates to an intelligent tea leaf picking machine and belongs to the technical field of agricultural machinery. The machine comprises a lowering device and a control circuit, wherein the lowering device is mounted on the upper part of a walking machine; the signal input end of the control circuit is connected to tea leaf image shooting and identifying devices; a support extended forwards from the walking machine is provided with a track extended forwards and backwards; a carriage which is supported on the track and a track screw rod form a screw pair; a shearing seat which forms a sliding pair with the carriage is arranged on the carriage; the shearing seat and a carriage screw rod form a screw pair; a cutter seat which forms a lifting screw pair with a vertical screw rod is arranged on the shearing seat; a horizontal rotating movable blade is arranged on the cutter seat; a sheared edge is formed between the movable blade and a fixed blade; a negative pressure tea leaf collecting pipe which is communicated with the lowering device is arranged on the upper part of the sheared edge; the control output end of the control circuit is respectively connected with a controlled end of each motor. Compared with the prior art that tea leaves are individually picked each time, the intelligent tea leaf picking machine has the advantages that the work efficiency is greatly improved, and the needs of picking and collecting the tea leaves are met.

Description

technical field [0001] The invention relates to a tea picking machine, in particular to an intelligent tea picking machine, which belongs to the technical field of agricultural machinery. Background technique [0002] The search found that the Chinese patent application with the application number 200410081482.4 discloses an automatic tea picking machine, which not only has only one image acquisition head for the visual system, but can only initially identify the young shoots of the tea canopy, and cannot obtain the height of the young shoots of the tea canopy information, it is impossible to fit the three-dimensional information of tender tea, and it is difficult to control the tea picking mechanism to pick accurately, and the picking part uses picking claws, and the picking actuator controls the opening and closing of the claws to realize the cutting of tender tea, which is only applicable to Single picking at a time. The Chinese patent with the application number 2013200...

AI Technical Summary

Problems solved by technology

[0002] The search found that the Chinese patent application with the application number 200410081482.4 discloses an automatic tea picking machine, which not only has only one image acquisition head for the visual system, but can only initially identify the young shoots of the tea canopy, and cannot obtain the height of the young shoots of the tea canopy information, it is impossible to fit the three-dimensional information of tender tea, and it is difficult to control the tea picking mechanism to pick accurately, and the picking part uses picking claws, and the picking actuator controls the opening and closing of the claws to realize the cutting of tender tea, which is only applicable to single picking

The Chinese patent with the application number 201320025340.0 discloses a tea picking system. The system uses laser two-dimensional distance measurement to measure the height of tea leaves. The point distance measurement method of the laser head has the disadvantages of small distance measurement range and long time. The efficiency of vertical positioning Low; although the system uses a binocular camera to identify tender tea images, experiments have shown that due to the high density of tea tree shoots, the two images collected by this method are very similar, and it is difficult to accurately match the feature points, and cannot solve the problem of tender tea. The problem of tea identification; especially the picking part uses scissors to cut the tender tea, which is also only suitable for single picking

[0003] In a word, the above existing technologies all have the limitation that they can only pick a single single picking, so it takes a long time to complete a picking and the efficiency is very low, and it is not suitable for picking tea leaves with high timeliness and high picking intensity.

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