Automatic precise tea leaf picking robot

Abstract

The invention relates to an automatic precise tea leaf picking robot. A camera and a fixed bracket are arranged on a vehicle body capable of moving and walking, a translation driving mechanism, a push plate correcting mechanism, a vertical moving mechanism and a picking storage mechanism which are respectively connected with a controller are arranged on the fixed bracket, and the controller is used for determining position information and the inclination state of tea trees according to image information, collected by the camera, of the tea trees to be picked, so that corresponding control instructions are output to the translation driving mechanism, the vertical moving mechanism, the picking storage mechanism and the push plate correcting mechanism; the translation driving mechanism is used for driving the picking storage mechanism connected with the vertical moving mechanism to move horizontally; the vertical moving mechanism is used for driving the picking storage mechanism to vertically move; the picking storage mechanism is used for executing opening, closing and shearing operations on tender shoots of tea leaves; and the push plate correcting mechanism is used for pushing and straightening the inclined tea trees. Compared with the prior art, the purpose of comprehensive, reliable and accurate picking can be achieved, and the picking loss can be reduced.

Description

technical field [0001] The invention relates to the technical field of tea picking machinery and equipment, in particular to an automatic and precise tea picking robot. Background technique [0002] With the development of tea picking automation technology, many automated mechanical picking equipment have been developed at this stage. At present, most of the harvesting parts of mechanical picking equipment adopt large-area cutting structures to improve harvesting efficiency. However, the existing mechanical picking equipment is picking When the tea buds are young, on the one hand, it is difficult to carry out precise picking, and on the other hand, it is easy to cause the picks to fall during picking, resulting in a large picking loss. [0003] In addition, due to the phototaxis characteristic in the growth process of tea trees, the branches of tea trees tend to be inclined and toppled. If the existing mechanical picking equipment is used for tea picking, it is often impossi...

AI Technical Summary

Problems solved by technology

[0002] With the development of tea picking automation technology, many automated mechanical picking equipment have been developed at this stage. At present, most of the harvesting parts of mechanical picking equipment adopt large-area cutting structures to improve harvesting efficiency. However, the existing mechanical picking equipment is picking When the tea buds are young, on the one hand, it is difficult to accurately pick them;

[0003] In addition, due to the phototaxis characteristic in the growth process of tea trees, the branches of tea trees tend to be inclined and toppled. If the existing mechanical picking equipment is used for tea picking, it is often impossible to pick all the tea leaves in the surrounding range comprehensively, resulting in The harvest of tea picking is low, it is difficult to meet the picking demand

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