Tea picking robot based on machine vision and working method

Abstract

The invention discloses a tea picking robot based on machine vision and a working method.The tea picking robot comprises a tea picking machine body of a four-wheel walking mechanism, and the tea picking machine body comprises two sets of RGB-D cameras, a mechanical arm and a negative pressure collecting device which are installed below a tea picking machine body platform; the main control board is used for controlling all the mechanisms to act, the storage batteries are installed on the two sides of the tea-leaf picker body, and four-wheel walking mechanisms are further arranged on the two sides of the tea-leaf picker body. According to the tea picking robot, from the picking technology level, the defect that tea buds on the picking face cannot be cut off at a time when an existing tea picking machine works is overcome, the integrity and consistency of tea shoot picking are guaranteed, and the overall quality and picking efficiency of tea are improved; on the economic level, the labor cost of picking operation is reduced, and the requirement of large-scale planting is met.

Description

technical field [0001] The invention relates to the technical field of robot vision application, in particular to a tea picking robot and a working method based on machine vision. Background technique [0002] Tea picking has strong seasonality, short picking cycle and high labor intensity, which is a labor-intensive operation. At present, the contradiction between tea picking and labor in my country has become a bottleneck for the development of the tea industry. Due to the high requirements of picking operations, most of the picking work is done manually, but manual picking is costly and time-consuming, and it is difficult to meet the needs of large-scale planting. [0003] In order to improve production efficiency and liberate farmers from heavy picking operations, it is of great significance to realize mechanized tea picking. At present, the commonly used mechanized tea picking machine adopts the method of "indiscriminate harvesting", which lacks selectivity. It does n...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a tea-picking robot based on machine vision and its working method to solve the problem that the conventional mechanized tea-picking machine proposed in the above-mentioned background technology adopts the "undifferentiated harvesting" method, and manual identification and selection are still required after picking. , to classify the picked tea leaves, which affects the popularization and use of tea picking machines

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