A multifunctional tea picking robot

Abstract

The present invention relates to a multifunctional tea picking robot, comprising a picking mechanism, a spraying mechanism, a power device, a dynamic visual recognition system, and an omnidirectional driving vehicle; the picking mechanism, the spraying mechanism, and the power device are fixed on a turntable on the top of the omnidirectional driving vehicle; the picking mechanism is used to pick tea leaves, the spraying mechanism is used to spray liquid, and the power device provides compressed air for the picking mechanism; the motor of the rotating shaft 1 of the dynamic visual recognition system drives the rotating shaft 1 to rotate, thereby driving the bracket to rotate around the rotating shaft 1, and the motor of the rotating shaft 2 drives the rotating shaft 2 to rotate, thereby driving the bracket to rotate around the rotating shaft 2. The advantages are: the overall structure is reasonable and easy to operate, and the picking mechanism, the spraying mechanism, the dynamic visual recognition system, and the omnidirectional driving vehicle are used to cooperate and run to realize tea identification, tea picking, and spraying of liquids such as pesticides and water, thereby improving the tea picking efficiency; the omnidirectional driving vehicle is driven and operated by a multi-motion mechanism, so that the omnidirectional driving vehicle can adapt to any terrain.

Description

Technical Field

[0001] The invention belongs to tea picking equipment, and in particular relates to a multifunctional tea picking robot. Background Art

[0002] With the rapid development of agricultural mechanization, tea picking machinery has been widely used and developed. The existing tea picking method is still mainly manual, but manual picking is slow and inefficient, and can no longer meet the needs of today's society. Although there are tea picking machines on the market, these tea picking machines have single functions, low tea picking accuracy, and the quality of picked fresh leaves cannot be guaranteed. The terrain of the tea garden is different, and the height of the tea trees is different. As a result, the tea picking machines on the market can only be used in environments with relatively flat terrain and relatively uniform tea tree heights, and the advantages brought by agricultural mechanization cannot be brought into play. When pests and diseases occur in tea gardens, large-scale spraying is basically used, which not only wastes pesticides, but also increases the residual degree of pesticides and reduces the quality of tea. The existing tea picking machines cannot distinguish the appearance of tea leaves, which brings difficulties to the subsequent screening work. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a multifunctional tea picking robot that can adapt to a variety of terrains, can pick tea leaves at different heights, improve tea picking efficiency, and at the same time improve the quality of picked fresh leaves.

[0004] To achieve the above object, the present invention is implemented through the following technical solutions:

[0005] A multifunctional tea picking robot comprises a picking mechanism, a spraying mechanism, a power device, a dynamic visual recognition system, and an omnidirectional driving vehicle; the picking mechanism, the spraying mechanism, and the power device are fixed on a rotating disk on the top of the omnidirectional driving vehicle;

[0006] The picking mechanism is used for picking tea leaves, and includes an end effector, a tea picking mechanical arm, a collection tube, and a collection bin. The end effector is used for pinching off tea leaves and is a mechanical arm. The front end of the tea picking mechanical arm is connected to the end effector, and the lower part of the tea picking mechanical arm is connected to a collection tube. The top opening of the collection tube is arranged below the front end of the tea picking mechanical arm, and the bottom end of the collection tube is connected to the collection bin. The collection bin includes a box body, a fan, a wind tube, a porous plate, and a compressed air nozzle. The box body is connected to the collection tube, and a porous plate is fixed on the upper part of the box body. The porous plate is connected to the compressed air nozzle, the fan is connected to the wind tube, and the bottom end of the wind tube is connected to the porous plate. The fan is arranged outside the box body, and the compressed air nozzle is connected to the air compressor. The dynamic visual recognition system is fixed on the tea picking mechanical arm.

[0007] The spraying mechanism is used to spray liquid, including a spraying device, a medicine tank, and a cleaning mechanical arm. The medicine tank is divided into multiple water storage chambers. The spraying device includes a nozzle, a hose, a quick connector, a connecting pipe, and a submersible pump. The nozzle is fixed to the head end of the cleaning mechanical arm, and the tail end of the cleaning mechanical arm is fixed to the top turntable of the omnidirectional driving trolley. The nozzle is connected to the hose. The cleaning mechanical arm is connected to multiple quick connectors, each of which is connected to the submersible pump through a connecting pipe. The submersible pump is set in the water storage chamber;

[0008] The power device includes batteries and air compressors, which provide electrical energy for the picking mechanism, spraying mechanism, dynamic visual recognition system, and omnidirectional driving vehicle, and provide compressed air for the picking mechanism;

[0009] The dynamic visual recognition system includes a binocular camera, a first rotating shaft, a second rotating shaft, and a bracket. The binocular camera is fixed on the bracket. The first rotating shaft and the second rotating shaft are arranged perpendicular to each other. The first rotating shaft motor drives the first rotating shaft to rotate, thereby driving the bracket to rotate around the first rotating shaft. The second rotating shaft motor drives the second rotating shaft to rotate, thereby driving the bracket to rotate around the second rotating shaft.

[0010] The omnidirectional trolley comprises a turntable, a turntable motor, and a trolley main frame, the turntable motor drives the turntable to rotate on the trolley bracket; the turntable motor is fixed on the trolley main frame, and at least three motion mechanisms are connected to the trolley main frame, each motion mechanism comprises a wheel, a drive motor, a drive device, a lifting bucket, a lifting device, a lifting motor, a translation device, a translation motor, a rotating bucket, a rotating device, and a rotating motor; the drive motor drives the drive device and then drives the wheel to rotate, the lifting bucket is fixed on the drive device, the lifting bucket is connected to the lifting device, the lifting motor drives the translation device to lift and lower through the lifting device, the translation motor drives the rotating bucket to translate through the translation device, and the rotating motor drives the rotating bucket to rotate through the rotating device and then drives the turntable to rotate.

[0011] The driving motor drives the wheel to rotate through the driving device. The driving device is fixedly connected to the lifting bucket. The lifting motor drives the lifting bucket to slide up and down along the lifting device through the lifting device. The lifting device is fixedly connected to the translation device. The translation motor drives the lifting device to perform linear translational motion along the translation device through the translation device. The translation device is fixedly connected to the rotating barrel. The rotating motor drives the rotating barrel to perform rotational motion through the rotating device. The rotating device is installed on the main frame of the trolley.

[0012] The driving device includes a driving device connecting flange, a driving housing, a worm gear output flange, and a driving worm input shaft. The driving device connecting flange is connected to the driving housing as a whole. The driving device connecting flange is used to connect the lifting bucket. The worm gear output flange is fixedly connected to the wheel. The driving worm input shaft is connected to the driving motor output shaft. The driving worm input shaft is meshed with the driving worm wheel. The driving worm wheel is fixedly connected to the worm gear output flange. The driving motor drives the driving worm input shaft to rotate, and drives the wheel to rotate through the worm gear transmission.

[0013] The lifting device includes a lifting device connecting flange, a lifting worm input shaft, a lifting shell, a lifting nut, and a lifting screw. The lifting nut and the lifting screw are vertically arranged in the lifting shell. The lifting nut is threadedly connected to the lifting screw. The lifting motor drives the lifting worm input shaft to rotate. The lifting worm input shaft is meshed with the lifting worm wheel. The lifting worm wheel is fixedly connected to the lifting screw. The lifting nut is fixedly connected to the lifting barrel. The lifting shell is fixedly connected to the translation device nut of the translation device through the lifting device connecting flange.

[0014] The translation device includes a translation device connecting flange, a translation device housing, a translation device nut, and a translation motor connecting flange. The translation device housing is fixedly connected to the translation motor through the translation motor connecting flange. The translation device housing is fixedly connected to the translation device connecting flange. The translation device connecting flange is connected to the rotating barrel by bolts. A horizontally arranged translation screw is provided in the translation device housing. The translation motor drives the translation screw to rotate. The translation screw is threadedly connected to the translation device nut. The rotation of the translation screw drives the translation device nut to move horizontally along the translation screw, thereby driving the rotating barrel to move horizontally.

[0015] The rotating device includes a rotating device housing, a rotating worm input shaft, a rotating device worm wheel, and a rotating device flange. The rotating motor drives the rotating device worm wheel to rotate through the rotating worm input shaft. The rotating device worm wheel is fixedly connected to the rotating barrel. The rotating device flange is fixed to the outer wall of the rotating barrel. The rotating device flange is used to be fixedly connected to the main frame of the trolley; the rotating device housing is fixedly connected to the rotating barrel, and the rotating worm input shaft is arranged in the rotating device housing.

[0016] The connecting pipe is provided with a solenoid valve.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The overall structure of the present invention is reasonable and easy to operate. It adopts a picking mechanism, a spraying mechanism, a dynamic visual recognition system, and an omnidirectional driving vehicle to work together to achieve tea identification, tea picking, and spraying of liquids such as pesticides and water, thereby improving tea picking efficiency. The dynamic visual recognition system is used to identify insect eyes, residual leaves, or tea leaves with dull colors, thereby improving picking quality. The omnidirectional driving vehicle is driven and operated by a multi-motion mechanism, so that the omnidirectional driving vehicle can adapt to any terrain and facilitate picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention.

[0020] Figure 2 It is a schematic diagram of the structure of the injection device.

[0021] Figure 3It is a structural schematic diagram of an omnidirectional vehicle.

[0022] Figure 4 It is a schematic diagram of the structure of the drive device.

[0023] Figure 5 It is a structural diagram of the lifting device.

[0024] Figure 6 It is a structural schematic diagram of the translation device.

[0025] Figure 7 It is a structural schematic diagram of the rotating device.

[0026] Figure 8 It is a schematic diagram of the control system of the present invention.

[0027] Fig. 9 It is the schematic diagram of the high-speed dynamic visual recognition system.

[0028] Fig.10 It is the workflow diagram of the high-speed dynamic visual recognition system.

[0029] Fig.11 It is a structural diagram of a high-speed dynamic visual recognition system.

[0030] Fig.12 It is a structural diagram of the box.

[0031] In the figure: 1-end effector 2-dynamic visual recognition system 3-tea picking robot arm 4-collection tube 5-collection bin 6-control system 7-spraying mechanism 8-medicine tank 9-cleaning robot arm 10-omnidirectional driving vehicle 11-power device

[0032] 201-binocular camera 202-rotating axis 1 motor 203-rotating axis 1 204-rotating axis 2 205-rotating axis 2 motor 206-bracket

[0033] 501- fan 502- air cylinder 503- porous plate 504- compressed air nozzle 505- box

[0034] 701-nozzle 702-spray body 703-quick connector

[0035] 1001-wheel 1002-drive motor 1003-drive device 100301-drive device connecting flange 100302-drive housing 100303-worm gear output flange 100304-drive worm input shaft 1004-lifting barrel 1005-lifting device 100501-lifting device connecting flange 100502-lifting worm input shaft 100503-lifting housing 100504-lifting screw nut 100505-lifting screw 1006-lifting motor 1007-translation device 100701- connecting flange of translation device 100702- housing of translation device 100703- nut of translation device 100704- connecting flange of translation motor 1008- rotating barrel 1009- rotating device 100901- housing of rotating device 100902- rotating worm input shaft 100903- worm wheel of rotating device 100904- rotating device flange 10010- rotating motor 10011- turntable 10012- turntable motor 10013- translation motor 10014- main frame of trolley. DETAILED DESCRIPTION

[0036] The present invention is described in detail below in conjunction with the accompanying drawings, but it should be noted that the implementation of the present invention is not limited to the following embodiments.

[0037] See Figure 1 A multifunctional tea picking robot includes a picking mechanism, a spraying mechanism 7, a power device 11, a dynamic visual recognition system 2, and an omnidirectional traveling vehicle 10; the picking mechanism, the spraying mechanism 7, and the power device 11 are fixed on a turntable 10011 at the top of the omnidirectional traveling vehicle 10.

[0038] See Figure 1 , Fig.12The picking mechanism is used for picking tea leaves, and includes an end effector 1, a tea picking mechanical arm 3, a collecting tube 4, and a collecting bin 5. The end effector 1 is used to pinch off the tea leaves and is a manipulator; the front end of the tea picking mechanical arm 3 is connected to the end effector 1, and the lower part of the tea picking mechanical arm 3 is connected to the collecting tube 4. The top opening of the collecting tube 4 is arranged below the front end of the tea picking mechanical arm 3. As the tea picking mechanical arm 3 moves, the bottom end of the collecting tube 4 is connected to the collecting bin 5. The collecting bin 5 includes a box body 505, a fan 501, a wind tube 502, a porous plate 503, and a compressed air nozzle 504. The box body 505 is connected to the collecting tube 4. The upper part of the box body 505 is fixed with a porous plate 503 to prevent the tea leaves from being sucked into the fan 501. The porous plate 503 and the compressed air nozzle 5 04 is connected, the fan 501 is connected to the air cylinder 502, the bottom of the air cylinder 502 is connected to the porous plate 503, the fan 501 is arranged outside the box 505, and the compressed air nozzle 504 is connected to the air compressor; the picked tender buds enter the collection tube 4 through the trumpet-shaped opening at the top of the collection tube 4, and the fan 501 sucks out the air in the box 505, forming a negative pressure in the box 505. After the tender buds in the collection tube 4 enter the box 505, due to the presence of the porous plate 503, they will not be sucked into the fan 501. After a long time, the tender buds attached to the surface of the porous plate 503 increase, which may affect the air permeability of the porous plate 503. The compressed air nozzle 504 is used to spray compressed air to the porous plate 503 to remove the tender buds that may be attached. The dynamic visual recognition system 2 is fixed on the tea picking mechanical arm 3.

[0039] See Figure 1 , Figure 2 The spraying mechanism 7 is used to spray liquid, including a spraying device, a medicine tank 8, and a cleaning mechanical arm 9. The medicine tank 8 is divided into multiple water storage chambers. The spraying device includes a nozzle 701, a hose, a quick connector 703, a connecting pipe, and a submersible pump. The nozzle 701 is fixed to the head end of the cleaning mechanical arm 9, and the tail end of the cleaning mechanical arm 9 is fixed to the top turntable 10011 of the omnidirectional driving trolley 10. The nozzle 701 is connected to the hose. The cleaning mechanical arm 9 is connected to multiple quick connectors 703, and each quick connector 703 is connected to the submersible pump through a connecting pipe. The submersible pump is set in the water storage chamber. A solenoid valve is provided on the connecting pipe. The pesticide is sprayed in multiple directions of the tea tree disease area through the nozzle 701, and the disease is removed to the greatest extent without dead angles. Different liquid medicines are contained in the medicine tank 8, and each water storage chamber stores a liquid medicine. Different liquid medicines are sprayed according to different diseases, avoiding artificial large-scale spraying of different liquid medicines, and the delivery of the liquid medicine is controlled by the solenoid valve and the water pump.

[0040] The power device 11 includes a battery and an air compressor, and provides power to the picking mechanism, the spraying mechanism 7, the dynamic visual recognition system 2, and the omnidirectional driving vehicle 10, and provides compressed air to the picking mechanism. The power device 11 can provide power such as power and compressed air to the multifunctional intelligent tea picking robot, and contains a battery, a control circuit board, an output relay, and an air compressor.

[0041] See Fig.11 The dynamic visual recognition system 2 includes a binocular camera 201, a rotating shaft 1 203, a rotating shaft 204, and a bracket 206. The binocular camera 201 is fixed on the bracket 206. The rotating shaft 1 203 and the rotating shaft 204 are arranged perpendicular to each other. The rotating shaft 1 motor 202 drives the rotating shaft 1 203 to rotate, thereby driving the bracket 206 to rotate around the rotating shaft 1 203. The rotating shaft 2 motor 205 drives the rotating shaft 2 204 to rotate, thereby driving the bracket 206 to rotate around the rotating shaft 2 204.

[0042] See Figure 1 , Figure 2-Figure 7 The omnidirectional driving vehicle 10 includes a turntable 10011, a turntable motor 10012, and a vehicle main frame 10014. The turntable motor 10012 drives the turntable 10011 to rotate on the vehicle bracket 206; the turntable motor 10012 is fixed to the vehicle main frame 10014, and at least three motion mechanisms (four motion mechanisms in this embodiment) are connected to the vehicle main frame 10014, each motion mechanism includes a wheel 1001, a drive motor 1002, a drive device 1003, a lifting bucket 1004, a lifting device 1005, a lifting motor 1006, a translation device 1007, and a translation motor 10013. , rotating barrel 1008, rotating device 1009, rotating motor 10010; driving motor 1002 drives driving device 1003 and then drives wheel 1001 to rotate, lifting barrel 1004 is fixed on driving device 1003, lifting barrel 1004 is connected with lifting device 1005, lifting motor 1006 drives translation device 1007 to lift and lower through lifting device 1005, translation motor 10013 drives rotating barrel 1008 to translate through translation device 1007, rotating motor 10010 drives rotating barrel 1008 to rotate through rotating device 1009 and then drives turntable 10011 to rotate.

[0043] The driving motor 1002 drives the wheel 1001 to rotate through the driving device 1003, the driving device 1003 is fixedly connected to the lifting barrel 1004, the lifting motor 1006 drives the lifting barrel 1004 to slide up and down along the lifting device 1005 through the lifting device 1005, the lifting device 1005 is fixedly connected to the translation device 1007, the translation motor 10013 drives the lifting device 1005 to perform a linear translation motion along the translation device 1007 through the translation device 1007; the translation device 1007 is fixedly connected to the rotating barrel 1008, the rotating motor 10010 drives the rotating barrel 1008 to perform a rotational motion through the rotating device 1009, and the rotating device 1009 is installed on the main frame 10014 of the trolley.

[0044] The driving device 1003 includes a driving device connecting flange 100301, a driving housing 100302, a worm gear output flange 100303, and a driving worm input shaft 100304. The driving device connecting flange 100301 is connected to the driving housing 100302 as a whole. The driving device connecting flange 100301 is used to connect the lifting bucket 1004. The worm gear output flange 100303 is fixedly connected to the wheel 1001. The driving worm input shaft 100304 is connected to the output shaft of the driving motor 1002. The driving worm input shaft 100304 is meshed with the driving worm wheel. The driving worm wheel is fixedly connected to the worm gear output flange 100303. The driving motor 1002 drives the driving worm input shaft 100304 to rotate, and drives the wheel 1001 to rotate through the worm gear transmission.

[0045] The lifting device 1005 includes a lifting device connecting flange 100501, a lifting worm input shaft 100502, a lifting shell 100503, a lifting nut 100504, and a lifting screw 100505. The lifting nut 100504 and the lifting screw 100505 are vertically arranged in the lifting shell 100503. The lifting nut 100504 is threadedly connected to the lifting screw 100505. The lifting motor 1006 drives the lifting worm input shaft 100502 to rotate. The lifting worm input shaft 100502 is meshed with the lifting worm wheel. The lifting worm wheel is fixedly connected to the lifting screw 100505. The lifting nut 100504 is fixedly connected to the lifting barrel 1004. The lifting shell 100503 is fixedly connected to the translation device nut 100703 of the translation device 1007 through the lifting device connecting flange 100501. The lifting worm input shaft 100502 drives the lifting worm wheel to rotate, and then drives the lifting screw 100505 to rotate, realizing the up and down movement of the lifting nut 100504, and then drives the translation device 1007 to move up and down.

[0046] The translation device 1007 includes a translation device connecting flange 100701, a translation device housing 100702, a translation device nut 100703, and a translation motor 10013 connecting flange 100704. The translation device housing 100702 is fixedly connected to the translation motor 10013 through the translation motor 10013 connecting flange 100704. The translation device housing 100702 is fixedly connected to the translation device connecting flange 100701. The translation device connecting flange 100701 is connected to the rotating barrel 1008 through a bearing. A horizontally arranged translation screw is provided in the translation device housing 100702. The translation motor 10013 drives the translation screw to rotate. The translation screw is threadedly connected to the translation device nut 100703. The rotation of the translation screw drives the translation device nut 100703 to move horizontally along the translation screw, thereby driving the rotating barrel 1008 to move horizontally.

[0047] The rotating device 1009 includes a rotating device 1009 housing 100901, a rotating worm input shaft 100902, a rotating device worm wheel 100903, and a rotating device flange 100904. The rotating motor 10010 drives the rotating device worm wheel 100903 to rotate through the rotating worm input shaft 100902. The rotating device worm wheel 100903 is fixedly connected to the rotating barrel 1008. The rotating device flange 100904 is fixed to the outer wall of the rotating barrel 1008. The rotating device flange 100904 is used to be fixedly connected to the trolley main frame 10014; the rotating device 1009 housing 100901 is fixedly connected to the rotating barrel 1008, and the rotating worm input shaft 100902 is arranged in the rotating device 1009 housing 100901.

[0048] The 4 sets of wheels 1001 contained in the omnidirectional driving car 10 are all driving wheels. The driving motor 1002, the lifting motor 1006, the rotating motor 10010 and the translation motor 10013 can also be manually controlled to make the steering of the wheels, the wheelbase and the distance from the vehicle body to the ground adjustable and controllable, and can adapt to tea gardens of different terrains and tea trees of different heights and widths. The specific control method is that the control handle is connected to the multifunctional intelligent tea picking robot through a cable to control the walking of the omnidirectional driving car 10. Since the wireless control technology is very mature now and is also widely used, the control handle can also communicate with the multifunctional intelligent tea picking robot by wireless control to control the walking of the omnidirectional driving car 10. Other control methods can also be used to control the walking of the omnidirectional driving car 10.

[0049] See Figure 8-Figure 10 The multifunctional tea picking robot also includes a control system 6, which includes a control unit and a PLC controller. The control unit is used to control the movement of the tea picking mechanical arm 3 and the cleaning mechanical arm 9, and process the data transmitted by the dynamic visual recognition system 2, determine the picking target, and realize picking and spraying by controlling the tea picking mechanical arm 3 and the cleaning mechanical arm 9; the PLC controller controls the driving of the spraying mechanism 7, the driving motor 1002, the lifting motor 1006, the translation motor 10013, and the turntable motor 10012 to realize the operation of the omnidirectional driving vehicle 10. The PLC controller can be PLC FX5U-80MT / ES.

[0050] See Fig. 9 , Fig.10The high-speed dynamic visual recognition system 2 can record video, sense position, and process images. It can capture dynamic images continuously at high speed, and can convert the captured dynamic images into three-dimensional images and perform further processing. After processing, it can not only identify the buds from the background and determine the position of the buds, but also display the status of the tea tree and information on pests and diseases. These data are transmitted to the control unit in real time. The binocular camera 201 can use the Intel RealSense D435i depth camera, which uses the depth camera to collect dynamic effects and sends them to the i7-4500U micro-industrial computer for processing. At the same time, the SRF05 integrated ultrasonic ranging module detects the distance and sends the data to the micro-industrial computer for processing, providing distance data for the subsequent collection of buds or spraying of pesticides. The micro-industrial computer sends the processed data to the control unit.

[0051] The control unit has control software that can analyze and judge the data. After receiving the data from the dynamic visual recognition system 2, the control unit controls the tea picking robot arm 3 to reach the specified position, and the end effector 1 collects the tender buds and sends them into the collection tube 4. There is a negative pressure airflow in the collection tube 4, which sucks the tender buds into the collection bin 5. The end effector 1 is a robot that clamps the leaves to pick the tender leaves.

[0052] The control unit controls the cleaning robot arm 9 to reach the location of the disease according to the state of the tea tree and the pest and disease information, and the nozzle 701 of the spraying mechanism 7 sprays pesticides on the diseased area. Since pesticides are only sprayed on the diseased area, the amount of pesticides used is greatly reduced and the residual degree of pesticides is reduced.

Claims

1. A multifunctional tea picking robot, characterized in that: It includes a picking mechanism, a spraying mechanism, a power device, a dynamic visual recognition system, and an omnidirectional driving vehicle; the picking mechanism, the spraying mechanism, and the power device are fixed on the top turntable of the omnidirectional driving vehicle; The picking mechanism is used for picking tea leaves, and includes an end effector, a tea picking mechanical arm, a collection tube, and a collection bin. The end effector is used for pinching off tea leaves and is a mechanical arm. The front end of the tea picking mechanical arm is connected to the end effector, and the lower part of the tea picking mechanical arm is connected to a collection tube. The top opening of the collection tube is arranged below the front end of the tea picking mechanical arm, and the bottom end of the collection tube is connected to the collection bin. The collection bin includes a box body, a fan, a wind tube, a porous plate, and a compressed air nozzle. The box body is connected to the collection tube, and a porous plate is fixed on the upper part of the box body. The porous plate is connected to the compressed air nozzle, the fan is connected to the wind tube, and the bottom end of the wind tube is connected to the porous plate. The fan is arranged outside the box body, and the compressed air nozzle is connected to the air compressor. The dynamic visual recognition system is fixed on the tea picking mechanical arm. The spraying mechanism is used to spray liquid, including a spraying device, a medicine tank, and a cleaning mechanical arm. The medicine tank is divided into multiple water storage chambers. The spraying device includes a nozzle, a hose, a quick connector, a connecting pipe, and a submersible pump. The nozzle is fixed to the head end of the cleaning mechanical arm, and the tail end of the cleaning mechanical arm is fixed to the top turntable of the omnidirectional driving trolley. The nozzle is connected to the hose. The cleaning mechanical arm is connected to multiple quick connectors, each of which is connected to the submersible pump through a connecting pipe. The submersible pump is set in the water storage chamber; The power device includes batteries and air compressors, which provide electrical energy for the picking mechanism, spraying mechanism, dynamic visual recognition system, and omnidirectional driving vehicle, and provide compressed air for the picking mechanism; The dynamic visual recognition system includes a binocular camera, a first rotating shaft, a second rotating shaft, and a bracket. The binocular camera is fixed on the bracket. The first rotating shaft and the second rotating shaft are arranged perpendicular to each other. The first rotating shaft motor drives the first rotating shaft to rotate, thereby driving the bracket to rotate around the first rotating shaft. The second rotating shaft motor drives the second rotating shaft to rotate, thereby driving the bracket to rotate around the second rotating shaft. The omnidirectional trolley comprises a turntable, a turntable motor, and a trolley main frame, the turntable motor drives the turntable to rotate on the trolley bracket; the turntable motor is fixed to the trolley main frame, and at least three motion mechanisms are connected to the trolley main frame, each motion mechanism comprises a wheel, a drive motor, a drive device, a lifting bucket, a lifting device, a lifting motor, a translation device, a translation motor, a rotating bucket, a rotating device, and a rotating motor; the drive motor drives the drive device to drive the wheel to rotate, the lifting bucket is fixed to the drive device, the lifting bucket is connected to the lifting device, the lifting motor drives the translation device to lift and lower through the lifting device, the translation motor drives the rotating bucket to translate through the translation device, and the rotating motor drives the rotating bucket to rotate through the rotating device, thereby driving the turntable to rotate; The driving motor drives the wheel to rotate through the driving device, the driving device is fixedly connected to the lifting bucket, the lifting motor drives the lifting bucket to slide up and down along the lifting device through the lifting device, the lifting device is fixedly connected to the translation device, the translation motor drives the lifting device to perform linear translation along the translation device through the translation device; the translation device is fixedly connected to the rotating barrel, the rotating motor drives the rotating barrel to perform rotational movement through the rotating device, and the rotating device is installed on the main frame of the trolley; The driving device comprises a driving device connecting flange, a driving housing, a worm gear output flange, and a driving worm input shaft. The driving device connecting flange is connected to the driving housing as a whole, the driving device connecting flange is used to connect the lifting bucket, the worm gear output flange is fixedly connected to the wheel, the driving worm input shaft is connected to the driving motor output shaft, the driving worm input shaft is meshed with the driving worm gear, the driving worm gear is fixedly connected to the worm gear output flange, the driving motor drives the driving worm input shaft to rotate, and drives the wheel to rotate through the worm gear transmission; The lifting device includes a lifting device connecting flange, a lifting worm input shaft, a lifting shell, a lifting nut, and a lifting screw. The lifting nut and the lifting screw are vertically arranged in the lifting shell. The lifting nut is threadedly connected to the lifting screw. The lifting motor drives the lifting worm input shaft to rotate. The lifting worm input shaft is meshed with the lifting worm wheel. The lifting worm wheel is fixedly connected to the lifting screw. The lifting nut is fixedly connected to the lifting barrel. The lifting shell is fixedly connected to the translation device nut of the translation device through the lifting device connecting flange. The translation device comprises a translation device connecting flange, a translation device housing, a translation device nut, and a translation motor connecting flange. The translation device housing is fixedly connected to the translation motor through the translation motor connecting flange. The translation device housing is fixedly connected to the translation device connecting flange. The translation device connecting flange is connected to the rotating barrel through bolts. A horizontally arranged translation screw is arranged in the translation device housing. The translation motor drives the translation screw to rotate. The translation screw is threadedly connected to the translation device nut. The rotation of the translation screw drives the translation device nut to move horizontally along the translation screw, thereby driving the rotating barrel to move horizontally. The rotating device includes a rotating device housing, a rotating worm input shaft, a rotating device worm wheel, and a rotating device flange. The rotating motor drives the rotating device worm wheel to rotate through the rotating worm input shaft. The rotating device worm wheel is fixedly connected to the rotating barrel. The rotating device flange is fixed to the outer wall of the rotating barrel. The rotating device flange is used to be fixedly connected to the main frame of the trolley; the rotating device housing is fixedly connected to the rotating barrel, and the rotating worm input shaft is arranged in the rotating device housing.

2. A multifunctional tea picking robot according to claim 1, characterized in that: The connecting pipe is provided with a solenoid valve.

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