Tea Picking Robot and Tea Picking Method

Abstract

The present invention relates to the technical field of tea-picking robots, and provides a tea-picking robot and a tea-picking method. The tea-picking robot includes: a robot main body, a tool adaptive adjustment system, and a controller. The tool adaptive adjustment system includes an image acquisition device, an inertial measurement unit, a pitch angle adjustment device, a linear module, a system support, and an arc-shaped tool. The arc-shaped tool is configured with a radian adjuster. The controller is used to identify the tea ridge images of tea leaves collected by the image acquisition device, determine the positions of tea leaf picking points of different categories, and calculate the target position and target radian of the arc-shaped tool based on the positions of the tea leaf picking points. The target position, target radian and inertial data are fused to obtain the target pose of the arc-shaped tool. The linear module, the pitch angle adjustment device and the radian adjuster are respectively controlled to adjust the pose of the arc-shaped tool to the target pose. It can efficiently select tea leaves and improve the efficiency and quality of tea leaf picking.

Description

Technical Field

[0001] The present invention relates to the technical field of tea-picking robots, and particularly to a tea-picking robot and a tea-picking method. Background Art

[0002] The intelligent picking of tea leaves is of great significance for reducing the workload of tea farmers.

[0003] At present, some mechanical picking devices can be used to pick tea leaves in a cutting manner. During the tea leaf picking process, although the efficiency is high, there is a lack of selectivity for the tea leaves, resulting in different sizes and poor integrity of the bud leaves, and greater mechanical damage to the tea trees. Using a multi-degree-of-freedom robot to pick and classify tea leaves leaf by leaf can improve the quality of tea leaf picking, but greatly reduces the efficiency of tea leaf picking, and cannot pick tea leaves planted on a large scale. Moreover, it cannot solve the problem of poor tea-picking quality caused by the position deviation of the cutter under bumpy terrain. Summary of the Invention

[0004] The present invention provides a tea-picking robot and a tea-picking method to solve the defects existing in the prior art.

[0005] The present invention provides a tea-picking robot, including: a robot main body, a tool adaptive adjustment system, and a controller, and the controller is installed on the robot main body;

[0006] The tool adaptive adjustment system includes an image acquisition device, an inertial measurement unit, a pitch angle adjustment device, a linear module, a system bracket, and an arc-shaped tool; the tool adaptive adjustment system is detachably fixed on the robot main body through the system bracket;

[0007] The image acquisition device and the inertial measurement unit are both fixed on the system bracket, and the arc-shaped tool is sequentially fixed on the system bracket through the linear module and the pitch angle adjustment device;

[0008] The arc-shaped tool is configured with a radian regulator, and the radian regulator, the image acquisition device, the inertial measurement unit, the pitch angle adjustment device, and the linear module are all connected to the controller;

[0009] The image acquisition device is used to acquire the image of the tea leaf ridge;

[0010] The inertial measurement unit is used to acquire the inertial data of the system bracket;

[0011] The controller is used to identify the tea ridge images, determine the positions of tea picking points of different categories, and calculate the target position and target radian of the arc-shaped cutter based on the positions of the tea picking points. The target pose of the arc-shaped cutter is obtained by fusing the target position, the target radian and the inertial data;

[0012] The controller is also used to control the linear module, the pitch angle adjustment device and the radian regulator respectively to adjust the pose of the arc-shaped cutter to the target pose.

[0013] A tea picking robot according to the present invention further includes a traveling system, and the traveling system is detachably installed below the robot main body;

[0014] The traveling system includes two driving wheels at the front, two driven wheels at the rear and driving devices corresponding to the two driving wheels. The driving devices are connected to the controller; the controller is also used to control the driving devices to drive the two driving wheels to rotate and control the differential speed of the two driving wheels to realize the turning of the tea picking robot.

[0015] A tea picking robot according to the present invention, air suspension air bags are provided between the two driving wheels and the two driven wheels and the robot main body, and the air suspension air bags are all communicated through a main air bag.

[0016] A tea picking robot according to the present invention, the traveling system further includes two lifting rods, and the two driving wheels are detachably installed below the robot main body through the two lifting rods.

[0017] A tea picking robot according to the present invention, the arc-shaped cutter includes a cutting knife, a tool holder and a driving motor. The two ends of the tool holder are connected to the two ends of the cutting knife, and the arc-shaped cutter is fixedly connected to the linear module through the tool holder; the cutting edge of the cutting knife is located between the two ends of the cutting knife;

[0018] The driving motor is arranged on the tool holder and is used to provide power for the cutting knife;

[0019] The radian regulator includes an adjusting rod and a limiting block. Through holes are provided on both the tool holder and the cutting knife. The adjusting rod passes through the through holes on the tool holder and the cutting knife, and the distance between the tool holder and the cutting knife at the through holes is adjusted by the limiting block.

[0020] A tea picking robot according to the present invention, the cutting knife includes a first knife section and a second knife section, the first knife section is hinged to the second knife section, and both the first knife section and the second knife section are horizontal tangents;

[0021] The driving motor includes a first driving motor and a second driving motor, and the first driving motor and the second driving motor are respectively arranged at both ends of the tool support;

[0022] The radian regulator includes a first radian regulator and a second radian regulator, and the first radian regulator and the second radian regulator are respectively located on the first tool segment and the second tool segment.

[0023] A tea picking robot provided by the present invention further includes a blower and a tea collection device. The tea collection device includes a negative pressure device and a tea collection bag; the robot body includes a material support frame, and the tea collection bag is placed on the material support frame;

[0024] The negative pressure device is installed on the arc-shaped tool, the blower is installed on the robot body, and both the negative pressure device and the blower are connected to the controller;

[0025] The controller is further configured to control the negative pressure device and the blower to work, and press the tea leaves cut by the arc-shaped tool into the tea collection bag.

[0026] The present invention also provides a tea picking method implemented based on the tea picking robot provided in the above embodiments, including:

[0027] Obtaining a tea plant row image and inertial data of the system support;

[0028] Identifying the tea plant row image to determine the positions of tea picking points of different categories;

[0029] Based on the positions of the tea picking points, calculating the target position and target radian of the arc-shaped tool fixed on the system support, and fusing the target position, the target radian and the inertial data to obtain the target pose of the arc-shaped tool;

[0030] Based on the target pose, controlling the linear module, the pitch angle adjustment device fixed on the system support and the radian regulator configured for the arc-shaped tool to adjust the pose of the arc-shaped tool to the target pose.

[0031] According to a tea picking method provided by the present invention, the image acquisition device is a camera; correspondingly, the identifying the tea plant row image to determine the positions of tea picking points of different categories includes:

[0032] Based on the camera response model corresponding to the camera, enhancing the brightness of the tea plant row image to obtain a brightness-enhanced image;

[0033] Based on the target detection algorithm, determining the positions of tea picking points of different categories in the tea plant row image.

[0034] According to a tea picking method provided by the present invention, calculating the target position and target radian of the arc-shaped cutter fixed on the system bracket based on the position of the tea picking point includes:

[0035] Based on the position interpolation fitting algorithm, fitting the position of the tea picking point to obtain the target position, and based on the radian interpolation fitting algorithm, fitting the position of the tea picking point to obtain the target radian;

[0036] And / or, fusing the target position, the target radian and the inertial data to obtain the target pose of the arc-shaped cutter, including:

[0037] Based on the extended Kalman filter algorithm, using the inertial data as an estimator to predict the radian and position of the arc-shaped cutter to obtain the initial radian and initial position;

[0038] Using the target position and the target radian as observation quantities to correct the initial radian and the initial position to obtain the target pose.

[0039] According to a tea picking method provided by the present invention, controlling the linear module, the pitch angle adjustment device and the radian adjuster configured for the arc-shaped cutter fixed on the system bracket based on the target pose to adjust the pose of the arc-shaped cutter to the target pose includes:

[0040] Based on the target pose, determining the first control parameter of the linear module, the second control parameter of the pitch angle adjustment device and the third control parameter of the radian adjuster, and controlling the linear module, the pitch angle adjustment device and the radian adjuster respectively based on the first control parameter, the second control parameter and the third control parameter.

[0041] The present invention also provides an electronic device, including a memory, a processor and a computer program stored on the memory and executable on the processor, and when the processor executes the program, it implements the tea picking method as described in any one of the above.

[0042] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the tea picking method as described in any one of the above.

[0043] The present invention also provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the tea picking method as described in any one of the above.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The tea-picking robot and tea-picking method provided by the present invention can efficiently select tea leaves through image acquisition and recognition of tea ridges, reducing the situation where the size and integrity of the picked bud leaves are inconsistent. Moreover, since the positions of tea-picking points of different types of tea can be accurately identified, the mechanical damage to tea trees can be greatly reduced. Since the tea-picking robot determines the positions of tea-picking points of different types of tea and then picks different types of tea, rather than picking and classifying tea leaves one by one, the efficiency of tea picking can be improved, tea picking for large-scale planted tea can be realized, and the problem of poor tea-picking quality caused by the position deviation of the cutter under bumpy terrain can be solved. In addition, the tea-picking robot controls the linear module, pitch angle adjustment device and arc regulator through the controller to adjust the pose of the arc cutter to the target pose, enabling precise control of the pose of the arc cutter, smoothly picking tea leaves with the arc cutter, avoiding the position deviation of the arc cutter under bumpy terrain, and thus improving the tea-picking quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0047] Figure 1 is one of the structural schematic diagrams of the tea-picking robot provided by the present invention;

[0048] Figure 2 is the structural schematic diagram of the tool adaptive adjustment system in the tea-picking robot provided by the present invention;

[0049] Figure 3 is the structural schematic diagram of the traveling system in the tea-picking robot provided by the present invention;

[0050] Figure 4 is the second structural schematic diagram of the tea-picking robot provided by the present invention;

[0051] Figure 5 is the first connection relationship schematic diagram of the air suspension airbag in the tea-picking robot provided by the present invention;

[0052] Figure 6 is the second connection relationship schematic diagram of the air suspension airbag in the tea-picking robot provided by the present invention;

[0053] Figure 7 is the first structural schematic diagram of the arc cutter in the tea-picking robot provided by the present invention;

[0054] Figure 8It is the second structural schematic diagram of the arc-shaped cutter in the tea-picking robot provided by the present invention;

[0055] Figure 9 It is the flow schematic diagram of the tea-picking method provided by the present invention;

[0056] Figure 10 It is the operation flow schematic diagram of improving the R3Det rotation target detection algorithm in the tea-picking method provided by the present invention;

[0057] Figure 11 It is the determination process schematic diagram of the target pose in the tea-picking method provided by the present invention;

[0058] Figure 12 It is the control flow schematic diagram of the tea-picking method provided by the present invention;

[0059] Figure 13 It is the structural schematic diagram of the electronic device provided by the present invention;

[0060] 1. Robot main body; 11. Shell; 12. Material support frame; 13. Air suspension airbag; 14. Total airbag; 15. Inflator; 16. Lifting rod;

[0061] 2. Tool adaptive adjustment system; 21. Image acquisition device; 22. Inertial measurement unit; 23. Pitch angle adjustment device; 24. Linear module; 25. System support; 26. Arc-shaped cutter; 261. Cutting tool; 2611. First cutting segment; 2612. Second cutting segment; 2613. Hinge; 262. Tool support; 263. Driving motor; 2631. First driving motor; 2632. Second driving motor; 27. Radian regulator; 271. Adjusting rod; 272. Limit block; 28. First radian regulator; 29. Second radian regulator;

[0062] 3. Controller; 41. Driving wheel; 42. Driven wheel; 43. Driving device. Detailed implementation manners

[0063] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0064] Since existing tea-picking equipment lacks selectivity for tea leaves during the tea-picking process, the sizes and integrity of the bud leaves are uneven, resulting in greater mechanical damage to the tea plants. Or the tea-picking efficiency is low, and it is impossible to pick tea leaves in large-scale plantations, and it is impossible to solve the problem of poor tea-picking quality caused by the position deviation of the cutter under bumpy terrain.

[0065] Based on this, in the embodiments of the present invention, a tea-picking robot is provided to solve the above technical problems.

[0066] Figure 1 As shown in the structural schematic diagram of a tea-picking robot provided in the embodiments of the present invention, Figure 1 as shown, the tea-picking robot includes: a robot main body 1, a tool adaptive adjustment system 2, and a controller 3, and the controller 3 is installed on the robot main body 1;

[0067] The tool adaptive adjustment system 2 includes an image acquisition device 21, an inertial measurement unit 22, a pitch angle adjustment device 23, a linear module 24, a system support 25, and an arc-shaped tool 26. The tool adaptive adjustment system 2 is detachably fixed on the robot main body 1 through the system support 25.

[0068] Both the image acquisition device 21 and the inertial measurement unit 22 are fixed on the system support 25, and the arc-shaped tool 26 is fixed on the system support 25 through the linear module 24 and the pitch angle adjustment device 23 in sequence.

[0069] The arc-shaped tool 26 is configured with a radian regulator 27, and the radian regulator 27, the image acquisition device 21, the inertial measurement unit 22, the pitch angle adjustment device 23, and the linear module 24 are all connected to the controller 3.

[0070] The image acquisition device 21 is used to acquire tea ridge images of tea leaves.

[0071] The inertial measurement unit 22 is used to acquire inertial data of the system support 25.

[0072] The controller 3 is used to identify the tea ridge images of tea leaves, determine the positions of tea-picking points of different categories, and calculate the target position and target radian of the arc-shaped tool 26 based on the positions of the tea-picking points, and fuse the target position, target radian and inertial data to obtain the target pose of the arc-shaped tool 26.

[0073] The controller 3 is further used to control the linear module 24, the pitch angle adjustment device 23, and the radian regulator 27 respectively to adjust the pose of the arc-shaped tool 26 to the target pose.

[0074] Specifically, the tea-picking robot provided in the embodiments of the present invention includes a robot main body 1, a tool adaptive adjustment system 2, and a controller 3. The robot main body 1 is the framework of the tea-picking robot and is used to carry the tool adaptive adjustment system 2 and the controller 3 included in the tea-picking robot. Among them, the controller 3 is detachably installed on the robot main body 1.

[0075] As Figure 1 and Figure 2 shown, the tool adaptive adjustment system 2 includes an image acquisition device 21, an inertial measurement unit 22, a pitch angle adjustment device 23, a linear module 24, a system support 25, and a curved tool 26. The tool adaptive adjustment system 2 is detachably fixed on the robot main body 1 through the system support 25. As Figure 2 shown, a plurality of through holes can be provided on the system support 25 for fixing on the robot main body 1 through the screw passing through the through holes.

[0076] Both the image acquisition device 21 and the inertial measurement unit 22 are fixed on the system support 25. During the tea-picking process of the tea-picking robot, the image acquisition device 21 can acquire the tea ridge image of the tea leaves, and the inertial measurement unit 22 can acquire the inertial data of the system support 25.

[0077] The image acquisition device 21 can be an industrial camera, an ordinary camera, an optical camera, etc. The image acquisition device 21 can be aligned with the tea leaves and the tea ridge so that the shooting area of the image acquisition device 21 covers both the tea leaves and the tea ridge area at the same time. Thus, the acquired tea ridge image of the tea leaves can include the tea leaves and the tea ridge.

[0078] The inertial measurement unit 22 can be a 6-axis inertial sensor or a 9-axis inertial sensor, and the corresponding inertial data can be the 6-axis pose data or 9-axis pose data of the system support 25, which is not specifically limited here.

[0079] The curved tool 26 is connected to the linear module 24. The linear module 24 can be connected to the pitch angle adjustment device 23. The pitch angle adjustment device 23 can be fixed on the system support 25 through a hinge 2613. The linear module 24 can include two first motors that move linearly left and right. When the two first motors rise or fall simultaneously, the height adjustment of the curved tool 26 can be achieved. When one side of the first motor rises and the other side of the first motor falls, the adjustment of the rolling angle of the curved tool 26 in the left and right directions can be achieved. The pitch angle adjustment device 23 can include two second motors that rotate left and right. When the two second motors rotate forward or backward simultaneously, the pitch angle of the curved tool 26 in the front and back directions is adjusted.

[0080] The arc-shaped cutter 26 can be configured with a radian regulator 27. The radian regulator 27, the image acquisition device 21, the inertial measurement unit 22, the pitch angle adjustment device 23, and the linear module 24 are all connected to the controller 3. The controller 3 can send control signals to the radian regulator 27, the image acquisition device 21, the inertial measurement unit 22, the pitch angle adjustment device 23, and the linear module 24 to control their working states and working modes. The controller 3 is also used to receive the tea ridge image of the tea leaves collected by the image acquisition device 21 and the inertial data of the system support 25 collected by the inertial measurement unit 22.

[0081] The controller 3 is also used to identify the tea ridge image of the tea leaves and determine the positions of tea picking points of different categories. Here, the controller 3 can use a target detection algorithm to identify the tea ridge image of the tea leaves, determine the positions of different categories of tea leaves in the tea ridge image, and then determine the positions of the tea picking points according to the positions of the tea leaves. The target detection algorithm can be an improved R3Det rotated target detection algorithm or other target detection algorithms, which are not specifically limited here. The positions of the tea picking points of different categories can include the positions of old bud picking points and young bud picking points.

[0082] To improve the accuracy of the positions of the tea picking points of different categories determined in the tea ridge image of the tea leaves, the tea ridge image of the tea leaves can also be enhanced before being identified. The enhancement method can be brightness enhancement, which can be achieved by using the camera response model corresponding to the camera.

[0083] After the controller 3 determines the positions of the tea picking points of different categories, it can use the positions of the tea picking points to calculate the target position and target radian of the arc-shaped cutter 26. This process can be realized by means of the relative position relationship between the image acquisition device 21 and the arc-shaped cutter 26. Among them, the target position of the arc-shaped cutter 26 refers to the position where the arc-shaped cutter 26 is located when picking the required old buds or young buds. Here, the position interpolation fitting algorithm can be used to fit the positions of the tea picking points to obtain the target position. The target radian of the arc-shaped cutter 26 refers to the radian of the arc-shaped cutter 26 when picking the required old buds or young buds. Here, the radian interpolation fitting algorithm can be used to fit the positions of the tea picking points to obtain the target radian.

[0084] After the controller 3 determines the target position and target radian of the arc-shaped cutter 26, it can fuse the target position, target radian, and inertial data to obtain the target pose of the arc-shaped cutter 26. It can be understood that the target pose of the arc-shaped cutter 26 includes the position and radian of the arc-shaped cutter 26. The fusion method can be realized by using the Extended Kalman Filter (EKF) algorithm.

[0085] The controller 3 is also used to generate control parameters corresponding to the linear module 24, the pitch angle adjustment device 23, and the radian regulator 27 respectively based on the target pose, and send the corresponding control parameters to the linear module 24, the pitch angle adjustment device 23, and the radian regulator 27.

[0086] In the first aspect, the linear module 24 can be controlled to drive the arc-shaped tool 26 to move up or down, and drive the arc-shaped tool 26 to rotate left or right. For example, if the position of the arc-shaped tool 26 is too high and it is necessary to control the arc-shaped tool 26 to move down a first distance, the two first motors in the linear module 24 can be controlled to simultaneously extend downward by the first distance; if the arc-shaped tool 26 is tilted to the left, that is, the left side is lower and the right side is higher, and it is necessary to control the left side of the arc-shaped tool 26 to rise by a second distance and the right side to drop by a third distance, the left first motor in the linear module 24 can be controlled to extend upward by the second distance, and the right first motor to extend downward by the third distance.

[0087] In the second aspect, the pitch angle adjustment device 23 can be controlled to drive the arc-shaped tool 26 to rotate forward or backward. For example, if the arc-shaped tool 26 is tilted forward, that is, the front is lower and the rear is higher, and it is necessary to control the front of the arc-shaped tool 26 to rise and the rear to drop, the pitch angle adjustment device 23 can be controlled to rotate backward by a certain angle so that the front and rear heights of the arc-shaped tool 26 are the same.

[0088] In the third aspect, the radian regulator 27 can be controlled to adjust the radian of the arc-shaped tool 26. Through the control of the above three aspects, the pose of the arc-shaped tool 26 can reach the target pose.

[0089] A tea-picking robot provided in an embodiment of the present invention includes: a robot main body 1, a tool adaptive adjustment system 2, and a controller 3. The tool adaptive adjustment system 2 includes an image acquisition device 21, an inertial measurement unit 22, a pitch angle adjustment device 23, a linear module 24, a system support 25, and an arc tool 26. The arc tool 26 is configured with a radian regulator 27. The controller 3 is used to identify the tea ridge image of the tea leaves collected by the image acquisition device 21, determine the positions of tea-picking points of different categories of tea leaves, and calculate the target position and target radian of the arc tool 26 based on the positions of the tea-picking points. The target position, target radian, and inertial data are fused to obtain the target pose of the arc tool 26. The linear module 24, the pitch angle adjustment device 23, and the radian regulator 27 are respectively controlled to adjust the pose of the arc tool 26 to the target pose. By collecting and identifying the tea ridge image of the tea leaves, this tea-picking robot can efficiently select tea leaves, reducing the situation where the size and integrity of the picked buds and leaves are inconsistent. Moreover, since the positions of tea-picking points of different categories of tea leaves can be accurately identified, mechanical damage to the tea trees can be greatly reduced. Since this tea-picking robot determines the positions of tea-picking points of different categories of tea leaves and then picks different categories of tea leaves, rather than picking and classifying each leaf one by one, the efficiency of tea leaf picking can be improved, tea leaves in large-scale plantations can be picked, and the problem of poor tea-picking quality caused by the position deviation of the cutting tool under bumpy terrain can be solved. In addition, by controlling the linear module 24, the pitch angle adjustment device 23, and the radian regulator 27 through the controller 3 to adjust the pose of the arc tool 26 to the target pose, precise control of the pose of the arc tool 26 can be achieved, enabling the arc tool 26 to pick tea leaves smoothly, avoiding the position deviation of the arc tool under bumpy terrain, and thus improving the tea-picking quality.

[0090] On the basis of the above embodiment, the tea-picking robot may further include a housing 11. The housing 11 is disposed above the robot main body 1 to protect the various devices installed on the robot main body 1 and improve the service life of the tea-picking robot.

[0091] Since the existing picking equipment needs to be assisted by manual lifting for picking, generally one to three people are required to assist the picking equipment to work, which will lead to low picking efficiency, high labor consumption, and cumbersome and difficult operations. It requires multiple people to cooperate with each other to achieve, and it is impossible to achieve standardized, large-scale, and automated tea leaf picking.

[0092] Based on this, as Figure 3 shown, on the basis of the above embodiment, the tea-picking robot provided in an embodiment of the present invention further includes a traveling system. The traveling system is detachably installed below the robot main body 1.

[0093] The walking system includes two driving wheels 41 at the front, two driven wheels 42 at the rear, and driving devices 43 corresponding to the two driving wheels 41. The driving devices 43 are connected to the controller 3. The controller 3 is further configured to control the driving devices 43 to drive the two driving wheels 41 to rotate and control the differential speed of the two driving wheels to realize the turning of the tea picking robot.

[0094] Specifically, the two driving wheels 41 can both be motor wheels, and the driving devices 43 can include third motors respectively installed on each driving wheel 41 to drive the two driving wheels 41 to rotate and provide power for the operation of the tea picking robot. The two driven wheels 42 can both be universal wheels to increase the stability of the tea picking robot during operation. Here, the third motor can be a servo motor, which can effectively ensure the accuracy of the traveling speed of the tea picking robot.

[0095] The distance between the two driving wheels 41 and the distance between the two driven wheels 42 can be the same as the spacing of the tea ridges, so that the controller 3 can control the walking system to position the tea ridges and automatically walk after identifying the tea ridge information from the tea ridge image.

[0096] The controller 3 can control the two third motors to make the two driving wheels 41 have different rotational speeds to realize the turning of the tea picking robot, ensure the flexibility of the tea picking robot when turning, and effectively ensure the movement ability of the robot on the uneven terrain of the hills.

[0097] For example, if the controller 3 controls the rotational speed of the third motor installed on the left driving wheel 41 to be less than the rotational speed of the third motor installed on the right driving wheel 41, the tea picking robot can turn left. If the controller 3 controls the rotational speed of the third motor installed on the left driving wheel 41 to be greater than the rotational speed of the third motor installed on the right driving wheel 41, the tea picking robot can turn right.

[0098] It should be noted that this walking system can be applied to the existing hand-held tea picking robots on the market. At this time, only need to fix the hand-held tea picking robot on the robot main body to realize automatic tea picking operation.

[0099] In the embodiment of the present invention, detachably installing the walking system under the robot main body 1 can solve the problem that the tea picking robot is not easy to transport due to the complex mountain terrain, avoid manual lifting for picking, improve the picking efficiency, reduce the labor cost, and realize standardized, large-scale and automated tea picking.

[0100] As Figure 3 shown, the robot main body 1 can further include a housing 11 and a material support frame 12. The controller 3 can be placed in the housing 11, and the housing 11 can be used to protect the controller 3. The material support frame 12 can be used to carry the tea collection bag for collecting tea leaves.

[0101] As Figure 4 and as Figure 5 shown, on the basis of the above embodiments, in the tea-picking robot provided in the embodiments of the present invention, air suspension air bags 13 are provided between the two driving wheels 41 and the two driven wheels 42 and the robot main body 1, and the air suspension air bags 13 are all communicated through the main air bag 14. Due to the existence of the air suspension air bags 13, shock absorption of the tea-picking robot on rough roads can be realized, and the problem of bumpy operation of the tea-picking robot on rough roads can be solved. The existence of the main air bag 14 can ensure that the air pressures of the four air suspension air bags 13 are the same, so that the robot main body 1 is more stable.

[0102] As Figure 6 shown, on the basis of the above embodiments, the main air bag 14 can also be connected to an air inflator 15, and the air inflator 15 can provide sufficient air pressure for the four air suspension air bags 13 and the main air bag 14, further improving the stability of the robot main body 1.

[0103] As Figure 4 shown, on the basis of the above embodiments, in the tea-picking robot provided in the embodiments of the present invention, the walking system further includes two lifting rods 16, and the two driving wheels 41 are detachably mounted below the robot main body 1 through the two lifting rods 16. Through the two lifting rods 16, the adaptability of the tea-picking robot to different tea trees and terrains can be improved.

[0104] As Figure 7 shown, on the basis of the above embodiments, in the tea-picking robot provided in the embodiments of the present invention, the arc cutter 26 includes a cutting knife 261, a cutter support 262 and a driving motor 263. Both ends of the cutter support 262 are connected to both ends of the cutting knife 261, and the arc cutter 26 is fixedly connected to the linear module 24 through the cutter support 262; the cutting edge of the cutting knife 261 is located between both ends of the cutting knife 261.

[0105] The driving motor 263 is arranged on the cutter support 262 and is used to provide power for the cutting knife 261.

[0106] The radian adjuster 27 includes an adjusting rod 271 and a limiting block 272. Through holes are provided on both the cutter support 262 and the cutting knife 261. The adjusting rod 271 passes through the through holes on the cutter support 262 and the cutting knife 261, and the distance between the cutter support 262 and the cutting knife 261 at the through holes is adjusted through the limiting block 272.

[0107] In the embodiments of the present invention, the cutting knife 261 is a flexible cutting knife, and its radian can be controlled by controlling the position of the limiting block 272 of the radian adjuster 27 on the adjusting rod 271, controlling the distance between the cutting knife 261 and the center of the cutter support 262, and further controlling the radian of the cutting knife 261, so as to realize the adjustment of the radian of the arc cutter 26 for cutting tea leaves.

[0108] As Figure 8 shown, on the basis of the above embodiments, the tea-picking robot provided in the embodiments of the present invention, the cutter 261 includes a first cutter segment 2611 and a second cutter segment 2612, the first cutter segment 2611 is hinged to the second cutter segment 2612, and both the first cutter segment 2611 and the second cutter segment 2612 are horizontal tangents.

[0109] The drive motors 263 include a first drive motor 2631 and a second drive motor 2632, and the first drive motor 2631 and the second drive motor 2632 are respectively arranged at both ends of the tool support 262.

[0110] The radian adjuster 27 includes a first radian adjuster 28 and a second radian adjuster 29, and the first radian adjuster 28 and the second radian adjuster 29 are respectively located on the first cutter segment 2611 and the second cutter segment 2612.

[0111] Specifically, the first cutter segment 2611 and the second cutter segment 2612 can be connected by a hinge 2613 to restrict the horizontal tangential direction. The first radian adjuster 28 and the second radian adjuster 29 need to consider their respective positions on the first cutter segment 2611 and the second cutter segment 2612 so that the cutter segments 2611 and the second cutter segment 2612 together form an arc.

[0112] Both the first radian adjuster 28 and the second radian adjuster 29 include an adjusting rod and a limit block 272. Corresponding through holes are provided on the tool support 262 and the first radian adjuster 28 and the second radian adjuster 29. The adjusting rod passes through the through holes on the tool support 262 and the first cutter segment 2611 and the second cutter segment 2612, and the distance between the tool support 262 and the first cutter segment 2611 and the second cutter segment 2612 at the through hole is adjusted by the limit block 272.

[0113] In the embodiments of the present invention, a cutter with two cutter segments is adopted, the force-bearing condition of the cutter is better, it is easier to process, and the radian of the cutter 261 can be flexibly controlled. Moreover, the width of the tea trees that can be collected is also wider.

[0114] As Figure 2 and Figure 4 shown, on the basis of the above embodiments, the tea-picking robot provided in the embodiments of the present invention further includes a blower 5 and a tea leaf collecting device, and the tea leaf collecting device includes a negative pressure device 6 and a tea leaf collecting bag. The robot main body 1 includes a material support frame 12, and the tea leaf collecting bag is placed on the material support frame 12.

[0115] The negative pressure device 6 is installed on the arc-shaped cutter 26, the blower 5 is installed on the robot main body 1, and both the negative pressure device 6 and the blower 5 are connected to the controller 3;

[0116] The controller 3 is also used to control the operation of the negative pressure device 6 and the fan 5, and press the tea leaves cut by the arc-shaped cutter 26 into the tea leaf collection bag.

[0117] Specifically, the negative pressure device 6 can be a negative pressure air duct, and the negative pressure air duct can be made of an elastic material to adjust its shape along with the arc-shaped cutter 26. Through the air pressure difference generated by the coordinated operation of the fan 5 and the negative pressure device 6, the tea leaves cut by the arc-shaped cutter 26 are collected into the tea leaf collection bag placed on the material support frame 12. When the tea picking robot starts to work, the fan 5 and the negative pressure device 6 work synchronously to collect the tea leaves. By controlling the air pressure difference, the scattered tea leaves cut are collected into the tea leaf collection bag, realizing the timely collection of tea leaves and preventing tea leaf waste.

[0118] As Figure 9 shown, based on the above embodiments, the embodiment of the present invention also provides a tea picking method implemented based on the tea picking robot provided in the above embodiments, including:

[0119] S1, obtaining the tea ridge image of the tea leaves and the inertial data of the system support 25;

[0120] S2, identifying the tea picking robot, determining the positions of tea picking points of different categories;

[0121] S3, based on the positions of the tea picking points, calculating the target position and target radian of the arc-shaped cutter 26 fixed on the system support 25, and fusing the target position, the target radian and the inertial data to obtain the target pose of the arc-shaped cutter 26;

[0122] S4, based on the target pose, controlling the linear module 24, the pitch angle adjustment device 23 fixed on the system support 25 and the radian adjuster 27 configured for the arc-shaped cutter 26 to adjust the pose of the arc-shaped cutter 26 to the target pose.

[0123] Specifically, for the tea picking method provided in the embodiment of the present invention, the execution subject is the controller 3 in the tea picking robot provided in the above embodiments.

[0124] First, step S1 is executed. The controller 3 receives the tea ridge image of the tea leaves from the image acquisition device 21 and the inertial data of the system support 25 from the inertial measurement unit 22.

[0125] Then, step S2 is executed. The controller 3 identifies the tea ridge image of the tea leaves and determines the positions of tea picking points of different categories.

[0126] After that, step S3 is executed. The controller 3 calculates the target position and target radian of the arc-shaped cutter 26 fixed on the system support 25 by using the tea picking point position, and fuses the target position, target radian and inertial data to obtain the target pose of the arc-shaped cutter 26.

[0127] Finally, step S4 is executed. Using the target pose, the linear module, pitch angle adjustment device 23 and the radian regulator 27 configured for the arc-shaped cutter 26 fixed on the system support 25 are controlled to adjust the pose of the arc-shaped cutter 26 to the target pose.

[0128] For the specific execution processes of the above steps, refer to the respective embodiments of the above tea picking robot, which will not be elaborated here.

[0129] In the tea picking method provided in the embodiment of the present invention, first, the tea ridge image of the tea leaves and the inertial data of the system support 25 are acquired; then, the tea ridge image of the tea leaves is recognized to determine the tea picking point positions of different categories; after that, based on the tea picking point positions, the target position and target radian of the arc-shaped cutter 26 fixed on the system support 25 are calculated, and the target position, target radian and inertial data are fused to obtain the target pose of the arc-shaped cutter 26; finally, based on the target pose, the linear module 24, pitch angle adjustment device 23 and the radian regulator 27 configured for the arc-shaped cutter 26 fixed on the system support 25 are controlled to adjust the pose of the arc-shaped cutter 26 to the target pose. This method can efficiently select tea leaves by collecting and recognizing the tea ridge image of the tea leaves, reducing the situation where the size and integrity of the picked bud leaves are inconsistent. Moreover, since the tea picking point positions of different categories can be accurately recognized, the mechanical damage to the tea trees can be greatly reduced. Since the tea picking point positions of different categories are determined, and then the tea leaves of different categories are picked, rather than picking and classifying leaf by leaf, the efficiency of tea picking can be improved, the tea leaves in large-scale plantations can be picked, and the problem of poor tea picking quality caused by the position deviation of the cutter under bumpy terrain can be solved. In addition, by controlling the linear module 24, pitch angle adjustment device 23 and radian regulator 27 to adjust the pose of the arc-shaped cutter 26 to the target pose, the precise control of the pose of the arc-shaped cutter 26 can be realized, enabling the arc-shaped cutter 26 to pick the tea leaves smoothly, avoiding the position deviation of the arc-shaped cutter under bumpy terrain, and thus improving the tea picking quality.

[0130] Based on the above embodiments, in the tea picking method provided in the embodiment of the present invention, the image acquisition device 21 is a camera; correspondingly, the recognition of the tea ridge image of the tea leaves to determine the tea picking point positions of different categories includes:

[0131] Based on the camera response model corresponding to the camera, the brightness of the tea ridge image of the tea leaves is enhanced to obtain a brightness-enhanced image;

[0132] Based on the object detection algorithm, determine the positions of tea picking points of different categories in the tea ridge image.

[0133] Specifically, the image acquisition device 21 in the embodiment of the present invention may be a camera. On this basis, due to the fog, the recognition accuracy of the tea ridge image collected by the camera is poor and blurred. Therefore, when recognizing the tea ridge image, the camera response model corresponding to the camera can be used to enhance the brightness of the tea ridge image first. A larger exposure rate should be assigned to the dark area of the tea ridge image, and a smaller exposure rate should be assigned to the bright area, so as to realize the brightness adjustment and optimization of different areas of the tea ridge image and obtain a brightness-enhanced image to improve the accuracy of subsequent image recognition. Here, the camera response model can be defined as P = f(E), where P is the pixel value of each pixel point in the tea ridge image, and E is the irradiance of each pixel point in the tea ridge image.

[0134] After that, the object detection algorithm can be used to recognize the brightness-enhanced image to determine the positions of tea picking points of different categories in the tea ridge image. The object detection algorithm can be an improved R3Det rotated object detection algorithm, which has high recognition accuracy and accuracy for the positions of old bud picking points and young bud picking points.

[0135] The improved R3Det rotated object detection algorithm is as Figure 10 shown. First, take field pictures of the old and young tea buds in the tea garden and label the old and young tea buds to construct a rotated detection data set of old and young tea buds, and divide the data set into a training set, a validation set, and a test set. Use the established data set to train the initial model to obtain an improved R3Det rotated object detection model. Then, input the brightness-enhanced image into the improved R3Det rotated object detection model in real time to obtain the positions of young buds and old buds. The picking point calculation module calculates the young bud picking point position using the young bud position and calculates the old bud picking point position using the old bud position.

[0136] The picking point calculation module can first determine the lower edge of the prediction box corresponding to the position of the young bud or the old bud, and calculate the midpoint of the lower edge, and then the midpoint can be used as the picking point position.

[0137] Based on the above embodiments, in the tea picking method provided in the embodiment of the present invention, calculating the target position and target radian of the arc-shaped cutter 26 fixed on the system bracket 25 based on the tea picking point position includes:

[0138] Based on the position interpolation fitting algorithm, fit the tea picking point position to obtain the target position, and based on the radian interpolation fitting algorithm, fit the tea picking point position to obtain the target radian;

[0139] And / or, fusing the target position, the target radian and the inertial data to obtain the target pose of the arc tool 26 includes:

[0140] Based on the extended Kalman filter algorithm, using the inertial data as an estimator to predict the radian and position of the arc tool 26, obtaining an initial radian and an initial position;

[0141] Using the target position and the target radian as observables to correct the initial radian and the initial position, obtaining the target pose.

[0142] Specifically, as Figure 11 shown, when calculating the target position and the target radian of the arc tool 26 fixed on the computing system support 25, the position interpolation fitting algorithm can be first used to fit the tea leaf picking point position to obtain the target position of the arc tool 26, and the radian interpolation fitting algorithm can be used to fit the tea leaf picking point position to obtain the target radian of the arc tool 26.

[0143] Due to the bumpy mountain terrain, there are deviations in the target position and the target radian of the arc tool 26 when the tea picking robot moves on the bumpy terrain. It is necessary to fuse the inertial data of the inertial measurement unit 22 with the target position and the target radian to obtain a more accurate position and radian of the arc tool 26.

[0144] Here, using the extended Kalman filter algorithm, using the inertial data as an estimator to predict the radian and position of the arc tool 26, obtaining an initial radian and an initial position. Using the target position and the target radian as observables to correct the initial radian and the initial position, obtaining the target pose. In this way, the precise adjustment of the pose of the arc tool 26 can be realized, achieving the optimal tea leaf picking effect.

[0145] Based on the above embodiments, in the tea picking method provided in the embodiments of the present invention, controlling the linear module 24, the pitch angle adjustment device 23 and the radian adjuster 27 configured on the arc tool 26 fixed on the system support 25 based on the target pose to adjust the pose of the arc tool 26 to the target pose includes:

[0146] Based on the target pose, determining a first control parameter of the linear module 24, a second control parameter of the pitch angle adjustment device 23 and a third control parameter of the radian adjuster 27, and respectively controlling the linear module 24, the pitch angle adjustment device 23 and the radian adjuster 27 based on the first control parameter, the second control parameter and the third control parameter.

[0147] Specifically, as Figure 12As shown in the figure, in the embodiment of the present invention, a tool adaptive adjustment model can be introduced. By inputting the target pose into the tool adaptive adjustment model, the first control parameter of the linear module 24, the second control parameter of the pitch angle adjustment device 23, and the third control parameter of the radian regulator 27 can be obtained. Furthermore, the height adjustment of the arc-shaped tool 26 and the flip angle adjustment in the left-right direction can be controlled according to the first control parameter, the pitch angle adjustment of the arc-shaped tool 26 in the front-back direction can be controlled according to the second control parameter, and the radian adjustment of the arc-shaped tool 26 can be controlled according to the third control parameter. The tea picking robot is driven by a detachable walking system to realize the adaptive picking of tea leaves. After the tea leaves are separated from the tea tree, the cooperation of the fan and the negative pressure device forms a pressure difference to realize the movement of the tea leaves towards the tea collection bag, completing the tea collection process and thus completing the tea picking operation.

[0148] In summary, in the embodiment of the present invention, the tea picking robot and the tea picking method provided can improve the accuracy and precision of image recognition by enhancing the tea ridge image; use the improved R3Det rotation target detection algorithm to recognize the tea ridge image or the brightness-enhanced image, and identify and locate the picking point positions of tender buds and old buds. The position interpolation fitting algorithm and the radian interpolation fitting algorithm are used to fit the picking point positions of different types of tea leaves respectively to obtain the target position and target radian of the arc-shaped tool 26, which can realize the pose adaptive adjustment of the arc-shaped tool 26 and effectively improve the tea picking quality; use the extended Kalman filter algorithm to fuse the inertial data with the target position and target radian, compensate for the errors of the tea picking robot during the dynamic movement process, improve the accuracy and precision of picking tea leaves by the arc-shaped tool 26 during the dynamic process, and effectively improve the tea picking quality; the radian regulator 27 can realize the radian adjustment of the arc-shaped tool 26, and the setting of the detachable walking system and the air suspension airbag 13 can lighten the tea picking robot and facilitate the transportation and handling of the tea picking robot.

[0149] Figure 13 An example of the physical structure diagram of an electronic device is shown in Figure 13As shown in the figure, the electronic device may include: a processor 1310, a communications interface 1320, a memory 1330, and a communication bus 1340. Among them, the processor 1310, the communications interface 1320, and the memory 1330 communicate with each other through the communication bus 1340. The processor 1310 may call the logical instructions in the memory 1330 to execute the tea picking method provided in each of the above embodiments. The method includes: obtaining an image of the tea ridge and inertial data of the system bracket 25; identifying the obtained image of the tea ridge to determine the positions of tea picking points of different categories; based on the positions of the tea picking points, calculating the target position and target radian of the arc-shaped cutter 26 fixed on the system bracket 25, and fusing the target position, the target radian, and the inertial data to obtain the target pose of the arc-shaped cutter 26; based on the target pose, controlling the linear module 24, the pitch angle adjustment device 23, and the radian adjuster 27 configured for the arc-shaped cutter 26 fixed on the system bracket 25 to adjust the pose of the arc-shaped cutter 26 to the target pose.

[0150] In addition, when the logical instructions in the above-mentioned memory 1330 are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0151] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the tea picking method provided in the above embodiments. The method includes: acquiring an image of a tea plant row and inertial data of the system support 25; identifying the acquired image of the tea plant row to determine the positions of tea picking points of different categories; based on the positions of the tea picking points, calculating the target position and target radian of the arc-shaped cutter 26 fixed on the system support 25, and fusing the target position, the target radian and the inertial data to obtain the target pose of the arc-shaped cutter 26; and based on the target pose, controlling the linear module 24, the pitch angle adjustment device 23 fixed on the system support 25, and the radian adjuster 27 configured for the arc-shaped cutter 26, so as to adjust the pose of the arc-shaped cutter 26 to the target pose.

[0152] In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the tea picking method provided in the above embodiments. The method includes: acquiring an image of a tea plant row and inertial data of the system support 25; identifying the acquired image of the tea plant row to determine the positions of tea picking points of different categories; based on the positions of the tea picking points, calculating the target position and target radian of the arc-shaped cutter 26 fixed on the system support 25, and fusing the target position, the target radian and the inertial data to obtain the target pose of the arc-shaped cutter 26; and based on the target pose, controlling the linear module 24, the pitch angle adjustment device 23 fixed on the system support 25, and the radian adjuster 27 configured for the arc-shaped cutter 26, so as to adjust the pose of the arc-shaped cutter 26 to the target pose.

[0153] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative effort.

[0154] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0155] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tea-picking robot, characterized in that, Comprising: A robot main body (1), a tool adaptive adjustment system (2), and a controller (3), wherein the controller (3) is installed on the robot main body (1); The tool adaptive adjustment system (2) includes an image acquisition device (21), an inertial measurement unit (22), a pitch angle adjustment device (23), a linear module (24), a system bracket (25), and a curved tool (26); the tool adaptive adjustment system (2) is detachably fixed to the robot main body (1) through the system bracket (25); The image acquisition device (21) and the inertial measurement unit (22) are both fixed on the system bracket (25), and the curved tool (26) is sequentially fixed on the system bracket (25) through the linear module (24) and the pitch angle adjustment device (23); The curved tool (26) is configured with a radian regulator (27), and the radian regulator (27), the image acquisition device (21), the inertial measurement unit (22), the pitch angle adjustment device (23), and the linear module (24) are all connected to the controller (3); The image acquisition device (21) is used for acquiring tea plant row images; The inertial measurement unit (22) is used for acquiring inertial data of the system bracket (25); The controller (3) is used for identifying the tea plant row images, determining the positions of tea picking points of different categories, and calculating the target position and target radian of the curved tool (26) based on the positions of the tea picking points, and fusing the target position, the target radian, and the inertial data to obtain the target pose of the curved tool (26); The controller (3) is further used for respectively controlling the linear module (24), the pitch angle adjustment device (23), and the radian regulator (27) to adjust the pose of the curved tool (26) to the target pose.

2. The tea-picking robot according to claim 1, wherein It further includes a traveling system, and the traveling system is detachably installed below the robot main body (1); The traveling system includes two driving wheels (41) at the front, two driven wheels (42) at the rear, and a driving device (43) corresponding to the two driving wheels (41), and the driving device (43) is connected to the controller (3); the controller (3) is further used for controlling the driving device (43) to drive the two driving wheels (41) to rotate and controlling the differential speed of the two driving wheels (41) to realize the turning of the tea picking robot.

3. The tea-picking robot according to claim 2, wherein Air suspension air bags (13) are arranged between the two driving wheels (41) and the two driven wheels (42) and the robot main body (1), and the air suspension air bags (13) are all communicated through a main air bag (14).

4. The tea-picking robot according to claim 2, wherein The traveling system further includes two lifting rods (16), and the two driving wheels (41) are detachably installed below the robot main body (1) through the two lifting rods (16).

5. The tea-picking robot according to claim 1, characterized in that, The arc-shaped cutter (26) includes a cutting knife (261), a cutter support (262), and a driving motor (263). Both ends of the cutter support (262) are connected to both ends of the cutting knife (261). The arc-shaped cutter (26) is fixedly connected to the linear module (24) through the cutter support (262). The cutting edge of the cutting knife (261) is located between both ends of the cutting knife (261). The driving motor (263) is arranged on the cutter support (262) and is used to provide power for the cutting knife (261). The arc adjuster (27) includes an adjusting rod (271) and a limit block (272). Through holes are provided on both the cutter support (262) and the cutting knife (261). The adjusting rod (271) passes through the through holes on the cutter support (262) and the cutting knife (261), and the distance between the cutter support (262) and the cutting knife (261) at the through holes is adjusted through the limit block (272).

6. The tea-picking robot according to claim 5, wherein The cutting knife (261) includes a first knife section (2611) and a second knife section (2612). The first knife section (2611) is hinged to the second knife section (2612). Both the first knife section (2611) and the second knife section (2612) are horizontal tangents. The driving motor (263) includes a first driving motor (2631) and a second driving motor (2632). The first driving motor (2631) and the second driving motor (2632) are respectively arranged at both ends of the cutter support (262). The arc adjuster (27) includes a first arc adjuster (28) and a second arc adjuster (29). The first arc adjuster (28) and the second arc adjuster (29) are respectively located on the first knife section (2611) and the second knife section (2612).

7. The tea picking robot according to any one of claims 1-6, characterized in that, It further includes a blower and a tea leaf collection device. The tea leaf collection device includes a negative pressure device and a tea leaf collection bag. The robot main body (1) includes a material support frame (12). The tea leaf collection bag is placed on the material support frame (12). The negative pressure device is installed on the arc-shaped cutter (26). The blower is installed on the robot main body (1). Both the negative pressure device and the blower are connected to the controller (3). The controller (3) is further used to control the negative pressure device and the blower to work, and press the tea leaves cut by the arc-shaped cutter (26) into the tea leaf collection bag.

8. A tea picking method implemented by the tea picking robot according to any one of claims 1-7, characterized in that, Including: Obtaining the tea ridge image of the tea leaves and the inertial data of the system support (25). Identifying the tea leaf picking point positions of different categories from the tea leaf tea ridge image. Based on the tea leaf picking point positions, calculating the target position and target arc of the arc-shaped cutter (26) fixed on the system support (25), and fusing the target position, the target arc and the inertial data to obtain the target pose of the arc-shaped cutter (26). Based on the target pose, control the linear module (24), pitch angle adjustment device (23) fixed on the system bracket (25), and the radian regulator (27) configured for the arc-shaped cutter (26) to adjust the pose of the arc-shaped cutter (26) to the target pose.

9. The tea picking method according to claim 8, characterized in that, Calculating the target position and target radian of the arc-shaped cutter (26) fixed on the system bracket (25) based on the tea leaf picking point position includes: Based on the position interpolation fitting algorithm, fit the tea leaf picking point position to obtain the target position, and based on the radian interpolation fitting algorithm, fit the tea leaf picking point position to obtain the target radian; And / or, fusing the target position, the target radian, and the inertial data to obtain the target pose of the arc-shaped cutter (26) includes: Based on the extended Kalman filter algorithm, use the inertial data as an estimator to predict the radian and position of the arc-shaped cutter (26) to obtain the initial radian and initial position; Use the target position and the target radian as observables to correct the initial radian and the initial position to obtain the target pose.

10. The tea picking method according to claim 8 or 9, characterized in that, Based on the target pose, controlling the linear module (24), pitch angle adjustment device (23) fixed on the system bracket (25), and the radian regulator (27) configured for the arc-shaped cutter (26) to adjust the pose of the arc-shaped cutter (26) to the target pose includes: Based on the target pose, determine the first control parameter of the linear module (24), the second control parameter of the pitch angle adjustment device (23), and the third control parameter of the radian regulator (27), and based on the first control parameter, the second control parameter, and the third control parameter, control the linear module (24), the pitch angle adjustment device (23), and the radian regulator (27) respectively.

Images