Intelligent tea crop picking robot and picking method thereof

Abstract

The present invention discloses an intelligent tea crop picking robot and a picking method thereof. The robot includes a chassis, a frame, a power source, and a control cabinet; a target and environment perception system is mounted on the frame; an integral self-positioning picking mechanism is arranged on the frame via a mobile module and is capable of moving in the vertical and horizontal directions; the integral self-positioning picking mechanism includes multiple pickers, each of which is capable of positioning and picking tea buds on the surface of the tea canopy; a collection system is movably arranged on the frame and is used to collect and unload the picked tea buds; one end of the wind collection system is connected to the top of the integral self-positioning picking mechanism and is capable of providing positive or negative pressure wind to provide adsorption force for the picked tea buds or to blow them into the collection system. Based on the picking method of the robot described above, the self-positioning picking of tea buds on the canopy surface can be achieved, and efficient integral picking of high-quality tea under rough positioning conditions can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of tea crop picking, and in particular to an intelligent tea crop picking robot and a picking method thereof. Background Art

[0002] Existing mechanized tea picking technologies are mainly divided into two types: one is a bulk tea picking machine, which uses a reciprocating cutting cutter as the main component and adopts a pruning picking principle. This machine is relatively mature and can only pick bulk tea with low appearance quality; the other is a humanoid robot picking technology for picking high-quality tea, which mainly includes key parts such as vision systems, robotic arms, and end-point picking actuators. It is currently in the exploratory research stage and there is no mature technology available for application.

[0003] The tea industry has long awaited the development of high-quality, machine-harvesting technology for premium teas, but this challenge remains unresolved. Existing high-quality tea picking technologies typically utilize computer vision recognition technology for visual identification of tea objects, employing traditional digital image processing and deep learning models and algorithms. Common end-of-the-line picking actuators include shearing, pinching, and squeezing mechanisms, all of which achieve the desired effect by simulating the human finger plucking process. High-quality teas place stringent demands on appearance, demanding not only a complete, but also a beautiful appearance.

[0004] All of these plucking methods involve forced shearing, which can easily cause mechanical damage to the buds and disrupt cell tissue. They also require a vision system to precisely locate the buds, a task that is often difficult to achieve. Consequently, production efficiency and quality are far inferior to manual labor. Consequently, the industrialization of premium tea plucking technology has been difficult, severely hindering the industry's development. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent tea crop picking robot and a picking method thereof to solve the problems existing in the above-mentioned prior art. After the target sensing sensor roughly locates the position of the tea canopy surface, the picker is controlled to approach and fit the tea canopy surface, which can realize self-positioning picking of tea buds in the tea canopy surface, and realize efficient and integrated picking of famous and high-quality tea under rough positioning conditions.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides an intelligent tea crop picking robot, comprising:

[0008] Chassis, the chassis is provided with a frame, a power source and a control cabinet, the control cabinet is provided with a control system, the present invention uses an electric crawler chassis, which is convenient for adapting to the ground of the tea garden, and the device of the present invention can be moved by manual remote control plus visual assistance, or by autonomous navigation and unmanned driving;

[0009] A target and environment perception system, which is installed on a rack, includes an environment perception sensor for path detection, obstacle perception and navigation, and a target perception sensor for perceiving the position of the tea bush surface. The target perception sensor can adopt a laser ranging sensor, a far-infrared distance sensor, an ultrasonic distance sensor, etc.;

[0010] An integral self-positioning picking mechanism, which is arranged on the rack through a moving module and can move in the vertical and horizontal directions; the integral self-positioning picking mechanism includes a plurality of pickers, and each picker can locate and pick tea buds at the tea bush surface;

[0011] A collection system, which is movably arranged on the rack and is used for collecting and unloading the picked tea buds;

[0012] A wind collection system, one end of which is connected to the top of the integral self-positioning picking mechanism, can provide positive or negative pressure wind power, and is used to provide an adsorption force or blow the picked tea buds into the collection system.

[0013] Based on the bionics principle, imitating the structure of the petals and stamens of morning glory, this invention innovatively proposes a square trumpet-shaped curved surface picking device for guiding and positioning tea buds. It does not require precise position coordinates of the tea leaves and realizes the positioning and selective picking of famous and high-quality tea in a mechanical way. The picker adopts a square trumpet-shaped curved surface structure with a square cross-section at the bottom. In addition to the guiding and positioning function, it also has a screening function of separating buds and leaves. Because the tea shoot just has a trumpet-shaped structure, the bud is equivalent to the stamen, and the two leaves under the bud are equivalent to a trumpet-shaped structure with an upward opening in terms of structure, which just matches the square trumpet-shaped curved surface structure with a downward opening of the picker. The inner wall of the square trumpet-shaped curved surface of the picker squeezes the trumpet-shaped curved surface formed by the two old leaves under the tea bud downward, so that the tea bud enters the narrower part at the upper part of the square trumpet-shaped structure of the picker, and the old leaves at its lower part are squeezed and limited, thus realizing the screening function of the tea bud. The tea bud enters the narrower part at the upper part of the square trumpet-shaped structure of the picker, realizing the guiding and positioning function of the screened tea bud. Cooperating with the picking device in the picker to pick the tea bud exactly meets the requirements of selective picking of famous and high-quality tea.

[0014] Optionally, the rack includes two gantry frames symmetrically arranged on the chassis, which are welded by steel sections. The gantry frame has an inverted U-shaped structure; two longitudinal beams are connected between the tops of the two gantry frames, and the control system is installed on one of the longitudinal beams. A rack cross beam is arranged in the middle of the gantry frame, and a sensor system mounting rack is arranged at the top of the inverted U-shaped frame. The two inverted U-shaped frames are welded and fixed at both ends of two crawler chassis. The longitudinal beams and the rack cross beam are used for the transverse and longitudinal reinforcement of the rack and carry other devices; the power source is arranged on the chassis.

[0015] Optionally, the environmental perception sensor includes a visual sensor and a laser radar, the visual sensor is located in the middle of the top of one of the gantry frames, and the two laser radars are respectively located at the two ends of the top of the gantry frame where the visual sensor is located; the target perception sensor is located below the visual sensor on the side facing the tea shed surface, and is evenly arranged within the width of the tea shed along the length direction of the gantry frame.

[0016] Optionally, the integral self-positioning picking mechanism includes a cover shell installed on the mobile module, the bottom of the cover shell is open, and a plurality of the pickers are evenly arranged at the opening, the edges of two adjacent pickers overlap without a gap, the bottom surface of each picker overlaps with the opening plane at the bottom of the cover shell, and each picker performs the picking action independently according to whether it detects the target; the upper part of the cover shell shrinks into a cylindrical shape, and the cylindrical opening at the top of the cover shell is connected to the wind collection system.

[0017] Optionally, the picker includes a picking body, which is a trumpet-shaped curved structure with openings at both ends, and its lower end face is a square structure. The picking body adopted in the present invention is preferably a structure with a thin top and a thick bottom, a round top and a square bottom, imitating a trumpet flower structure but different from a trumpet flower structure, and is called a square trumpet structure. Since the bottom end face of the picking body is a square structure, its side edges can fit tightly with the side edges of adjacent picking bodies to avoid gaps, thereby maximizing the effective coverage area of ​​the integral self-positioning picking mechanism, and preventing omissions caused by gaps. The square trumpet-shaped structure is the main skeleton of the picker, and with its trumpet-like curved surface shape, it plays a role in guiding and positioning the tea buds to be picked; specifically, the tea tips of the tea leaves to be picked are also similar to the trumpet-shaped structure, and the tender buds at the top, that is, the tea buds, are similar to the stamen part, and the lower part of the tea buds is inclined at about 45°. The upward blades are structurally equivalent to a trumpet with an opening upward, so that the trumpet-shaped structure of the picking body and the tea tip can be matched with each other. After the square trumpet-shaped curved surface structure of the picking body with an opening facing downward cooperates with the tea tip with a trumpet-shaped structure, several old leaves arranged in a trumpet shape can be squeezed downward, so that only the tea buds at the top are allowed to enter the narrower part of the upper square trumpet-shaped part of the picking body, thereby realizing the screening of the tea buds to be picked during the picking process, that is, the tea buds are guided and limited in spatial position, thus avoiding the precision requirements of general picking mechanisms for spatial positioning; a sensing device is provided on the inner side wall near the tail end of the picking body for sensing the position of the tea buds entering the picking body; a picking device is provided on the side wall near the head end of the picking body, which can receive the signal of the sensing device and realize the picking of the tea buds in the picking body.

[0018] Optionally, the movable module includes a lifting module and a longitudinal sliding module; the longitudinal sliding module is fixedly arranged between the tops of the two gantry frames, the longitudinal sliding module is provided with a longitudinal sliding platform, the fixed end of the lifting module is installed on the longitudinal sliding platform, the free end of the lifting module is connected to the lifting platform, and the lifting platform is fixedly connected to the integral self-positioning picking mechanism; the lifting module of the present invention is mainly responsible for the height adaptive adjustment drive of the tea picking mechanism, and the longitudinal sliding module and the lifting module are both screw nut mechanisms driven and controlled by servo motors.

[0019] Optionally, the collection system includes a collection frame, a frame crossbeam and a collection frame lifting mechanism; the frame crossbeam is fixedly arranged in the middle of one of the gantry frames, the bottom rear end of the collection frame is hinged to the frame crossbeam, the bottom of the collection frame lifting mechanism is hinged to the top of the front end of the collection frame, the top of the collection frame lifting mechanism is fixedly connected to the longitudinal beam at the top of the gantry frame, and the collection frame lifting mechanism can drive the front end of the collection frame to move up and down; the rear end top of the collection frame is hinged with a rear side plate.

[0020] Optionally, array circular holes are arranged on the front side panels, rear side panels and left and right side panels of the collecting frame; material detection sensors are provided on the inner side of the top front end and the inner side of the bottom rear end of the collecting frame, and a tea bud collection device detection sensor is provided on the bottom rear end of the collecting frame; the collecting frame lifting mechanism includes an electric push rod, the tail end of the electric push rod is fixedly connected to the longitudinal beam, and the head end of the electric push rod is equipped with a connecting block, which is hinged to the top front end of the collecting frame, and the collecting frame can be lifted and rotated along the hinged installation axis between it and the frame cross beam through the telescopic control of the electric push rod, and then tilted backward to realize the unloading of tea leaves.

[0021] Optionally, the wind collection system includes a motor, a fan, and an air guide hose; the motor and the fan are coaxially connected and fixedly mounted on the longitudinal beam, one end of the air guide hose is connected to the air outlet of the fan, and the other end is connected to the top of the integral self-positioning picking mechanism, so as to guide the wind discharged by the fan to the picking mechanism, thereby realizing the collection of the fresh tea buds and leaves picked by the picking mechanism.

[0022] The present invention also provides a tea crop picking method, comprising the following steps:

[0023] Step 1: The chassis moves to the tea-picking area. The target and environment perception system detects the position of the tea canopy surface. The control system processes the information to obtain a control signal for the lifting module, which drives the lifting module to move, driving the integrated self-positioning picking mechanism to move in the height direction and approach the tea canopy surface.

[0024] Step 2: Each picker of the integrated self-positioning picking mechanism guides and positions the tea buds. Since the bottom end surface of the picker is a square structure, its side can fit tightly with the side of the adjacent picker to avoid gaps, maximizing the effective coverage area of ​​the integrated self-positioning picking mechanism. When the tea buds reach the calibrated position, the sensing device is triggered and the picking device is driven to complete the tea bud picking.

[0025] Step 3: The control system controls the wind collection system to generate negative pressure, exerting suction force on the picked tea buds, and then controls the integrated self-positioning picking mechanism to rise until the bottom surface of the picker is higher than the collection frame, and then controls the longitudinal sliding module to drive the lifting module to move backward to just above the collection frame;

[0026] Step 4: The control system sends a forward rotation command to the motor of the wind collection system to supply air to the interior of the integrated self-positioning picking mechanism, and at the same time controls the picking device to open. Under the action of the wind, the picked tea buds are blown into the collection frame; then the control system sends a signal to control the integrated self-positioning picking mechanism to move forward to the working position, and at the same time controls the chassis to move forward a set distance to proceed to the next picking step;

[0027] Step 5: Repeat steps 1 to 4 until the tea buds in the collection frame are full and detected by the material detection sensor on the upper edge of the collection frame. The control system issues an alarm and suspends the picking work of steps 1 to 4. The harvester places the tea bud collecting device at the rear end of the collection frame. After the collection frame sensor detects the tea bud collecting device, the control system controls the collection frame lifting mechanism to lift the collection frame and drive the collection frame to flip backward to unload the picked tea buds.

[0028] Step six, after unloading is completed, the control system sends a reset command to the collection frame lifting mechanism, the electric push rod extends, the collection frame resets, and waits for the new picked tea buds to enter. At the same time, the control system sends a recovery operation command to the picking, walking and other systems, and continues the picking operations of steps one to four.

[0029] Compared with the prior art, the present invention has achieved the following technical effects:

[0030] The present invention is based on the unique trumpet-shaped structure of the picker with a round top and a square bottom. It no longer needs to identify the position, posture and other information of individual tea buds. Through structural innovation, it realizes overall intelligent adaptive selective picking. It completely breaks through the existing high-quality tea picking method's high reliance on visual sensing. The trumpet-shaped structural characteristics of the picker are rationally utilized in conjunction with the wind collection system. The picked tea buds are collected in a "light suction, light blowing, and the tea leaves falling by their own weight" method. Not only is the structure simple and efficient, but the required power is greatly reduced. At the same time, the picked tea buds no longer need to move long distances, thereby avoiding friction and collision during movement and reducing damage to the tea buds. After the tea buds are picked, the collection frame is used for fully automatic unloading, saving time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is a schematic diagram of the overall structure of the tea crop intelligent picking robot of the present invention;

[0033] Figure 2 This is a top view of the tea crop intelligent picking robot of the present invention;

[0034] Figure 3 This is a front view of the tea crop intelligent picking robot of the present invention;

[0035] Figure 4 This is a left view of the intelligent tea crop picking robot of the present invention;

[0036] Figure 5 This is a front view of the picker of the present invention;

[0037] Figure 6 This is a left side view of the picker of the present invention;

[0038] Figure 7 This is a bottom view of the picker of the present invention;

[0039] Figure 8 This is an axonometric view of the picker of the present invention;

[0040] Figure 9 This is an axonometric view of the picker of the present invention in a closed state;

[0041] Figure 10 This is a front view of the picker of the present invention in a closed state;

[0042] Figure 11 A bottom view of the picker of the present invention in a closed state;

[0043] Figure 12 This is a front view of the integrated self-positioning picking mechanism of the present invention;

[0044] Figure 13 This is a left view of the integrated self-positioning picking mechanism of the present invention;

[0045] Figure 14 This is a bottom view of the integrated self-positioning picking mechanism of the present invention;

[0046] Figure 15 It is the left view of the collection frame installation of the present invention;

[0047] Figure 16 This is a rear view of the collection frame of the present invention after installation;

[0048] Figure 17 This is a half view of the frame crossbeam of the present invention;

[0049] Figure 18 This is a schematic diagram of the collection frame unloading station of the present invention;

[0050] Figure 19 This is a schematic diagram of the guiding and positioning process of the picker of the present invention;

[0051] Figure 20 Schematic diagram of the screening function of the picker of the present invention.

[0052] In the figure: 1-chassis, 2-frame, 201-longitudinal beam, 202-frame cross beam, 2021-reaming seat, 2022-bolt, 3-power source, 4-control cabinet, 5-collection frame, 501-round head long hole, 502-first reaming hole, 503-second reaming hole, 504-rear side plate, 6-longitudinal sliding module, 7-collection frame lifting mechanism, 701-connecting block, 702-third reaming hole, 8-lifting module, 801-servo motor, 802- Screw and guide rail, 803-lifting platform, 9-wind collection system, 10-target and environment perception system, 11-integrated self-positioning picking mechanism, 12-cover, 13-picker, 1301-picking body, 1302-picking finger, 1303-electromagnet, 1304-magnet, 1305-hinge column, 1306-hinge ear hole, 1307-blade edge, 1308-transmitter, 1309-receiver, 14-ring connecting sheet metal. DETAILED DESCRIPTION

[0053] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0054] The purpose of the present invention is to provide an intelligent tea crop picking robot and a picking method thereof to solve the problems existing in the above-mentioned prior art. After the target perception sensor roughly locates the position of the tea canopy surface, the picker is controlled to approach the tea canopy surface, and the picker is controlled to continue to fit the tea canopy surface within a suitable distance, which can realize self-positioning picking of tea buds in the tea canopy surface, and realize efficient integrated picking of famous and high-quality tea under rough positioning conditions.

[0055] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] The present invention provides a tea crop intelligent picking robot, such as Figure 1 、 Figure 2 、 Figure 3 and Figure 4As shown in the figure, it includes: a chassis 1, a target and environment perception system 10, an integral self-positioning picking mechanism 11, a collection system, and a wind collection system 9. A frame 2, a power source 3, and a control cabinet 4 are provided on the chassis 1. A control system is provided inside the control cabinet 4. In this invention, an electric crawler chassis is selected to facilitate adaptation to the tea garden ground. Specifically, the frame 2 includes two gantry-type frames symmetrically arranged on the chassis, which are welded by steel sections. The gantry-type frame has a "冂"-shaped structure; two longitudinal beams 201 are connected between the tops of the two gantry-type frames. The control cabinet 4 is installed on one of the longitudinal beams 201. A frame cross beam 202 is provided in the middle of the gantry-type frame, and a sensor system mounting bracket is provided at the top of the "冂"-shaped frame. The two "冂"-shaped frames are welded and fixed in parallel at both ends of the two crawler chassis. The longitudinal beam 201 and the frame cross beam 202 are used for the transverse and longitudinal reinforcement of the frame and carry other devices; the power source 3 is arranged on the chassis 1. The device of this invention can be operated by manual remote control with visual assistance or by autonomous navigation and driverless operation; the target and environment perception system 10 is installed on the frame 2 and includes an environment perception sensor for path detection, obstacle perception, and navigation, and a target perception sensor for perceiving the position of the tea bush surface. The target perception sensor can adopt a laser range finder, a far-infrared distance sensor, an ultrasonic distance sensor, etc.; the environment perception sensor includes a vision sensor and a lidar. The vision sensor is located in the middle of the top of one of the gantry-type frames, and the two lidars are respectively located at both ends of the top of the gantry-type frame where the vision sensor is located; the target perception sensor is located on the side directly facing the tea bush surface below the vision sensor and is evenly arranged within the width range of the tea bush along the length direction of the gantry-type frame where it is located; the integral self-positioning picking mechanism 11 is arranged on the frame 2 through a moving module and can move in the vertical and horizontal directions; the integral self-positioning picking mechanism 11 includes a plurality of pickers 13, and each picker 13 can locate and pick the tea buds at the tea bush surface; the collection system is movably arranged on the frame 2 and is used for collecting and unloading the picked tea buds; one end of the wind collection system 9 is connected to the top of the integral self-positioning picking mechanism 11 and can provide positive or negative pressure wind power, which is used to provide an adsorption force for the picked tea buds or blow them into the collection system. The integral self-positioning picking mechanism 11 of this invention is composed of a single self-positioning picker 13 arranged in combination. After the position detection system roughly locates the position of the tea bush surface, it controls the picker 13 to approach the tea bush surface, and within a suitable distance, it controls the picker to continue to fit the tea bush surface. The self-positioning mechanism can achieve the self-positioning picking of the overall target of the tea bush surface, realizing the efficient integral picking of famous and high-quality tea under the condition of rough positioning, and providing equipment technology support for solving the problem of mechanical picking of famous and high-quality tea.

[0057] As Figure 12 , Figure 13 and Figure 14As shown, the integrated self-positioning picking mechanism 11 includes a housing 12 mounted on a mobile module. The housing 12 has an open bottom, and 800 (40×20) pickers 13 are arranged in an array within the opening. The edges of adjacent pickers 13 overlap, leaving no gaps. The bottom surface of each picker 13 coincides with the flat surface of the housing 12 opening. Each picker 13 independently performs a picking action based on whether it detects a target. The upper portion of the housing 12 gradually contracts into a cylindrical shape. The opening of the cylinder is connected to the air guide hose of the wind collection system 9, providing wind power for the integrated self-positioning picking mechanism 11. The mobile module includes a lifting module 8 and a longitudinal sliding module 6. The integral self-positioning picking mechanism 11 is fixedly connected to the lifting platform 803 on the movable end of the bottom of the lifting module 8 through a ring-shaped connecting sheet metal 14 by fixing bolts. The longitudinal sliding module 6 is fixed between the tops of the two gantry frames. The longitudinal sliding module 6 is provided with a longitudinal sliding platform. The fixed end of the lifting module 8 is installed on the longitudinal sliding platform. The lifting module 8 is a screw nut moving mechanism driven by a servo motor 801, which is mainly responsible for the height adaptation of the tea picking mechanism. Adjust the drive, the free end of the lifting module 8 is connected to the lifting platform 803, and the lifting platform 803 is fixedly connected to the integral self-positioning picking mechanism 11; the longitudinal sliding module 6 and the lifting module 8 are both screw-nut mechanisms driven and controlled by servo motors. The lifting module 8 includes a screw and a guide rail 802. The overall structure is telescopic at one end and fixed at the other end. The lifting platform 803 is located at the free end and can be telescopic up and down; the longitudinal sliding module 6 is an intermediate movable type, with both ends of the module fixed, and the longitudinal sliding platform can move longitudinally along the middle part of the length direction of the module.

[0058] like Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 and Figure 11As shown, the present invention is based on the principle of bionics. The picker 13 adopts a similar morning glory structure. It innovatively proposes a square trumpet-shaped curved surface with a circular upper cross-section and a square lower cross-section to guide and position the tea buds. It does not require the precise position coordinates of the tea leaves, and mechanically realizes the positioning and selective picking of high-quality teas. Compared with the existing picking mechanism, the accuracy and real-time requirements for the visual perception system are greatly reduced. Specifically, the picker 13 includes a picking body 1301. The picking body 1301 is a trumpet-shaped curved surface structure with openings at both ends. The picking body 1301 used in the present invention is preferably a structure with a thin top and a thick bottom, a round top and a square bottom. It imitates the morning glory structure but is different from the morning glory structure. It is called a square trumpet structure. Its bottom cross-section is square, and the upper part gradually shrinks to a cylindrical shape. Since the bottom end face of the picker 13 is a square structure, its side can be tightly attached to the side of the adjacent picker 13. The pluckers 1301 are arranged in a square shape so as to avoid the occurrence of gaps, thereby maximizing the effective coverage area of ​​the integral self-positioning plucking mechanism 11 and preventing omissions due to gaps. The square trumpet-shaped structure is the main skeleton of the plucker 13, and with its trumpet-shaped curved surface shape, it plays a role in guiding and positioning the tea buds to be picked. The plucking body 1301 achieves the positioning effect of the tea leaves to be picked. In order to achieve the precise plucking of the tea buds entering the plucking body 1301 without interfering with the positioning process of the tea buds by the plucking body, the present embodiment has two opposite side walls near the head end of the plucking body 1301. There is a trapezoidal notch on each of the two trapezoidal notches, and the two trapezoidal notches are symmetrically arranged. A hinged ear hole 1306 is provided on the side wall of the bottom of the trapezoidal notch. The picking fingers 1302 of the picker 13 are fixed with hinged columns 1305 on both sides away from the head end of the picking body 1301. There is a picking finger 1302 in each trapezoidal notch, and the hinged column 1305 of the picking finger 1302 is rotatably arranged in the corresponding hinged ear hole 1306. The two picking fingers 1302 are symmetrically hinged to the inner side wall of the picking body 1301 near the head end, and the picking fingers 1302 and the inner side wall of the picking body 1301 are fixed. Able to fit; a cutting edge 1307 is provided on the inner side of one end of the picking finger 1302 close to the opening of the head end of the picking body 1301, one of the picking fingers 1302 is fixed with a permanent magnetic magnet 1304, and the other picking finger is provided with an electromagnet 1303, and the electromagnet 1303 is connected to a control end, which can receive the signal of the induction device and control the direction of the coil current of the electromagnet 1303 accordingly, thereby changing the polarity of the electromagnet 1303, and then under the effect of like-pole attraction and opposite-pole repulsion of the magnet 1304, it plays a role in driving the two picking fingers 1302 to open and close.In order to accurately sense the position of the tea buds to be picked, the sensing device in this embodiment adopts a laser sensor, which includes a transmitting end 1308 and a receiving end 1309. The transmitting end 1308 and the receiving end 1309 are symmetrically arranged on the inner wall of the picking body 1301 near the tail end. When the picking body 1301 to pick the tea buds enters the preset position, the signal between the transmitting end 1308 and the receiving end 1309 is blocked, that is, the target is detected, which can trigger the picking switch of the control end to turn on, drive the picking device to move, and realize the picking of tea buds.

[0059] When the two picking fingers 1302 are closed, the two cutting edges 1307 form a shearing pair to pluck the tea leaves. The opening and closing of the picking fingers 1302 is achieved by changing the direction of the current in the electromagnet 1303: when the magnetic poles of the electromagnet 1303 and the magnet 1304 on the opposite side are opposite, they attract each other, and the picking fingers 1302 close instantly, completing the picking action. After changing the direction of the current in the electromagnet 1303, the magnetic poles of the electromagnet 1303 and the magnet 1304 on the opposite side are the same, and they repel each other, separating the picking fingers 1302. The picking fingers 1302 return to their original position under the repulsive force of the like-pole magnetic poles. The hinge mechanism at the hinged joint between the picking fingers 1302 and the picking body 1301 limits the extreme positions of the picking fingers, which are either coincident with the outer curved surface of the horn or butted against the cutting edges of the two picking fingers.

[0060] On the basis of the above embodiments, in a more preferred embodiment, a finger-shaped clamping portion is provided at one end of the picking finger 1302 close to the opening at the head end of the picking body, and the finger-shaped clamping portion is connected to an electromagnetic drive device, which can drive the finger-shaped clamping portion to clamp the tea leaves to be picked; simulating human picking actions, that is, having two levels of actions: clamping and imitating human picking.

[0061] In different embodiments, the picking fingers 1302 can be implemented in other ways, such as using laser cutting instead of the contact cutting of the picking fingers. The laser cutter is fixed to the side wall of the picking body near the head end. The laser cutter is connected to a control terminal, which can receive signals from the sensing device and control the opening and closing of the laser cutter accordingly. When the top contact sensor senses the tea bud target, the control terminal drives the laser cutter to emit a laser beam to complete the tea bud cutting. The laser cutter is located at the bottom of the picking body, facing the inner side of the horn curve, and will not interfere with the positioning of the tea leaves.

[0062] Specific reference Figure 19 and Figure 20As shown in the figure, based on the bionics principle and imitating the structure of the petals and stamens of morning glory, an innovative square trumpet-shaped curved surface is proposed to guide and position the tea buds. The precise coordinates of the tea leaves are not required, and the positioning and selective picking of high-quality tea are achieved mechanically. Compared with the existing picking mechanism, the accuracy and real-time requirements of the visual perception system are greatly reduced, and the industrialization cost of high-quality tea picking technology equipment is greatly reduced. At the same time, in addition to the square trumpet-shaped surface having the following features Figure 19 In addition to the guiding and positioning functions shown, it also has Figure 20 The screening effect of bud and leaf separation is shown. Figure 19 and Figure 20 The arrow direction at the contact point between the middle tea leaves and the plucking body is the force direction, and the other arrow directions are the relative movement directions of the tea leaves and the plucking body 1301. Because the tea shoots have a trumpet-shaped structure, the buds are equivalent to the pistils, and the two leaves under the buds are structurally equivalent to trumpet shapes with an upward opening, which just cooperates with the square trumpet-shaped curved surface structure of the plucking body 1301 with an opening facing downward. The square trumpet-shaped curved surface of the plucking body 1301 presses the trumpet-shaped curved surface of the tea buds (composed of two old leaves) downward. Figure 20 The two opened old leaves in the middle are under downward pressure) so that the tea buds enter the narrower upper part of the square trumpet shape of the picking main body 1301, and the old leaves at the bottom are squeezed and limited, thereby realizing the screening function of the tea buds. The tea buds enter the narrower upper part of the square trumpet shape of the picking main body, thereby realizing the guiding and positioning function of the screened tea buds, and cooperating with the picking mechanism to pick the tea buds, which just meets the requirements of selective picking of famous and high-quality teas.

[0063] The tea leaves picked by traditional tea picking machines need to be unloaded manually, which has the problems of inconvenient operation, time-consuming and labor-intensive. The fresh tea bud and leaf unloading method of the present invention is a fully automatic unloading method, which saves time and labor. In order to achieve this function, the collection system of the present invention includes a collection frame 5, a frame crossbeam 202 and a collection frame lifting mechanism 7. Figure 15 、 Figure 16 、 Figure 17 and Figure 18 As shown, the frame crossbeam 202 is fixedly arranged in the middle of one of the gantry frames, the bottom rear end of the collecting frame 5 is hinged on the frame crossbeam 202, the bottom of the collecting frame lifting mechanism 7 is hinged to the top of the front end of the collecting frame 5, and the top of the collecting frame lifting mechanism 7 is fixedly connected to the longitudinal beam 201 at the top of the gantry frame. The collecting frame lifting mechanism 7 can drive the front end of the collecting frame 5 to move up and down; the rear end top of the collecting frame 5 is hinged with a rear side plate 504 to facilitate unloading.

[0064] In one of the specific embodiments, a reaming seat 2021 and a bolt 2022 are provided at both ends of the frame crossbeam 202, and the collection frame lifting mechanism 7 is mainly composed of an electric push rod and a connecting block 701, and the connecting block 701 is provided with a third reaming hole 702. The side panel of the collection frame 5 is arranged with an array of circular holes, which are used for ventilation of the tea material and to reduce weight. A round-headed long hole 501 is left on one side of the top of the front end of the collection frame 5, a first reaming hole 502 is left on both sides of the bottom rear end, and a second reaming hole 503 is left on both sides of the top rear end. Material detection sensors (laser, ultrasonic, etc. type sensors) are provided on the inner side of the top of the front end and the inner side of the bottom of the rear end, and a tea bud collection device detection sensor is provided at the bottom of the rear end. A cylindrical protrusion is provided on both sides of the top of the rear side plate 504 of the collection frame 5, which is hinged to the collection frame 5 through the second reaming hole 503 of the collection frame 5. The rear bottom of the collection frame 5 is hingedly mounted to the entire machine frame via bolts through first hinged holes 502 and hinged holes on the frame crossbeam 202. The front top of the collection frame 5 is hingedly connected to the collection frame lifting mechanism 7 via bolts through third hinged holes 702 in the connecting block 701 and rounded elongated holes 501 in the collection frame 5. The tail end of the electric push rod of the collection frame lifting mechanism 7 is fixedly connected to the frame.

[0065] When the tea buds are full, the sensor detects a signal and sends it to the control system. The control system then commands the tea plucker to stop immediately after completing the current plucking operation and issues an alert. The harvester then places the tea bud collection device at the rear end of the tea plucker. After the collection frame sensor detects the collection device, the collection frame lifting mechanism 7 retracts, lifting the collection frame 5 upward. Under the pull of the electric push rod, the collection frame 5 tilts backward along its hinge point with the frame 2. At this point, the rear side panel of the collection frame 5 remains upright under its own weight, and the angle between it and the bottom of the collection frame 5 changes from 90° to an acute angle, forming a downward discharge outlet. The tea buds are discharged from this outlet. After unloading is complete, the sensor detects a signal and sends it to the control system. The controller then issues a reset command to the lifting mechanism, extending the electric push rod, resetting the collection frame. The angle between the rear side panel 504 of the collection frame 5 and the bottom of the collection frame returns to 90°, and the discharge outlet closes, waiting for the entry of new tea buds. Simultaneously, the control system sends a resume command to the plucking and travel systems, and the tea plucker continues plucking.

[0066] Traditional tea plucking machines collect tea leaves by blowing or sucking. Tea buds need to move a long distance within a pipe under the action of wind, which places high demands on the power of the air supply system and often leads to problems such as poor collection, blockage of the mechanism, insufficient power, and collision loss of tea leaves. The present invention, however, rationally utilizes the trumpet-shaped structural features of the plucking mechanism and adopts a "gentle suction, gentle blowing, and tea leaves falling by their own weight" collection method. This method is not only simple in structure and highly efficient, but also significantly reduces the power required. Furthermore, the plucking tea buds no longer need to move long distances, thereby avoiding friction and collision during movement and reducing damage to fresh tea buds and leaves. Specifically, the wind collection system 9 includes a motor, a fan, and an air guide hose. The motor and fan are coaxially connected and fixedly mounted on a longitudinal beam 201. One end of the air guide hose is connected to the air outlet of the fan, and the other end is connected to the top of the integrated self-positioning plucking mechanism 11. The air guide hose is used to guide the air discharged by the fan to the plucking mechanism, thereby achieving the collection of the tea buds picked by the plucking mechanism.

[0067] The present invention also provides a tea crop picking method, comprising the following steps:

[0068] In step 1, chassis 1 drives the entire device to the tea-picking area. The target and environment perception system detects the position information of the tea canopy surface. The control system processes the information to obtain the control signal for controlling the lifting module, drives the lifting module to move, and drives the integrated self-positioning picking mechanism to move in the height direction and approach the tea canopy surface.

[0069] Step 2: Each picker 13 of the integrated self-positioning picking mechanism 11 guides and positions the tea buds. When the tea buds reach the calibrated position, the sensing device is triggered and the picking device is driven to complete the picking of the tea buds.

[0070] Step 3: The control system controls the motor of the wind collection system 9 to rotate in the opposite direction, generating negative pressure, exerting an adsorption force on the picked tea buds to prevent them from falling during the movement of the picking mechanism. The control system then controls the integral self-positioning picking mechanism 11 to rise until the bottom surface of the picking device 13 is higher than the collection frame 5. The control system then controls the longitudinal sliding module 6 to drive the lifting module 8 to move backward to just above the collection frame.

[0071] In step 4, the control system sends a forward rotation command to the motor of the wind collection system 9, which supplies air to the interior of the integrated self-positioning picking mechanism 11, and at the same time controls the picking device of the picker 13 to open. Under the action of the wind, the picked tea buds are blown into the collection frame 5; then the control system sends a signal to control the integrated self-positioning picking mechanism to move forward to the working position, and at the same time controls the chassis to move forward a set distance to proceed to the next picking step;

[0072] When the tea buds are full, the tea buds are collected by the collecting frame 5. The tea buds are collected by the collecting frame 5 and the collecting frame 5 is collected. When the tea buds are full, the tea buds are collected by the collecting frame 5. The collecting frame 5 is collected and the collecting frame 5 is collected. When the tea buds are collected, the tea buds are collected by the collecting frame 5. The collecting frame 5 is collected and the collecting frame 5 is collected. When the tea buds are collected, the tea buds are collected by the collecting frame 5. When the tea buds are collected, the tea buds are collected by the collecting frame 5.

[0073] Step 6: After unloading is completed, the sensor detects a signal and sends it to the control system. The control system sends a reset command to the collection frame lifting mechanism 7, the electric push rod extends, the collection frame 5 is reset, and the angle between the rear side plate 504 and the bottom surface of the collection frame 5 is restored to 90 degrees. The unloading outlet is closed, waiting for the new picked tea buds to enter. At the same time, the control system sends a recovery operation command to the picking, walking and other systems, and continues the picking operation from step 1 to step 4.

[0074] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. An intelligent tea crop picking robot, characterized in that: include: A chassis, wherein a frame, a power source and a control cabinet are provided on the chassis, and a control system is provided in the control cabinet; The target and environment perception system is installed on the frame and includes an environment perception sensor for path detection, obstacle perception and navigation, and a target perception sensor for sensing the position of the tea tent surface; An integrated self-positioning picking mechanism is arranged on the frame through a movable module and can move vertically and horizontally; the integrated self-positioning picking mechanism includes a plurality of pickers, each of which can locate and pick tea buds at the surface of the tea shed; a collecting system, movably arranged on the frame, for collecting and unloading the picked tea buds; A wind collection system, one end of which is connected to the top of the integrated self-positioning picking mechanism and can provide positive or negative pressure wind for adsorbing the picked tea buds or blowing them into the collection system; The frame includes two gantry frames symmetrically arranged on the chassis, two longitudinal beams are connected between the tops of the two gantry frames, and the control system is installed on one of the longitudinal beams; the power source is arranged on the chassis; the environmental perception sensor includes a visual sensor and a laser radar, the visual sensor is located in the middle of the top of one of the gantry frames, and the two laser radars are respectively located at the two ends of the top of the gantry frame where the visual sensor is located; the target perception sensor is located below the visual sensor on the side facing the tea shed surface, and is evenly arranged within the width of the tea shed along the length direction of the gantry frame; the integral self-positioning picking mechanism includes a cover mounted on the mobile module, the bottom of the cover is open, and a plurality of the pickers are evenly arranged at the opening, the edges of two adjacent pickers overlap without a gap, and the bottom surface of each picker is aligned with the bottom of the cover The opening planes coincide; the upper part of the cover shell shrinks into a cylindrical shape, and the cylindrical opening at the top of the cover shell is connected to the wind collection system; the picker includes a picking body, which is a square trumpet-shaped curved structure with openings at both ends, and a sensing device is provided on the inner side wall of the picking body near the tail end, for sensing the position of tea buds entering the picking body; a picking device is provided on the side wall of the picking body near the head end, which can receive the signal of the sensing device and realize the picking of tea buds in the picking body; the movable module includes a lifting module and a longitudinal sliding module; the longitudinal sliding module is fixedly arranged between the tops of the two gantry frames, and a longitudinal sliding platform is provided on the longitudinal sliding module, the fixed end of the lifting module is installed on the longitudinal sliding platform, the free end of the lifting module is connected to the lifting platform, and the lifting platform is fixedly connected to the integral self-positioning picking mechanism.

2. The tea crop intelligent picking robot according to claim 1, characterized in that: The collection system includes a collection frame, a frame crossbeam and a collection frame lifting mechanism; the frame crossbeam is fixedly arranged in the middle of one of the gantry frames, the bottom rear end of the collection frame is hinged to the frame crossbeam, the bottom of the collection frame lifting mechanism is hinged to the top of the front end of the collection frame, the top of the collection frame lifting mechanism is fixedly connected to the longitudinal beam at the top of the gantry frame, and the collection frame lifting mechanism can drive the front end of the collection frame to move up and down; the rear end top of the collection frame is hinged with a rear side plate.

3. The tea crop intelligent picking robot according to claim 2, characterized in that: Arrays of circular holes are arranged on the front side panels, rear side panels, left and right side panels of the collecting frame; material detection sensors are provided on the inner side of the top front end and the inner side of the bottom rear end of the collecting frame, and a tea bud collection device detection sensor is provided on the bottom rear end of the collecting frame; the collecting frame lifting mechanism includes an electric push rod, the tail end of the electric push rod is fixedly connected to the longitudinal beam, and the head end of the electric push rod is installed with a connecting block, which is hinged to the top front end of the collecting frame.

4. The tea crop intelligent picking robot according to claim 3, characterized in that: The wind collection system includes a motor, a fan, and an air guide hose; the motor and the fan are coaxially connected and fixedly installed on the longitudinal beam, one end of the air guide hose is connected to the air outlet of the fan, and the other end is connected to the top of the integral self-positioning picking mechanism.

5. A tea crop picking method based on the tea crop intelligent picking robot according to claim 4, characterized in that: The steps include: Step 1: The chassis moves to the tea-picking area. The target and environment perception system detects the position of the tea canopy surface. The control system processes the information to obtain a control signal for the lifting module, which drives the lifting module to move, driving the integrated self-positioning picking mechanism to move in the height direction and approach the tea canopy surface. Step 2: Each picker of the integrated self-positioning picking mechanism guides and positions the tea buds. When the tea buds reach the calibrated position, the sensing device is triggered and the picking device is driven to complete the picking of the tea buds. Step 3: The control system controls the wind collection system to generate negative pressure, exerting suction force on the picked tea buds, and then controls the integrated self-positioning picking mechanism to rise until the bottom surface of the picker is higher than the collection frame, and then controls the longitudinal sliding module to drive the lifting module to move backward to just above the collection frame; Step 4: The control system sends a forward rotation command to the motor of the wind collection system to supply air to the interior of the integrated self-positioning picking mechanism, and at the same time controls the picking device to open. Under the action of the wind, the picked tea buds are blown into the collection frame; then the control system sends a signal to control the integrated self-positioning picking mechanism to move forward to the working position, and at the same time controls the chassis to move forward a set distance to proceed to the next picking step; Step 5: Repeat steps 1 to 4 until the tea buds in the collection frame are full and detected by the material detection sensor on the upper edge of the collection frame. The control system issues an alarm and suspends the picking work of steps 1 to 4. The harvester places the tea bud collecting device at the rear end of the collection frame. After the tea bud collecting device detection sensor detects the tea bud collecting device, the control system controls the collection frame lifting mechanism to lift the collection frame and drive the collection frame to flip backward to unload the picked tea buds. Step six: after unloading is completed, the control system sends a reset command to the collection frame lifting mechanism, the electric push rod extends, the collection frame resets, and waits for the new picked tea buds to enter. At the same time, the control system sends a recovery operation command to the picking and walking system, and continues the picking operation from step one to step four.

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