Intelligent tea tender shoot picking end effector, mechanical arm and method

Abstract

The invention discloses an intelligent tea tender shoot picking end effector, a mechanical arm and a method. The intelligent tea tender shoot picking end effector comprises a support, a first clamping jaw, a cutting machine, a conveying pipeline, a screening box and a collecting device. A photoelectric sensor A is arranged at the feeding hole of the screening box and is used for detecting whether the picked objects entering the screening box are qualified picked objects or not; the number of the collecting devices is two. Each collecting device comprises a collecting box, a gate and an exhaust fan. The intelligent tea tender shoot picking mechanical arm comprises a mechanical arm body and an intelligent tea tender shoot picking end effector. The method comprises the following steps: 1) identifying and positioning; the method comprises the steps of (1) picking tea leaves, (2) clamping and cutting off, (3) detecting and collecting, (4) closing an exhaust fan, and (5) repeating the steps (1)-(4) until a set number of tea tender shoots are picked. The picked objects can be automatically collected by utilizing wind pressure after the stems of the picked objects are cut off, qualified picked objects and unqualified picked objects can be screened and separately collected, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural machinery, and more specifically, relates to an end effector, a mechanical arm and a method for intelligently picking young tea buds. Background Art

[0002] China is the hometown of tea and the birthplace of tea culture. The discovery and use of Chinese tea has a history of more than 4,700 years, and it has been prosperous and spread all over the world. With the development of the times, agriculture has been mechanized, and tea picking technology has also changed from manual to mechanized with the development of agricultural mechanization. Therefore, many domestic scholars have conducted research on automatic tea picking.

[0003] Automatic picking is a hot topic in the current research of automation and intelligence in the field of agricultural production. Mechanical tea picking requires high precision and the tea leaves should be automatically stored directly in storage boxes during picking to improve the efficiency of picking.

[0004] At present, tea picking equipment mainly calibrates tea leaves first and then identifies them (camera identification, hand-eye calibration on the robot arm, calibration will get a matrix, and after identification, the coordinates based on the robot arm base are obtained through matrix calculation). Due to the accuracy of the calibration algorithm, and the fact that tea leaves have non-significant characteristics, too much or insufficient light will affect the recognition effect. At present, the recognition cannot reach 100% accuracy. In some cases, tea leaves and unnecessary leaves cannot be completely distinguished. Therefore, it is easy to identify unnecessary ordinary leaves for picking. Ordinary leaves are also automatically collected in the storage box, resulting in a large number of unnecessary ordinary leaves mixed in the required tea leaves in a storage box, and the later sorting is also cumbersome. In addition, the current tea intelligent picking equipment uses cutting to cut off the stem of the tea leaves. Due to factors such as the environment and precision, it is easy to cut other leaves of the tea leaves during picking, resulting in the unnecessary broken leaves being sucked into the storage box. The broken leaves are mixed in the required parts of the tea leaves, such as the young buds of the tea leaves. If they are not cleaned up, it will affect the quality of the tea leaves, and the cleaning of the broken leaves is also cumbersome. Regardless of whether the required tea leaves are mixed with ordinary leaves or broken leaves, they need to be cleaned before subsequent processing can be carried out on the required tea leaves, which wastes time and reduces the production efficiency of tea. Summary of the invention

[0005] In response to the above defects or improvement needs of the prior art, the present invention provides an end effector, a robotic arm and a method for intelligent picking of tea buds, which can automatically collect tea leaves by wind pressure after cutting the handle, and can screen and separately collect qualified and unqualified pickings, thereby improving production efficiency.

[0006] To achieve the above object, according to one aspect of the present invention, a tea bud intelligent picking end effector is provided, comprising a support, a first clamping claw, a cutting machine, a conveying pipeline, a screening box and a collecting device, wherein: The first clamp is mounted on the support to clamp and loosen the picked object, and the cutter is mounted on the support to cut off the handle of the picked object after the first clamp clamps the picked object; The support is provided with the conveying pipeline for conveying the picked objects, and the screening box is provided with a feeding hole, and the feeding hole is connected to the conveying pipeline; The screening box is provided with a photoelectric sensor A at the feeding hole, which is used to detect whether the picked objects entering the screening box are qualified picked objects, wherein the qualified picked objects are young tea buds, and the unqualified picked objects are unwanted leaves, or a mixture of young tea buds and broken leaves cut by a cutting machine; There are two collecting devices, namely a first collecting device for collecting qualified picked objects and a second collecting device for collecting unqualified picked objects; Each collecting device comprises a collecting box, a gate and an exhaust fan, wherein the exhaust fan is connected to the collecting box, the gate comprises a gate and a gate driving mechanism for driving the gate to open and close, the inner cavity of the collecting box is separated from the inner cavity of the screening box by the gate, and the gate is installed on the collecting box or the screening box, so that after the gate of the gate is opened, the exhaust fan exhausts air to allow the picked objects to enter the collecting box from the screening box; The gate of the first collecting device is provided with ventilation holes so that the picked objects whose handles are cut off by the cutting machine can enter the conveying pipeline and the screening box in sequence when the exhaust fan of the first collecting device exhausts air.

[0007] Preferably, the cutter comprises a second jaw and a blade cutter, and the blade cutter is mounted on the second jaw to cut off the shank of the picking when the second jaw is closed.

[0008] Preferably, the support is provided with a photoelectric sensor B at a position corresponding to the picked object, so as to detect the position and / or posture of the picked object.

[0009] Preferably, the portion of the first clamping jaw that contacts the picked object is made of silicone material or rubber material, and a pressure sensor is installed on the first clamping jaw to detect the clamping force of the first clamping jaw when clamping the picked object to prevent the picked object from being damaged.

[0010] Preferably, the collecting device further comprises a load-bearing net, which is horizontally mounted in the collecting box, on which a cushion block is placed, on which a replaceable box with an open upper end for accommodating picked objects is supported, and there is a gap between the load-bearing net and the replaceable box, and there is a gap between the outer wall of the replaceable box and the inner wall of the collecting box.

[0011] Preferably, the collecting box has a side door that can be opened and closed, so that after the picked objects in the replaceable box are collected to a set amount, the replaceable box can be taken out from the collecting box and replaced.

[0012] Preferably, the conveying pipeline includes a conveying cavity and a hose, the support is provided with the conveying cavity at a position corresponding to the picked object clamped by the first clamp, the first end of the hose is mounted on the support, and the inner cavity of the hose is connected to the conveying cavity, and the second end of the hose is connected to the feed hole.

[0013] According to another aspect of the present invention, a tea bud intelligent picking robot arm is provided, comprising a robot arm body capable of multi-axis movement, and also comprising the tea bud intelligent picking end effector, wherein the tea bud intelligent picking end effector is mounted on the robot arm body.

[0014] Preferably, the robotic arm body is equipped with a binocular depth camera and an image processor connected to the binocular depth camera, and the image processor identifies the three-dimensional position information of the picked objects based on the YOLO target detection algorithm.

[0015] According to another aspect of the present invention, a method for intelligently picking young tea buds is also provided, wherein the young tea buds are picked using the intelligent picking robot arm, and the method specifically comprises the following steps: 1) Identification and positioning: After the tea bud intelligent picking robot arm identifies the object to be picked, the cutting machine of the tea bud intelligent picking end effector moves to the position corresponding to the handle of the object to be picked; 2) Clamping and cutting: The photoelectric sensor B on the support detects the position of the picked object, the first clamp closes to clamp the picked object, and then the cutter cuts off the handle of the picked object; 3) Detection and collection: The exhaust fan of the first collection device is turned on to extract air, and suction is generated on the picked objects with the handles cut off through the conveying pipeline, so that the picked objects are sucked into the conveying pipeline, and the photoelectric sensor A detects whether the picked objects entering the screening box are qualified. If qualified objects are detected, the first gate is opened, and the qualified picked objects enter the collection box of the first collection device under the action of the exhaust fan of the first collection device; if unqualified objects are detected, the exhaust fan of the first collection device is turned off, the second gate is opened, and the exhaust fan of the second collection device is turned on, and the unqualified picked objects enter the collection box of the second collection device. 4) The exhaust fan is turned off; 5) Repeat steps 1) to 4) until the set number of tea buds are picked.

[0016] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art: 1) The tea buds intelligent picking end effector of the present invention has a first clamp that can clamp the picked objects, a cutter that can cut off the handle of the picked objects, and then the picked objects can be sucked into the screening box by the suction force generated by the exhaust fan, and the photoelectric sensor A can detect the picked objects to determine whether the picked objects are qualified, so that qualified picked objects and unqualified picked objects can be automatically screened in the screening box in front of the collecting device, and qualified picked objects enter the first collecting device, and unqualified picked objects enter the second collecting device. Subsequently, the tea buds in the first collecting device can be directly subjected to treatments such as spreading, withering, rolling, and drying, thereby improving production efficiency and tea quality.

[0017] The tea bud intelligent picking end effector of the present invention improves the picking quality while ensuring the rapid picking of the picked objects, and can also automatically collect the picked objects.

[0018] 2) In the tea bud intelligent picking end effector of the present invention, a pressure sensor is installed on the first clamping jaw to detect pressure, which can reduce the damage to the picked objects.

[0019] 3) The present invention provides a tea bud intelligent picking robot arm, wherein the robot arm body can drive the tea bud intelligent picking end effector to move to adjust the position, thereby better adapting to the tea bud picking work.

[0020] 4) The tea bud intelligent picking robot arm of the present invention can identify the picking object in advance through a binocular depth camera and a YOLO target detection algorithm, and then the robot arm moves over to pick the tea buds.

[0021] 5) The intelligent tea bud picking method of the present invention can quickly pick tea buds with high efficiency and wide application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the end effector of the intelligent picking of tea buds in the present invention; Figure 2 It is a schematic diagram of the structure in which the first clamp and the cutting machine are installed on the support in the present invention; Figure 3 It is a schematic diagram of the structure in which the screening box is installed on the collecting device in the present invention; Figure 4 is a schematic diagram of the first clamping jaw in the present invention; Figure 5 It is a schematic diagram of the cutting machine in the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0024] Reference Figure 1~Figure 5 The tea bud intelligent picking end effector comprises a support 10, a first clamping jaw 11, a cutting machine 12, a conveying pipeline, a screening box 34 and a collecting device 31, wherein: The support 10 is preferably a shell structure, which is cylindrical in shape as a whole and is made of light-shielding material, serving as a main supporting structure.

[0025] The first clamping jaw 11 is mounted on the support 10 to clamp and loosen the harvested objects.

[0026] The cutter 12 is mounted on the support 10 to cut off the handle of the picked object after the first clamp 11 clamps the picked object; the picked object required is tea buds 100, which can be pre-identified in the shape of leaves and then positioned so that the cutter 12 moves to the position corresponding to the handle of the picked object. Since the position of the first clamp 11 on the support 10 is fixed, the first clamp 11 also moves to the position corresponding to the picked object at the same time. The cutter 12 can be a conventional cutter as long as it can cut off the handle. The cutter 12 of the present invention preferably includes a second clamp 120 and a blade cutter 121, and the blade cutter 121 is mounted on the second clamp 120 to cut off the handle of the picked object when the second clamp 120 is closed. The blade cutter 121 includes a blade fixing device 122 and a blade 123 mounted on the blade fixing device 122. Due to the differences in size and shape of the picked objects, the cutter 12 may cut unnecessary leaves during cutting, thereby generating broken leaves, which are then collected together with the desired picked objects (tea buds). The tea buds 100 refer to the youngest part of the top of the tea tree, usually the buds, or one bud and one leaf. In the present invention, one bud and one leaf are preferably picked.

[0027] The support 10 is provided with the conveying pipeline for conveying the picked objects, and the screening box 34 is provided with a feed hole, which is connected to the conveying pipeline; the internal channel of the conveying pipeline is circular, and its diameter is larger than the picked objects, and is connected with an arc at the corner, and its material is stainless steel.

[0028] The screening box 34 is provided with a photoelectric sensor A344 at the feed hole, which is used to detect whether the picked objects entering the screening box 34 are qualified picked objects, wherein the qualified picked objects are tea buds 100, and the unqualified picked objects are unnecessary leaves (although some tea leaves can also be used to make tea, the tea making effect is not good, and the effect is not as good as the tea buds 100, so they are not needed), or a mixture of tea buds 100 and broken leaves cut by the cutting machine 12; multiple photoelectric sensors A344 are arranged circumferentially to form a photoelectric sensor combination 34. The photoelectric sensor A344 can adopt a detection device based on a laser photoelectric sensor array, or a diffuse reflection photoelectric switch sensor.

[0029] There are two collecting devices 31, namely a first collecting device for collecting qualified picked objects and a second collecting device for collecting unqualified picked objects (not shown in the figure).

[0030] Each collecting device 31 includes a collecting box 32, a gate and an exhaust fan 33. The exhaust fan 33 is connected to the collecting box 32. The gate includes a gate and a gate driving mechanism for driving the gate to open and close. The inner cavity of the collecting box 32 and the inner cavity of the screening box 34 are separated by the gate. The gate is installed on the collecting box 32 or the screening box 34, so that after the gate of the gate is opened, the exhaust fan 33 draws air to allow the picked materials to enter the collecting box 32 from the screening box 34. Therefore, there are holes on the collecting box 32 or the screening box 34 to install the gate, so that the gate can be opened and closed. The collecting box 32 is a rectangular parallelepiped as a whole and is made of polyethylene material, which can better collect the picked materials. The exhaust fan 33 has an exhaust fan body 331. The exhaust fan body 331 can be connected to the collecting box 34 through an exhaust pipe to extract the gas in the collecting box 32, reduce the air pressure in the collecting box 32 and the conveying pipeline, and generate suction. See Figure 3 The first collecting device has a first gate driving mechanism 342 and a first gate 341 , and the second collecting device has a second gate 343 installed on the screening box 34 .

[0031] The gate of the first collecting device is provided with ventilation holes so that the exhaust fan 33 of the first collecting device can exhaust air to allow the harvested products whose handles are cut off by the cutter 12 to enter the conveying pipeline and the screening box in sequence. The gate of the second collecting device may not be provided with ventilation holes.

[0032] Since the number of qualified pickings is the majority and the number of unqualified pickings is not large, the exhaust fan 33 of the first collecting device needs to be turned on and used frequently, and the exhaust fan 33 of the second collecting device is not often turned on. The suction force for the tea buds 100 to enter the conveying pipeline is mainly provided by the exhaust fan 33 of the first collecting device.

[0033] Further, the support 10 is provided with a photoelectric sensor B131 at a position corresponding to the picked object, so as to detect the position and / or posture of the picked object. After the cutter 12 moves to the position corresponding to the handle of the picked object, the photoelectric sensor B131 detects the picked object again to prevent the picked object from moving due to sudden changes in the environment, such as sudden strong winds, which causes the first clamp 11 to be unable to clamp and the cutter 12 to be unable to cut the handle of the picked object. There are preferably four photoelectric sensors B131, which are orthogonally distributed arrays, and small sheet photoelectric sensors are selected. The four small photoelectric sensors B131 are connected to the support 10 through the photoelectric sensor mounting seat 13 of carbon steel material. The four small photoelectric sensors B131 are flush with the end of the conveying pipeline, and are detected before the first clamp 11 clamps the picked object, so as to better detect the position and / or posture of the picked object. After the photoelectric sensor B131 confirms that the first clamp 11 has clamped the picked object, subsequent work such as picking selection and exhaust fan start-up is carried out to avoid waste of resources. The photoelectric sensor B131 can adopt a detection device based on a laser photoelectric sensor array, or a diffuse reflection photoelectric switch sensor.

[0034] Furthermore, the portion of the first clamping jaw 11 that contacts the picked object is made of silicone material or rubber material, preferably silicone material. A pressure sensor 112 is installed on the first clamping jaw 11 to detect the clamping force of the first clamping jaw 11 when clamping the picked object, so as to prevent the picked object from being damaged. The silicone material or rubber material can effectively protect the clamped picked object. The silicone material forms a square silicone block, which can ensure that when clamping, the clamping force is adjusted by the pressure sensor 112 to protect the picked object.

[0035] The pressure sensor 112 of the present invention can accurately control the force so as not to damage the harvested object, and at the same time, the silicone material can be used to better protect the harvested object. The pair of blades 123 used by the cutter 12 are processed with a 45° blade angle on the top. The blades 123 of the cutter 12 are made of carbon steel material, wherein the front end of the blade 123 is sharpened, and the front of the blade is a rectangular parallelepiped of carbon steel material, which can quickly cut off the handle of the harvested object when working.

[0036] There is a certain height difference between the lower ends of the first clamping jaw 11 and the second clamping jaw 120 in space, and there is a height difference of about 4 cm between the blade cutter 121 and the part of the first clamping jaw 11 used for clamping the harvested object. Figure 1 , Figure 2In terms of direction, the first clamp 11 is arranged left and right, and the second clamp 120 is arranged front and back, and the first clamp 11 and the second clamp 120 are preferably electric clamps, and are parallel clamps, which can be controlled separately by two servo motors to control opening and closing. The servo motor is an ordinary servo motor on the market. It has higher precision and faster response speed. It can accurately control the clamping force during picking to avoid damage to the picked objects. The servo motor drives the gear mechanism to drive the opening and closing of the clamp. The gear transmission structure enables the gear to transmit horizontally, which can better transmit the rotation of the servo motor directly to the clamp, saving the power consumption of the servo motor when working and improving the energy utilization rate. The servo motor is supported by a motor support structure. The motor support structure is in the shape of a pancake, which tightly clamps the two servo motors and snaps them into the side groove of the support 10. It is located in the middle of the overall structure, so that the weight counterweight of the entire device is reasonable. Refer to Figure 4 The first clamping jaw 11 has a first servo motor 15, and the second clamping jaw 120 has a second servo motor 151. The first clamping jaw 11 and the second clamping jaw 120 are both driven to move the jaws through a gear transmission structure 16. The gear transmission structure 16 has a gear 161. The first servo motor 15 and the second servo motor 151 are respectively supported by a first motor support structure 17 and a second motor support structure 171.

[0037] Furthermore, the collecting device 31 further comprises a load-bearing net 332, which is horizontally installed in the collecting box 32, and a pad is placed on the load-bearing net 332, on which a replaceable box 321 with an open upper end for accommodating the picked objects is supported, and there is a gap between the load-bearing net and the replaceable box, and a gap is provided between the outer wall of the replaceable box 321 and the inner wall of the collecting box 32, and these gaps are used for ventilation, so that the airflow generated when the exhaust fan is sucked can pass through, thereby generating suction on the collected objects in the conveying pipeline. The collecting box 32 has a side door 35 that can be opened and closed, so that after the picked objects in the replaceable box 321 are collected to a set amount, the replaceable box 321 can be taken out of the collecting box 32 and replaced. The load-bearing net 332 is preferably a square structure, composed of iron wire or iron bar, which can bear the weight and meet the passage of airflow in the collecting device 31. The load-bearing net 332 divides the collecting box 32 into a bellows 333 and a storage chamber. A replaceable box 321 is placed in the storage chamber for collecting the picked objects. The bellows 333 is connected to the exhaust fan and is provided with air holes.

[0038] Furthermore, the conveying pipeline includes a cavity channel 14 and a hose 21. The hose 21 is preferably connected to the cavity channel through a joint 141. The support 10 is provided with the cavity channel 14 at a position corresponding to the picked object clamped by the first clamp 11. The first end of the hose 21 is mounted on the support 10, and the inner cavity of the hose 21 is connected to the cavity channel 14. The second end of the hose 21 is connected to the feed hole. After the handle of the picked object is cut off, the picked object will be sucked into the cavity channel 14 under the action of the exhaust fan 33, and then enter the hose 21 and the screening box 34 in turn.

[0039] The specific working process of the tea bud intelligent picking end effector of the present invention is as follows: 1) The end effector is placed above the object to be picked, and the photoelectric sensor B131 works. After detecting the object to be picked, the pressure sensor 112 is activated to control the clamping force of the first clamp 11. The first clamp 11 is also activated to close to clamp the object to be picked. If the photoelectric sensor B131 does not detect the part of the object to be picked, the subsequent steps will not be performed, which can save resources.

[0040] 2) After the first clamp 11 clamps the picked object, the servo motor of the second clamp 120 is turned on, and the second clamp 120 is started through the gear transmission structure. The second clamp 120 closes and cuts off the handle of the picked object. Then the second clamp 120 is reset, and the exhaust fan 33 of the first collection device is started to generate suction.

[0041] 3) When the pressure sensor 112 on the first jaw 11 reaches the threshold, the first servo motor 15 starts and slowly opens the first jaw 11 to reset it. As the exhaust fan 33 works to generate negative pressure in the conveying pipeline, the picked objects can enter the conveying pipeline and the first jaw 11 resets. At this time, the photoelectric sensor B131 cannot detect the picked objects, and the servo motors of the first jaw 11 and the second jaw 120 both stop working.

[0042] 4) After the picked objects pass through the conveying pipeline, they enter the screening box 34, and the photoelectric sensor A344 is activated for detection. If the picked objects are unqualified, the first gate 341 will not be opened, the second gate 343 will be opened, and the exhaust fan 33 of the second collecting device will work to suck the unqualified picked objects from the screening box 34 into the collecting box 32 of the second collecting device. On the contrary, if the picked objects are qualified, the first gate 341 will be opened, and the exhaust fan 33 of the first collecting device will suck the picked objects into the collecting box 32 of the first collecting device, and then the photoelectric sensor A344 will be closed.

[0043] 5) After the picked objects fall into the collection box 32, the exhaust fan 33 is turned off (it can be turned off after the gate is opened and then after a set time), and the air pressure in the conveying pipeline reaches equilibrium with the external air pressure, preparing for the next picking. When the collection box 32 is full, the side door 35 of the collection box 32 can be opened, the full replaceable box 321 can be taken out, and the replaceable replaceable box 321 can be placed on the load-bearing net 332.

[0044] According to another aspect of the present invention, a tea bud intelligent picking robot arm is provided, including a robot arm body capable of multi-axis movement, the robot arm body is the main body of a conventional robot arm, and has the function of multi-axis rotation, the tea bud intelligent picking robot arm also includes the tea bud intelligent picking end effector, the tea bud intelligent picking end effector is installed on the robot arm body, the robot arm body can adjust the position of the tea bud intelligent picking end effector to better adapt to the position and picking work of the tea buds 100.

[0045] Furthermore, the robotic arm body is equipped with a binocular depth camera and an image processor connected to the binocular depth camera, and the image processor identifies the three-dimensional position information of the picked objects based on the YOLO target detection algorithm; through the binocular depth camera and the YOLO target detection algorithm, the picked objects can be identified in advance to avoid wasting resources.

[0046] The present invention adopts the tea bud intelligent picking mechanical arm to pick tea buds, and the method specifically comprises the following steps: 1) Identification and positioning: After the tea bud intelligent picking robot arm identifies the picked object, the cutting machine 12 of the tea bud intelligent picking end effector moves to the position corresponding to the handle of the picked object.

[0047] 2) Clamping and cutting: The photoelectric sensor B131 on the support 10 detects the position of the picked object, the first clamping jaw 11 closes to clamp the picked object, and then the cutter 12 cuts off the handle of the picked object. The present invention adopts step-by-step clamping and cutting for the picked object.

[0048] 3) Detection and collection: The exhaust fan 33 of the first collecting device is turned on to extract air, and suction is generated on the picked objects with the handles cut off through the conveying pipeline, so that the picked objects are sucked into the conveying pipeline, and the photoelectric sensor A344 detects whether the picked objects entering the screening box 34 are qualified. If qualified objects are detected, the first gate 341 is opened, and under the action of the exhaust fan 33 of the first collecting device, the qualified picked objects enter the collection box 32 of the first collecting device. If unqualified objects are detected, the exhaust fan 33 of the first collecting device is turned off, the second gate is opened, and the exhaust fan of the second collecting device is turned on, and the unqualified picked objects enter the collection box of the second collecting device.

[0049] 4) Turn off the exhaust fan.

[0050] 5) Repeat steps 1) to 4) until the set number of tea buds are picked.

[0051] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. The end effector for intelligent picking of young tea buds is characterized by: It includes a support, a first clamp, a cutting machine, a conveying pipeline, a screening box and a collecting device, wherein: The first clamp is mounted on the support to clamp and loosen the picked object, and the cutter is mounted on the support to cut off the handle of the picked object after the first clamp clamps the picked object; The support is provided with the conveying pipeline for conveying the picked objects, and the screening box is provided with a feeding hole, and the feeding hole is connected to the conveying pipeline; The screening box is provided with a photoelectric sensor A at the feeding hole, which is used to detect whether the picked objects entering the screening box are qualified picked objects, wherein the qualified picked objects are young tea buds, and the unqualified picked objects are unwanted leaves, or a mixture of young tea buds and broken leaves cut by a cutting machine; There are two collecting devices, namely a first collecting device for collecting qualified picked objects and a second collecting device for collecting unqualified picked objects; Each collecting device comprises a collecting box, a gate and an exhaust fan, wherein the exhaust fan is connected to the collecting box, the gate comprises a gate and a gate driving mechanism for driving the gate to open and close, the inner cavity of the collecting box is separated from the inner cavity of the screening box by the gate, and the gate is installed on the collecting box or the screening box, so that after the gate of the gate is opened, the exhaust fan exhausts air to allow the picked objects to enter the collecting box from the screening box; The gate of the first collecting device is provided with ventilation holes so that the picked objects whose handles are cut off by the cutting machine can enter the conveying pipeline and the screening box in sequence when the exhaust fan of the first collecting device exhausts air.

2. The tea bud intelligent picking end effector according to claim 1 is characterized in that: The cutter includes a second jaw and a blade cutter, and the blade cutter is mounted on the second jaw to cut off the shank of the picking when the second jaw is closed.

3. The tea bud intelligent picking end effector according to claim 1 is characterized in that: The support is provided with a photoelectric sensor B at a position corresponding to the picked object, so as to detect the position and / or posture of the picked object.

4. The tea bud intelligent picking end effector according to claim 1 is characterized in that: The portion of the first clamping jaw that contacts the picked object is made of silicone material or rubber material. A pressure sensor is installed on the first clamping jaw to detect the clamping force of the first clamping jaw when clamping the picked object to prevent the picked object from being damaged.

5. The tea bud intelligent picking end effector according to claim 1 is characterized in that: The collecting device also includes a load-bearing net, which is horizontally installed in the collecting box. A pad is placed on the load-bearing net, and a replaceable box with an open upper end for accommodating picked objects is supported on the pad. There is a gap between the load-bearing net and the replaceable box, and a gap is provided between the outer wall of the replaceable box and the inner wall of the collecting box.

6. The tea bud intelligent picking end effector according to claim 5 is characterized in that: The collecting box has a side door that can be opened and closed, so that after the picked objects in the replaceable box are collected to a set amount, the replaceable box can be taken out from the collecting box and replaced.

7. The tea bud intelligent picking end effector according to claim 1 is characterized in that: The conveying pipeline includes a conveying cavity and a hose. The support sets the conveying cavity at a position corresponding to the picked object clamped by the first clamp. The first end of the hose is installed on the support, and the inner cavity of the hose is connected to the conveying cavity. The second end of the hose is connected to the feed hole.

8. A tea bud intelligent picking robot arm, comprising a robot arm body capable of multi-axis motion, characterized in that: It also includes the tea bud intelligent picking end effector as described in any one of claims 1 to 7, and the tea bud intelligent picking end effector is installed on the robot arm body.

9. The tea bud intelligent picking robot arm according to claim 8, characterized in that: The robotic arm body is equipped with a binocular depth camera and an image processor connected to the binocular depth camera. The image processor identifies the three-dimensional position information of the picked objects based on the YOLO target detection algorithm.

10. An intelligent method for picking young tea buds, characterized in that: The tea buds are picked by using the tea bud intelligent picking robot arm according to claim 8 or 9, which specifically comprises the following steps: 1) Identification and positioning: After the tea bud intelligent picking robot arm identifies the object to be picked, the cutting machine of the tea bud intelligent picking end effector moves to the position corresponding to the handle of the object to be picked; 2) Clamping and cutting: The photoelectric sensor B on the support detects the position of the picked object, the first clamp closes to clamp the picked object, and then the cutter cuts off the handle of the picked object; 3) Detection and collection: The exhaust fan of the first collection device is turned on to extract air, and suction is generated on the picked objects with the handles cut off through the conveying pipeline, so that the picked objects are sucked into the conveying pipeline, and the photoelectric sensor A detects whether the picked objects entering the screening box are qualified. If qualified objects are detected, the first gate is opened, and the qualified picked objects enter the collection box of the first collection device under the action of the exhaust fan of the first collection device; if unqualified objects are detected, the exhaust fan of the first collection device is turned off, the second gate is opened, and the exhaust fan of the second collection device is turned on, and the unqualified picked objects enter the collection box of the second collection device. 4) The exhaust fan is turned off; 5) Repeat steps 1) to 4) until the set number of tea buds are picked.

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