Distributed tea tender shoot picking device and method

Abstract

The invention discloses a distributed tea tender shoot picking device and a method thereof, and relates to a tea core collecting device. The device comprises a tea leaf tender core (00), and is provided with an end effector (10), a conveying pipeline (20), tea storage equipment (30), an exhaust fan (40) and an effector sleeve (50), the tea tender core (00), the end effector (10), the conveying pipeline (20) and the tea storage equipment (30) are connected in sequence, and the end effector (10) is placed in the effector sleeve (50); and the exhaust fan (40) is arranged in the tea storage equipment (30). The method has the following advantages and positive effects: (1) the size of tea and the position of a tea stem can be adaptively identified, and the tender shoots of the tea can be accurately collected; (2) the scissors type cutter can cut tea tender shoots more quickly and efficiently, so that the quality of the collected tea is improved; and (3) the method is suitable for collecting tea cores in most square-mu-type tea fields.

Description

Technical Field

[0001] The invention relates to a device for collecting tea cores, and in particular to a distributed tea bud picking device and a method thereof. Background Art

[0002] In the actual production of tea, problems such as tea pests and diseases, irregular tea picking, and irregular processing will seriously affect the healthy development of the tea industry and the economic income of tens of millions of tea farmers. Therefore, the research and development and promotion of tea planting management and picking equipment will optimize and accelerate the development of the tea industry and further expand the economic efficiency of the tea industry.

[0003] China has a long history of tea production and picking. China is not only the hometown of tea, but also the birthplace of tea culture. China's exploration of tea can be traced back to the era of Shennong. China's discovery and use of tea has a history of more than 4,700 years, and it has been prosperous and spread all over the world. From the initial medicinal use to the later beverage, and then to today's diversified development, tea is not only an important symbol of Chinese culture, but also an important part of China's economy. With the advancement of science and technology and the expansion of the market, China's tea industry will continue to prosper. In the actual production of tea, tea pests and diseases, irregular tea picking, irregular processing and other problems will seriously affect the healthy development of the tea industry and the economic income of tens of millions of tea farmers. Therefore, the research and development and promotion of tea planting management and picking equipment will optimize and accelerate the development of the tea industry and further expand the economic efficiency of the tea industry.

[0004] At present, most tea picking devices have the problems of large size, low precision, low standardization, and a large number of old leaves and impurities in the picked tea leaves. Although the tea picking accuracy can be optimized through algorithms, the optimization of algorithms is ultimately limited. If you want to achieve fast picking, you must increase the speed of tea picking while increasing the speed of early bud recognition. Therefore, it is necessary to design a device for collecting tea cores. Summary of the invention

[0005] The purpose of the present invention is to overcome the problems and shortcomings of the prior art and to provide a distributed tea bud picking device and method thereof, that is, to provide a device for collecting tea cores that can be installed on an intelligent tea picking robotic arm, while ensuring the high-speed and rapid picking of tea tree buds, while improving the quality and quality of the picked tea leaves.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] 1. Distributed tea bud picking device

[0008] It includes the working object - tender tea core, and is provided with an end effector, a conveying pipeline, tea storage equipment, an exhaust fan and an actuator sleeve;

[0009] The tea leaves, the end effector, the conveying pipeline and the tea storage device are connected in sequence, the end effector is placed inside the effector sleeve; the exhaust fan is arranged in the tea storage device.

[0010] 2. Distributed tea bud picking method

[0011] ① The first photoelectric sensor array works, placing the tea picking device above the tea buds;

[0012] ② The fan is turned on, and the end effector generates suction to suck the tea buds into the end effector;

[0013] ③ The end effector adjusts its position through recognition by the first photoelectric sensor array;

[0014] ④ The first photoelectric sensor array recognizes that the cross-section of the tea buds is the smallest, and the drive motor is started, driving the scissor-type cutter to contract and cut off the tea buds. The tea buds pass through the first photoelectric sensor array by suction, and are determined to pass through the end effector and return the scissor-type cutter to its position;

[0015] ⑤The young tea buds enter the tea storage device through the conveying device, and the picking work is completed.

[0016] The present invention has the following advantages and positive effects:

[0017] ①It can adaptively identify the size of tea leaves and the position of tea stems to accurately collect tea buds;

[0018] ②The scissor-type cutter can cut the tea buds faster and more efficiently, improving the quality of the collected tea leaves;

[0019] ③ Suitable for collecting tea cores in most square-acre tea fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the device;

[0021] Figure 2 is a schematic structural diagram of the end effector 10;

[0022] Figure 3 is a schematic structural diagram of the tea storage device 30;

[0023] Figure 4 is a schematic structural diagram of a scissor-type cutter 12, comprising a cutting guide 121, a cutting blade 122 and a blade chassis 123;

[0024] Figure 5 Schematic diagram of the structure of the linear guide 13.

[0025] In the figure:

[0026] 00—Tea buds;

[0027] 10—end effector,

[0028] 11—1st photoelectric sensor array,

[0029] 12—Scissor-type cutter,

[0030] 121—cutting guide rail,

[0031] 122 - cutting blade,

[0032] 123—Blade chassis,

[0033] 13—driving motor,

[0034] 14—Linear guide;

[0035] 20—Transportation pipeline;

[0036] 30—Tea storage device,

[0037] 31—Tea storage pipe,

[0038] 311—Second photoelectric sensor array,

[0039] 312—Speed ​​sensor module,

[0040] 313 - bottom motor,

[0041] 32—Tea storage box;

[0042] 40 - exhaust fan,

[0043] 41—Exhaust duct,

[0044] 42 - fan;

[0045] 50—Actuator sleeve. DETAILED DESCRIPTION

[0046] The following will be described in detail with reference to the accompanying drawings and embodiments.

[0047] 1. Structure of the device

[0048] 1. Overall of the device

[0049] like Figure 1 , including a working object - tea leaves tender core 00, an end effector 10, a conveying pipeline 20, a tea storage device 30, an exhaust fan 40 and an actuator sleeve 50;

[0050] The tea leaf tender core 00 , the end effector 10 , the conveying pipeline 20 and the tea storage device 30 are connected in sequence, and the end effector 10 is placed inside the effector sleeve 50 ; the exhaust fan 40 is arranged in the tea storage device 30 .

[0051] 2. Functional components of the device

[0052] 0) Tea leaves 00

[0053] like Figure 1 , the tender tea core 00 is the working object of the present invention.

[0054] 1) End effector 10

[0055] like Figure 1 , 2 , the end effector 10 includes a first photoelectric sensor array 11, a scissor-type cutter 12, a drive motor 13 and a linear guide 14;

[0056] Its location and connection relationship are:

[0057] The actuator sleeve 50 wraps around the other parts of the entire end actuator 10, and only the scissor-type cutter 12 is located at the front end of the actuator sleeve 50 and is closely attached to the actuator sleeve 50; the scissor-type cutter 12 is connected to the drive motor 13 through a linear guide 14, and there are two guide rails at the upper and lower ends of the front end of the drive motor 13, respectively connecting the left and right scissor-type cutters 12; the first photoelectric sensor array 11 is closely attached to the inside of the actuator sleeve 50, and is located at the central position when the scissor-type cutter 12 is fully opened; the linear guide 14 is located at the front end of the drive motor 13 and is connected to the scissor-type cutter 12.

[0058] (1) First photoelectric sensor array 11

[0059] like Figure 2 The first photoelectric sensor array 11 is an array composed of two symmetrically distributed photoelectric sensors, and small sheet-shaped photoelectric sensors are selected.

[0060] Specifically, the first photoelectric sensor array 11 is a circumferential ring sensor array, which is attached to the actuator sleeve 50 and is located at the center when the scissor-type cutter 12 is fully opened.

[0061] This structure can better fit the actuator sleeve 50, increase the sensing range of the sensor, enhance the sensing signal of the sensor, and better detect the position and size of the tea core 00.

[0062] (2) Scissor-type cutter 12

[0063] like Figure 4 The scissor-type cutter 12 is a small cutter, including a cutting guide 121, a cutting blade 122 and a blade chassis 123, and the positions and connection relationships thereof are:

[0064] Two cutting blades 122 are fixed at the front end of the blade chassis 123 , are symmetrically distributed, and are just located at the front end of the actuator sleeve 50 , close to the actuator sleeve 50 ; the blade chassis 123 is connected to the linear guide rail 14 through the cutting guide rail 121 .

[0065] The cutting guide rail 121 is an I-shaped carbon steel sheet tightly embedded in the linear guide rail 14 .

[0066] The cutting blade 122 is a trapezoidal carbon steel blade with an edge on one end and a circular hollow structure at the center of the blade.

[0067] The blade chassis 123 is a structure composed of a cube and a trapezoidal carbon steel sheet, wherein the bottom of the trapezoidal carbon steel sheet has screw holes for disassembly, so as to fix the cutting blade 122 between the cube and the trapezoidal carbon steel sheet.

[0068] The working mechanism of the scissor-type cutter 12 is:

[0069] The driving motor 13 is connected to the scissor-type cutter 12 via a linear guide 14. The driving motor 13 rotates to drive the linear guide 14 to move horizontally, and the linear guide 14 drives the scissor-type cutter 12 to move toward each other; the two cutting blades 122 gradually close until they are completely closed.

[0070] (3) Driving motor 13

[0071] The driving motor 13 is a general-purpose electric motor, such as a closed-loop motor 42.

[0072] (4) Linear guide 14

[0073] The linear guide rail 14 is a 4-directional equal load type guide rail made of carbon steel to ensure the normal movement of the scissor-type cutter 12 .

[0074] 2) Transportation pipeline 20

[0075] The conveying pipeline 20 is a long tube made of plastic and is a passage for the tea leaves 00 and air.

[0076] Its location and connection relationship are:

[0077] The front end of the conveying pipe 20 is located at the central position when the scissor-type cutter 12 is fully opened, and is closely attached to the driving motor 13 .

[0078] 3) Tea storage device 30

[0079] like Figure 3 The tea storage device 30 includes a tea storage pipe 31 and a tea storage box 32 which are connected up and down.

[0080] (1) Tea storage pipeline 31

[0081] The tea storage pipe 31 is a rectangular pipe, which is the passage for the tender tea core 00, and is provided with a second photoelectric sensor array 311, a speed sensor module 312 and a bottom motor 313; its position and connection relationship are: the second photoelectric sensor array 311 is placed in the middle of the passage, the speed sensor module 312 is located at the bottom of the passage, and the bottom motor is placed horizontally next to the tea storage box 32, close to the outer wall of the tea storage box 32.

[0082] The second photosensor array 311 has the same structure as the first photosensor array 11 .

[0083] The speed sensor module 312 is a module that attaches a speed sensor to the inner wall of a tea storage pipe, and a small disc-type speed sensor is selected.

[0084] The bottom motor 313 is a general-purpose motor, such as a 24-way DC brushless motor.

[0085] (2) Tea storage box 32

[0086] like Figure 3 The tea storage box 32 is a cube container, which is a storage container for the tender tea core 00.

[0087] 4) Exhaust fan 40

[0088] like Figure 1 The exhaust fan 40 includes an exhaust duct 41 and a fan 42 which are connected front to back.

[0089] (1) Exhaust duct 41

[0090] like Figure 1 The exhaust duct 41 is a long tube with two outlets. The right outlet provides suction for the entire device, and the left outlet provides a leftward suction, which manifests as a downward suction in the tea storage box 32. The left outlet is smaller than the right outlet, and plays a role in guiding the airflow without affecting the overall suction of the device.

[0091] (2) Fan 42

[0092] like Figure 1 The fan 42 is a commonly used device for extracting gas from the device, accelerating the flow of air in the device, reducing the pressure in the device, and generating suction.

[0093] 3. Working mechanism of the device

[0094] 1) The device is placed above the young tea buds 00, the first photoelectric sensor array 11 works, the fan 42 is turned on, and the end effector 10 generates suction.

[0095] 2) The end effector 10 controls the opening size of the scissor-type cutter 12 by controlling the linear guide 14 according to the result of the first photoelectric sensor array 11, thereby controlling the size of the entrance of the end effector 10 to prevent objects other than the tea buds 00 from entering the end effector 10; the suction force generated by the fan 42 will directly suck the tea buds 00 into the end effector 10, thereby reducing the algorithm positioning accuracy required for shearing.

[0096] 3) When the tea buds 00 are in the end effector 10 and the suction position is incorrect, only a part of the buds enter the end effector 10 or are in a skewed state, the first photoelectric sensor array 11 will sense the position and size of the buds and adjust the position of the end effector 10 so that the tea buds 00 can completely enter the end effector 10.

[0097] 4) The first and second sections of the first photoelectric sensor array 11 sense the position and size of the tea buds 00. When the sensing cross-section of the buds reaches a minimum, the drive motor 13 starts, driving the linear guide 14 to drive the blade chassis 123 to move horizontally, and the cutting blade 122 begins to shrink to cut off the buds.

[0098] 5) After the tender buds are cut off, they are sucked into the conveying pipe 20. The first photoelectric gate array detects that the tea leaves have disappeared, and the drive motor 13 moves in the reverse direction. The linear guide 14 drives the scissor-type cutter 12 to return to its original position.

[0099] 6) The picked tea buds 00 are transported to the tea storage device 30 through the transport pipe 20. Due to the suction of the exhaust fan 40, the tea buds 00 fall into the tea storage pipe 31 and enter the tea storage box 32 through the tea storage pipe 31. The movable gate on the right side of the tea storage box 32 is in a normally closed state, so that the tea storage box 32 is in a closed state, without gas flow, and the suction of the device is enhanced.

[0100] 7) Under normal circumstances, the speed sensor module 312 senses the internal situation through the speed sensor. When the internal wind speed is too fast and may damage the sprouts, it will limit and force the power of the fan 42 to adjust so that the wind speed inside the device decreases.

Claims

1. A distributed tea bud picking device, comprising tea bud cores (00), characterized in that: An end effector (10), a conveying pipeline (20), a tea storage device (30), an exhaust fan (40) and an actuator sleeve (50) are provided; The tea leaf core (00), the end effector (10), the conveying pipeline (20) and the tea storage device (30) are connected in sequence, and the end effector (10) is placed inside the effector sleeve (50); the exhaust fan (40) is arranged in the tea storage device (30).

2. A distributed tea bud picking device according to claim 1, characterized in that: The end effector (10) comprises a first photoelectric sensor array (11), a scissor-type cutter (12), a drive motor (13) and a linear guide rail (14); Its location and connection relationship are: The actuator sleeve (50) covers the other parts of the entire end actuator (10), and only the scissor-type cutter (12) is located at the front end of the actuator sleeve (50) and is closely attached to the actuator sleeve (50); the scissor-type cutter (12) is connected to the drive motor (13) through a linear guide rail (14), and two guide rails are respectively provided at the upper and lower ends of the front end of the drive motor (13), respectively connecting the left and right scissor-type cutters (12); the first photoelectric sensor array (11) is closely attached to the inside of the actuator sleeve (50) and is located at the central position when the scissor-type cutter (12) is fully opened; the linear guide rail (14) is located at the front end of the drive motor (13) and is connected to the scissor-type cutter (12); The first photoelectric sensor array (11) is an array composed of two symmetrically distributed photoelectric sensors, and small sheet-shaped photoelectric sensors are selected; The scissor-type cutter (12) is a small cutter, comprising a cutting guide rail (121), a cutting blade (122) and a blade chassis (123), and the positions and connection relationships thereof are as follows: Two cutting blades (122) are fixed at the front end of the blade chassis (123), are symmetrically distributed, and are just located at the front end of the actuator sleeve (50), close to the actuator sleeve (50); the blade chassis (123) is connected to the linear guide rail (14) through the cutting guide rail (121).

3. A distributed tea bud picking device according to claim 1, characterized in that: The tea storage device (30) comprises a tea storage pipe (31) and a tea storage box (32) which are connected up and down; The tea storage pipe (31) is a rectangular parallelepiped pipe, which is a passage for the tender tea core (00), and is provided with a second photoelectric sensor array (311), a speed sensor module (312) and a bottom motor (313); the positions and connection relationships thereof are as follows: the second photoelectric sensor array (311) is placed in the middle of the passage, the speed sensor module (312) is located at the bottom of the passage, and the bottom motor is placed horizontally beside the tea storage box (32) and closely attached to the outer wall of the tea storage box (32); The second photoelectric sensor array (311) has the same structure as the first photoelectric sensor array (11); The speed sensor module (312) is a module in which a speed sensor is attached to the inner wall of a tea storage pipe, and a small disc-type speed sensor is selected.

4. A picking method of a distributed tea bud picking device according to claim 1, 2 or 3, characterized in that: ① The first photoelectric sensor array (11) is in operation, and the tea picking device is placed above the young tea buds (00); ② The fan (42) is turned on, and the end effector (10) generates suction force, sucking the tea buds (00) into the end effector (10); ③ The end effector (10) adjusts its position through recognition by the first photoelectric sensor array (11); ④ The first photoelectric sensor array (11) recognizes that the cross section of the tea buds (00) is the smallest, and the drive motor (13) is started, driving the scissor-type cutter (12) to contract and cut off the tea buds (00). The tea buds (00) pass through the first photoelectric sensor array (11) by suction, and are determined to pass through the end effector (10) and return the scissor-type cutter (12) to its original position; ⑤ The tea buds (00) enter the tea storage device (30) through the conveying device (20), and the picking work is completed.

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