Profiling tea-leaf picker

Abstract

The invention discloses a profiling tea-leaf picker, and relates to the technical field of agricultural machinery, the profiling tea-leaf picker comprises a walking chassis, a control module, a canopy envelope profiling module, a canopy position detection module, a lifting module, a tea-leaf picking module and a collection module, the lifting module is installed on the walking chassis, and the tea-leaf picking module and the collection module are both connected with the lifting end of the lifting module; the tent surface enveloping profiling module is located in front of the tea picking module and used for enveloping a tea tent surface of a to-be-picked area in front of the tea picking module, the tent surface position detection module is used for detecting tea leaf height information of the tea tent surface of the to-be-picked area and transmitting the tea leaf height information to the control module, and the control module can control the lifting module to ascend and descend according to the tea leaf height information; the lifting module is used for driving the tea picking module and the collecting module to ascend and descend according to the tea height information, the tea picking module is used for picking fresh tea leaves, and the collecting module is used for collecting the picked fresh tea leaves. The high-efficiency high-quality picking of famous high-quality tea can be realized, and the device has the advantage of continuous operation.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, in particular to a contour tea plucking machine. Background Art

[0002] There are two main types of traditional mechanized tea picking technology: one is the bulk tea picking machine, which uses a reciprocating cutting cutter as the main component and adopts the pruning picking principle. This picking machine is relatively mature, but can only pick bulk tea with low appearance quality; the other is the humanoid robot picking technology for picking high-quality tea, which mainly includes key parts such as vision system, robotic arm, and end-point picking actuator. It is currently in the exploratory research stage and there is no mature technology available for application. The tea industry has long been looking forward to the technology of picking high-quality tea by machine, but this problem has been unresolved.

[0003] In the existing famous and high-quality tea picking technology, computer vision recognition technology is commonly used for tea target visual recognition, and traditional recognition models and algorithms such as digital image processing and deep learning are adopted; and for the end picking actuator, common forms include shearing picking mechanism, pinch-off picking mechanism and squeeze-cut picking mechanism, which all achieve the picking of tea buds by simplifying the process of simulating human finger picking, but it is difficult to achieve precise positioning during the picking process, so the production efficiency and quality are far lower than manual. Therefore, in the current famous and high-quality tea profiling picking technology, there is a problem that the positioning accuracy of the tea tree canopy position perception is difficult to meet the requirements of real-time high-precision positioning in actual production, which makes it difficult to realize the industrialization of famous and high-quality tea picking technology, which seriously hinders the development of the industry. Summary of the invention

[0004] The purpose of the present invention is to provide a profiling tea plucking machine to solve the problems existing in the above-mentioned prior art, realize efficient and high-quality plucking of famous and high-quality teas, and has the advantage of being able to operate continuously.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a tea plucking machine, comprising a walking chassis, a control module, a tea leaf enveloping profiling module, a tea leaf surface position detection module, a lifting module, a tea plucking module and a collecting module. The lifting module is installed on the walking chassis, and the tea plucking module and the collecting module are both connected to the lifting end of the lifting module. The tea leaf enveloping profiling module is located in front of the tea plucking module and is used to envelop the tea leaf surface of the to-be-plucked area in front of the tea plucking module. The tea leaf surface position detection module is used to detect tea leaf height information of the tea leaf surface of the to-be-plucked area and transmit it to the control module. The control module can control the lifting module to lift and lower according to the tea leaf height information. The lifting module is used to drive the tea plucking module and the collecting module to lift and lower according to the tea leaf height information. The tea plucking module is used to pluck fresh tea leaves, and the collecting module is used to collect the plucked fresh tea leaves.

[0007] Preferably, the walking chassis is of electric crawler type, and the walking chassis includes a support chamber, a support plate, a bump handling mechanism, a power supply and a track body, the power supply is used to provide electrical energy, the support plate is located above the support chamber, and the upper surface of the support plate forms a mounting plane, the track body is installed on both sides of the support chamber, the bump handling mechanism is located in the support chamber, and the upper end of the bump handling mechanism extends out of the support chamber and is connected to the lower end of the support plate, and the bump handling mechanism is used to detect the vibration and bump of the support plate and adjust the height of the support plate in real time.

[0008] Preferably, the bump handling mechanism includes a plurality of acceleration and displacement sensors, a plurality of shock absorbing springs, and a plurality of electric push rods. The plurality of acceleration and displacement sensors are arranged around the periphery of the support plate. Each acceleration and displacement sensor is used to detect the vibration acceleration and displacement information of the support plate and transmit the information to the control module. The lower ends of each electric push rod and each shock absorbing spring are fixed to the inner bottom surface of the support chamber, and the upper ends of each electric push rod and each shock absorbing spring are connected to the lower end surface of the support plate. The control module can control the lifting and lowering of each electric push rod according to the information detected by the acceleration and displacement sensors.

[0009] Preferably, the lifting module includes a servo motor, a ball screw mechanism and a moving slider, the lower end of the ball screw mechanism is installed on the upper end of the walking chassis, the servo motor is installed on the upper end of the ball screw mechanism, and can drive the ball screw mechanism to rotate, the moving slider is located at the outer periphery of the ball screw mechanism, and the moving slider is fixedly connected to the nut on the ball screw, and can be lifted and lowered with the rotation of the ball screw mechanism, and the moving slider is the lifting end of the lifting module; the lifting module also includes a lifting frame, and the lifting frame includes a main frame, a connecting cross beam and two connecting longitudinal beams. One side of the main frame is connected to the lifting end of the lifting module, and the other side of the main frame is connected to the connecting cross beam through the two connecting longitudinal beams. The main frame is a rectangular frame surrounded by four supporting cross beams, four supporting longitudinal beams and four supporting vertical beams; the collecting module is installed on the two supporting cross beams located above, and the collecting module is located directly below the connecting cross beams, the tea picking module is installed on the two supporting longitudinal beams located below, the canopy position detection module is installed below the connecting cross beam, and the detection units of the canopy position detection module are distributed along the length direction of the connecting cross beam.

[0010] Preferably, the tea picking module includes a reciprocating cutter, a cutting drive motor, a cutting fixed frame and a cutting connecting sheet metal, the cutting fixed frame is connected to the lifting end of the lifting module through the cutting connecting sheet metal, the cutting drive motor and the reciprocating cutter are both installed at the front end of the cutting fixed frame, the cutting drive motor is used to control the reciprocating cutter to cut fresh tea leaves, and a mesh leaf collecting bag is hung at the tail of the cutting fixed frame, and the leaf collecting bag is used to temporarily store the fresh tea leaves collected by the collection module.

[0011] Preferably, the collecting module includes a fan mechanism and an air supply duct mechanism, the fan mechanism includes a fan body, a fan driving motor and an air supply hose, the air supply duct mechanism includes an exhaust pipe and an air supply connecting sheet metal, the fan body is installed at the lifting end of the lifting module, the fan driving motor is located above the fan body, and the fan driving motor is connected to the fan body through a coupling, the air outlet of the fan body is connected to one end of the air supply hose, and the other end of the air supply hose is connected to the exhaust air inlet of the exhaust pipe, the exhaust pipe has a plurality of exhaust outlets, and the exhaust outlet is located above and in front of the tea picking end of the tea picking module, the exhaust outlet is used to blow away the fresh tea leaves picked by the tea picking module, and the exhaust pipe is connected to the tea picking module through the air supply connecting sheet metal.

[0012] Preferably, the tea leaf position detection module includes a plurality of sensors, and the plurality of sensors are used to detect the height information of the tea leaf surface in the to-be-picked area in front of the tea picking module. The sensors are distance sensors, and the distance sensors use ultrasonic ranging, far infrared ranging, or laser ranging.

[0013] Preferably, the canopy envelope profiling module includes a supporting mechanism, and an envelope covering skin, a pressure roller, a pull rope, a torsion spring coil, a torsion spring reel and a guide frame installed on the supporting mechanism, the supporting mechanism includes a left supporting frame, a middle supporting frame and a right supporting frame, the lower end of the left supporting frame is installed on the walking chassis, one end of the right supporting frame is installed on the lifting module, the other end of the right supporting frame is connected to the left supporting frame with the middle supporting frame, and when in use, the left supporting frame and the right supporting frame are symmetrically arranged with respect to the longitudinal center plane of the tea tree row, and the guide frame includes a left supporting frame, a middle supporting frame and a right supporting frame. The frame comprises a front left guide frame and a rear left guide frame on the left side, and a front right guide frame and a rear right guide frame on the right side, the lower ends of the front left guide frame and the lower ends of the front right guide frame are inclined forward, the left support frame is used to install the front left guide frame and the rear left guide frame, and the right support frame is used to install the front right guide frame and the rear right guide frame, the left end of the torsion spring reel is located on the left support frame, the right end of the torsion spring reel is located on the right support frame, and the two ends of the torsion spring reel extend out of the left support frame and the right support frame respectively and are limited by nuts;

[0014] The envelope covering skin comprises a guide plate and an envelope layer, the guide plate is connected to the front left guide frame and the front right guide frame, and the guide plate comprises a flat plate section and a curled section fixed as one, the curled section is located in front of the flat plate section, and the front end of the curled section is bent upward, a rotating shaft is respectively installed on both sides between the flat plate section and the curled section, and the ends of the two rotating shafts extend to the hollows located in the front left guide frame and the front left guide frame, and can move along the front left guide frame and the front right guide frame respectively, the front end of the envelope layer is connected to the rear end of the flat plate section, and the guide plate can drive the envelope layer to slide forward along the tea canopy surface, and the rear end of the envelope layer is provided with a redundant section, and the redundant section can extend to the rear of the rear left guide frame and the rear right guide frame;

[0015] The pressing roller is located above the envelope layer, and two ends of the pressing roller are respectively connected to the hollow of the rear left guide frame and the hollow of the rear right guide frame, and the pressing roller can move up and down along the rear left guide frame and the rear right guide frame;

[0016] A plurality of torsion spring rolls are installed in the axial direction of the torsion spring reel, and the plurality of torsion spring rolls correspond one to one to the plurality of pull ropes, and one end of the pull rope is connected to the telescopic port of the torsion spring roll, and the other end of the pull rope is connected to the tail edge of the redundant segment, and the pull rope can make the redundant segment vertical.

[0017] Preferably, the left support frame includes a left transverse profile, a left longitudinal profile, a left vertical profile and a left reinforcing rib, the lower end of the left vertical profile is fixed to the walking chassis, the upper end of the left vertical profile is connected to one end of the left transverse profile, the other end of the left transverse profile is connected to the middle part of the left longitudinal profile, the two ends of the left longitudinal profile are respectively used to install the front left guide frame and the rear left guide frame, and the left reinforcing rib is installed at the left transverse profile;

[0018] The right support frame comprises a right transverse profile, a right longitudinal long profile, a right longitudinal short profile, a right vertical profile, a right reinforcing rib, a connecting profile, a transverse support member and a longitudinal support member, one end of the connecting profile is connected to the side wall of the lifting module, the other end of the connecting profile is connected to one end of the right longitudinal long profile, the other end of the right longitudinal long profile is connected to one end of the right transverse profile, the other end of the right transverse profile is connected to the middle part of the right longitudinal short profile, the two ends of the right longitudinal short profile are respectively used to install the front right guide frame and the rear right guide frame, the right reinforcing rib is installed at the right longitudinal short profile, one end of the transverse support member is connected to the side wall of the lifting module, the other end of the transverse support member is connected to the lower end of the connecting profile, one end of the longitudinal support member is connected to the right longitudinal long profile, and the other end of the longitudinal support member is connected to the right vertical profile;

[0019] The middle support frame comprises a front cross beam, and two ends of the front cross beam are respectively connected between the left longitudinal profile and the right longitudinal short profile.

[0020] Preferably, it also includes a visual information acquisition module, which is installed on the top front side of the lifting module, and is used to collect visual information of the road condition ahead and can transmit the collected information to the control module, which is an electrical control cabinet.

[0021] Compared with the prior art, the present invention has achieved the following technical effects:

[0022] The tea plucking machine provided by the present invention has a lifting module installed on a walking chassis, and the tea plucking module and the collecting module are both connected to the lifting end of the lifting module, so that they can be lifted and lowered along with the action of the lifting module, so as to realize the plucking and collection of fresh tea leaves at different heights. The leaf envelope profiling module is located in front of the tea plucking module, and is used to envelope the tea leaf surface of the to-be-plucking area in front of the tea plucking module, so as to physically present the top envelope curved surface of the tea leaf surface of the to-be-plucking area. The leaf surface position detection module is used to detect the tea leaf height information of the tea leaf surface of the to-be-plucking area and transmit it to the control module, so as to measure multiple height position information of the top envelope curved surface of the tea leaf surface. And through noise reduction, filtering and other algorithms (Kalman) processing to achieve accurate estimation of the height position information of the tea sheet surface; according to the distance between the tea sheet surface and the tea picking module and the standard length required for picking high-quality tea, the lifting module can be controlled in real time through the control module; the lifting module is used to drive the tea picking module and the collection module to rise and fall according to the tea height information to adjust the tea picking position and achieve real-time tracking of the ups and downs of the tea sheet surface; the tea picking module is used to pick fresh tea leaves, and the collection module is used to collect the picked fresh tea leaves, thereby achieving efficient and high-quality picking and collection of high-quality tea, saving manpower and realizing continuous operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. 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 creative work.

[0024] Figure 1 It is a front view of the contour tea picking machine of the present invention;

[0025] Figure 2 for Figure 1 A schematic diagram of the partial structure of the middle-profile tea-picking machine;

[0026] Figure 3 It is a left side view of the contour tea picking machine of the present invention;

[0027] Figure 4 for Figure 3 A schematic diagram of the partial structure of the middle-profile tea-picking machine;

[0028] Figure 5 A top view of the contour tea plucking machine of the present invention;

[0029] Figure 6 for Figure 5 A schematic diagram of the partial structure of the middle-profile tea-picking machine;

[0030] Figure 7 This is a front view of the walking chassis of the present invention;

[0031] Figure 8 It is a left view of the walking chassis in the present invention;

[0032] Fig. 9 It is a front view of the canopy envelope profiling module in the present invention;

[0033] Fig.10 It is a left view of the canopy envelope profiling module of the present invention;

[0034] Fig.11 A top view of the canopy envelope profiling module of the present invention;

[0035] In the figure: 1- walking chassis, 101- support plate, 102- power supply, 103- shock absorbing spring, 104- electric push rod; 2- lifting module, 201- moving slider; 3- DC-AC conversion module; 4- control module; 5- lifting frame, 511- first cross beam, 512- second cross beam, 513- third cross beam, 514- fourth cross beam, 521- first longitudinal beam, 522- second longitudinal beam, 523- third longitudinal beam, 524- fourth longitudinal beam, 525 - fifth longitudinal beam, 531 - first vertical beam, 532 - second vertical beam, 533 - third vertical beam; 6 - fan mechanism, 601 - fan body, 602 - fan drive motor, 603 - air supply hose; 7 - tea picking module, 701 - reciprocating cutter, 702 - cutting drive motor, 703 - cutting fixed frame, 704 - cutting connecting sheet metal; 8 - air supply duct mechanism, 801 - exhaust pipe, 8011 - exhaust air inlet, 8012 - exhaust air outlet, 802-air supply connection sheet metal; 9-roof surface position detection module; 10-roof surface enveloping profiling module, 10011-left vertical profile, 10012-left reinforcement rib, 10013-left horizontal profile, 10014-left longitudinal profile, 10015-front crossbeam, 10016-connecting profile, 10017-lateral support, 10018-right longitudinal long profile, 10019-longitudinal support, 100110-right vertical profile, 100111 -right transverse profile, 100112-right reinforcement rib, 100113-right longitudinal short profile; 10021-guide plate, 10022-envelope layer, 100221-rotating shaft; 1003-pressure roller; 1004-pull rope; 1005-torsion spring roll; 1006-torsion spring reel; 10071-front left guide frame, 10072-front right guide frame, 10073-rear left guide frame, 10074-rear right guide frame; 11-visual information acquisition module. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0037] The purpose of the present invention is to provide a profiling tea plucking machine to solve the problems existing in the prior art, so as to achieve efficient and high-quality plucking of famous and high-quality teas and have the advantage of being able to operate continuously.

[0038] 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.

[0039] like Figure 1-Figure 11 As shown, the present embodiment provides a profiling tea picking machine, comprising a walking chassis 1, a control module 4, a canopy enveloping profiling module 10, a canopy surface position detection module 9, a lifting module 2, a tea picking module 7 and a collecting module. The lifting module 2 is installed on the walking chassis 1. The tea picking module 7 and the collecting module are both connected to the lifting end of the lifting module 2, and can be lifted and lowered along with the movement of the lifting module 2 to achieve the plucking and collection of fresh tea leaves at different heights. The canopy enveloping profiling module 10 is located in front of the tea picking module 7 and is used to envelop the tea canopy surface of the to-be-picked area in front of the tea picking module 7 to physically present the top enveloping curved surface of the tea canopy surface of the to-be-picked area. The canopy surface position detection module 9 is used to detect the tea height information of the tea canopy surface of the to-be-picked area and transmit the information. To the control module 4, and then measure the multiple height position information of the top envelope surface of the tea sheet surface, and accurately estimate the height position information of the tea sheet surface through noise reduction, filtering and other algorithms (Kalman) processing. According to the distance between the tea sheet surface and the tea picking module 7 and the standard length required for picking famous and high-quality tea, the lifting module 2 can be controlled to rise and fall in real time through the control module 4. The lifting module 2 is used to drive the tea picking module 7 and the collecting module to rise and fall according to the height information of the tea leaves, so as to adjust the tea picking position and realize real-time tracking of the ups and downs of the tea sheet surface. The tea picking module 7 is used to pick fresh tea leaves, and the collecting module is used to collect the picked fresh tea leaves, so as to realize efficient and high-quality picking and collection of famous and high-quality teas, save manpower, and realize continuous operation.

[0040] Specifically, the walking chassis 1 provides physical support, power supply 102 supply and operation walking guarantee for the whole machine. The walking chassis 1 is an electric crawler type, specifically including a support chamber, a support plate 101, a bump handling mechanism, a power supply 102 and a crawler body. The power supply 102 is placed in the support chamber. The power supply 102 is used to provide electrical energy and is replaceable. The support plate 101 is located above the support chamber, and the upper surface of the support plate 101 forms an installation plane for installing other modules. The crawler body is installed on both sides of the support chamber. The bump handling mechanism is located in the support chamber, and the upper end of the bump handling mechanism extends out of the support chamber and is connected to the lower end of the support plate 101. The bump handling mechanism is used to detect the vibration and bump of the support plate 101 and adjust the height of the support plate 101 in real time, so that the contour tea picking machine in this embodiment also has a chassis contouring function based on active control, which reduces the machine bumps caused by the undulations of the tea garden ground, and has higher picking quality and operation stability.

[0041] The bump handling mechanism includes a plurality of acceleration and displacement sensors, a plurality of damping springs 103, and a plurality of electric push rods 104. The plurality of acceleration and displacement sensors are arranged around the outer periphery of the support plate 101. Each acceleration and displacement sensor is used to detect the vibration acceleration and displacement information of the support plate 101 and transmit it to the control module 4. The lower ends of each electric push rod 104 and each damping spring 103 are fixed to the inner bottom surface of the support chamber, and the upper ends of each electric push rod 104 and each damping spring 103 are connected to the lower end surface of the support plate 101. The control module 4 can control the lifting and lowering of each electric push rod 104 according to the information detected by the acceleration and displacement sensors, and then reflect the vibration and bump of the walking chassis 1 by detecting the vibration acceleration and displacement information of the support plate 101, and by controlling the extension and retraction of the electric push rod 104, the horizontal degree of the position of the support plate 101 is adjusted in real time to ensure that it is in a horizontal state. The damping spring 103 and the electric push rod 104 are preferably four.

[0042] The walking chassis 1 is also provided with a DC-AC conversion module 3, which is mainly composed of a DC-AC converter and its accessories, and is installed on the left rear side of the support plate 101, and is used to convert the DC power supplied by the power supply 102 into the AC power required for the operation of electrical devices.

[0043] The lifting module 2 includes a servo motor, a ball screw mechanism and a moving slider 201. The lower end of the ball screw mechanism is installed on the upper end of the walking chassis 1. The servo motor is installed on the upper end of the ball screw mechanism and can drive the ball screw mechanism to rotate. The moving slider 201 is located on the outer periphery of the ball screw mechanism, and the moving slider 201 is fixedly connected to the nut on the ball screw and can be lifted and lowered with the rotation of the ball screw mechanism. The moving slider 201 is the lifting end of the lifting module 2.

[0044] The lifting module 2 also includes a lifting frame 5, which is a frame structure mainly made of multiple aluminum alloy hollow square tubes. The lifting frame 5 includes a main frame, a connecting crossbeam and two connecting longitudinal beams. One side of the main frame is connected to the lifting end of the lifting module 2, and the other side of the main frame is connected to the connecting crossbeam through two connecting longitudinal beams. The main frame is a rectangular frame surrounded by four supporting crossbeams, four supporting longitudinal beams and four supporting vertical beams, which can provide an installation platform and stable support for other components; the collection module is installed on the two supporting crossbeams located above, and the collection module is located directly below the connecting crossbeams, the tea picking module 7 is installed on the two supporting longitudinal beams located below, the canopy position detection module 9 is installed below the connecting crossbeams, and the detection units of the canopy position detection module 9 are distributed along the length direction of the connecting crossbeams. The main frame, connecting cross beams and two connecting longitudinal beams include a total of five cross beams (respectively, the first cross beam 511, the second cross beam 512, the third cross beam 513, the fourth cross beam 514 and the fifth cross beam), six longitudinal beams (respectively, the first longitudinal beam 521, the second longitudinal beam 522, the third longitudinal beam 523, the fourth longitudinal beam 524, the fifth longitudinal beam 525 and the sixth longitudinal beam) and four vertical beams (respectively, the first vertical beam 531, the second vertical beam 532, the third vertical beam 533 and the fourth vertical beam).

[0045] The tea picking module 7 is fixedly connected to the bottom of the lifting frame 5 as a whole, and moves up and down with the lifting frame 5, so that the tea picking module 7 is driven by the lifting module 2 to move synchronously, and the cutting position is automatically controlled. The tea picking module 7 specifically includes a reciprocating cutter 701, a cutting drive motor 702, a cutting fixed frame 703 and a cutting connecting sheet metal 704. The cutting fixed frame 703 is a square barrel structure. The cutting fixed frame 703 is connected to the lifting end of the lifting module 2 through the cutting connecting sheet metal 704. The cutting drive motor 702 and the reciprocating cutter 701 are modular as a whole, and are both installed at the front end of the cutting fixed frame 703. The cutting drive motor 702 is used to control the reciprocating cutter 701 to cut fresh tea leaves. A mesh leaf collecting bag is hung at the tail of the cutting fixed frame 703, and the leaf collecting bag is used to temporarily store fresh tea leaves collected by the collection module.

[0046] The collection module includes a fan mechanism 6 and an air supply duct mechanism 8. The fan mechanism 6 is used to generate the wind force required for tea collection, and specifically includes a fan body 601, a fan drive motor 602 and an air supply hose 603. The air supply duct mechanism 8 is relatively fixed to the tea picking module 7 and the lifting end of the lifting module 2, and rises and falls together. The air supply duct mechanism 8 includes an exhaust pipe 801 and an air supply connection sheet metal 802. The fan body 601 is installed at the lifting end of the lifting module 2, and the fan drive motor 602 is located above the fan body 601. , and the fan driving motor 602 is connected to the fan body 601 through a coupling, the air outlet of the fan body 601 is connected to one end of the air supply hose 603, and the other end of the air supply hose 603 is connected to the exhaust air inlet 8011 of the exhaust pipe 801, the exhaust pipe 801 has a plurality of exhaust air outlets 8012, and the exhaust air outlets 8012 are located above and in front of the tea picking end of the tea picking module 7, and are used to blow away the fresh tea leaves cut by the tea picking module 7, and the exhaust pipe 801 is connected to the tea picking module 7 through the air supply connecting sheet metal 802.

[0047] The tea leaf position detection module 9 includes a plurality of sensors, which are evenly distributed along the length direction of the connecting beam, and the plurality of sensors can always detect the height information of the tea leaf surface in the to-be-picked area in front of the tea picking module 7. The sensor is a distance sensor, which uses ultrasonic ranging, far-infrared ranging, or laser ranging. However, the specific form of the distance sensor in this embodiment is not limited to the above limitation, and those skilled in the art may also select other types of distance sensors according to actual needs.

[0048] This embodiment is based on the profiling technology of the irregular tea canopy envelope surface, which can achieve accurate positioning and profiling of the tea canopy surface, and has the technical advantages of simple structure, low cost, good real-time performance, and high positioning accuracy. The canopy envelope profiling module 10 specifically includes a support mechanism, and an enveloping covering skin, a pressure roller 1003, a pull rope 1004, a torsion spring coil 1005, a torsion spring reel 1006 and a guide frame installed on the support mechanism. The support mechanism includes a left support frame, a middle support frame and a right support frame. The lower end of the left support frame is installed on the walking chassis 1, and one end of the right support frame is installed on the lifting module 2. The other end of the right support frame is connected to the middle support frame between the left support frame, and when in use, the left support frame and the right support frame are about The longitudinal center plane of the tea tree row is symmetrically arranged, and the guide frame is a closed U-shaped guide frame, and is specifically divided into a front left guide frame 10071 and a rear left guide frame 10073 located on the left, and a front right guide frame 10072 and a rear right guide frame 10074 located on the right, and the front left guide frame 10071 and the front right guide frame 10072 are symmetrical in space, and the rear left guide frame 10073 and the rear right guide frame 10074 are symmetrical in space, forming a front guide frame pair and a rear guide frame pair, which are used in pairs. The lower ends of the front left guide frame 10071 and the front right guide frame 10072 are tilted forward to provide traction support for the guide plate 10021 that envelops the front end of the covering skin. The rear left guide frame 10073 and the rear right guide frame 10074 are vertically downward to position, guide and traction support the pressure roller 1003; the left support frame is used to install the front left guide frame 10071 and the rear left guide frame 10073, and the right support frame is used to install the front right guide frame 10072 and the rear right guide frame 1 0074, the left end of the torsion spring reel 1006 is located on the left support frame, the right end of the torsion spring reel 1006 is located on the right support frame, and the two ends of the torsion spring reel 1006 extend out of the left support frame and the right support frame respectively, and both ends of the torsion spring reel 1006 are provided with a threaded section of a certain length, and the rear ends of the left longitudinal profile 10014 and the right longitudinal short profile 100113 are provided with a circular through hole with a diameter slightly larger than the torsion spring reel 1006, and the torsion spring reel 1006 is installed at the circular through hole and fixed with a nut;

[0049] The envelope covering skin includes a guide plate 10021 and an envelope layer 10022, the envelope layer 10022 is made of a thin and soft material, the guide plate 10021 is connected to the front left guide frame 10071 and the front right guide frame 10072, and the guide plate 10021 includes a flat section and a curling section fixed as one, the curling section is located in front of the flat section, and the front end of the curling section is bent upward, a rotating shaft 100221 is respectively installed on both sides between the flat section and the curling section, and the ends of the two rotating shafts 100221 extend to the hollows of the front left guide frame 10071 and the front right guide frame 10071, and can be respectively rotated along the front left guide frame 10071. 071 and the front right guide frame 10072 move, the front end of the envelope layer 10022 is connected to the rear end of the flat plate section, and the guide plate 10021 can drive the envelope layer 10022 to slide forward along the tea canopy surface, and the rear end of the envelope layer 10022 is provided with a redundant section, which can extend to the rear of the rear left guide frame 10073 and the rear right guide frame 10074. At the same time, the canopy envelope profiling module 10 is located as a whole in the front and upper part of the profiling tea plucking machine, and the envelope layer 10022 can always cover the tea canopy surface to be picked in front of the tea plucking module 7, thereby materializing the envelope surface of the tea canopy surface to be picked as a reference surface for accurate detection of the position of the tea canopy surface;

[0050] The pressure roller 1003 is located above the envelope layer 10022, and the two ends of the pressure roller 1003 are respectively connected to the hollow of the rear left guide frame 10073 and the hollow of the rear right guide frame 10074, and the pressure roller 1003 can move up and down along the rear left guide frame 10073 and the rear right guide frame 10074;

[0051] A plurality of torsion spring coils 1005 are installed axially of the torsion spring reel 1006, and the plurality of torsion spring coils 1005 correspond one to one to the plurality of pull ropes 1004, and one end of the pull rope 1004 is connected to the telescopic port of the torsion spring coil 1005, and the other end of the pull rope 1004 is connected to the tail edge of the redundant segment, and the pull rope 1004 can make the redundant segment vertical, so that the torsion spring coil 1005 can tighten (slightly tighten or even flatten) the envelope layer 10022 through the pull rope 1004.

[0052] During the design process, the torsion spring reel 1006, the pressure roller 1003, and the symmetric plane of the guide frame at the rear (in the direction of the tea tree row) are located in the same vertical plane. The gravity of the pressure roller 1003, the total tension of the torsion spring reel 1005, and the traction of the guide plate 10021 act together on the envelope layer 10022, so that the envelope layer 10022 is always in a "flat" equilibrium state and fits the tea shed surface to accurately present the envelope surface of the tea shed surface. At the same time, due to the blocking and pulling and pressing effects of the rear left guide frame 10073, the rear right guide frame 10074, the pressure roller 1003, and the pull rope 1004, the tail of the envelope layer 10022 is always kept at a fixed distance from the cutter, so as not to affect the picking operation of the cutter.

[0053] In this embodiment, the working principle of the canopy envelope profiling module 10 is as follows:

[0054] During operation, the envelope layer 10022 at the rear end of the envelope covering skin is always located in front of the cutter and directly below each sensor. Due to the traction and guiding effect of the front left guide frame 10071 and the front right guide frame 10072, which are tilted at the front end, when the envelope covering skin moves up and down following the ups and downs of the tea tent surface, its horizontal distance from the cutter will also change: when the envelope covering skin moves upward relative to the front left guide frame 10071 and the front right guide frame 10072, it is close to the cutter as a whole in the horizontal direction, and the envelope layer 10022 at the rear end will accumulate. At this time, under the pulling force of the torsion spring coil 1005, the redundant section of the envelope layer 10022 is pulled upward from under the pressure roller 1003; when the envelope covering skin moves downward relative to the front left guide frame 10071 and the front right guide frame 10072, it is far away from the cutter as a whole in the horizontal direction, and the envelope layer 10022 at the rear end will automatically stretch forward, dragging the soft material pulled up by the spring downward. As the tea shed surface rises and falls, the envelope covering skin as a whole not only rises and falls but also moves forward and backward. Therefore, no matter whether the envelope covering skin moves upward or downward, the envelope layer 10022 at the rear section can be in a flat state and always maintain a certain distance from the cutter, which neither affects the detection reference surface of the sensor nor the picking operation of the cutter.

[0055] The left support frame includes a left transverse profile 10013, a left longitudinal profile 10014, a left vertical profile 10011 and a left reinforcing rib 10012. The lower end of the left vertical profile 10011 is fixed to the walking chassis 1, the upper end of the left vertical profile 10011 is connected to one end of the left transverse profile 10013, the other end of the left transverse profile 10013 is connected to the middle part of the left longitudinal profile 10014, the two ends of the left longitudinal profile 10014 are respectively used to install the front left guide frame 10071 and the rear left guide frame 10073, and the left reinforcing rib 10012 is installed at the left transverse profile 10013 to improve the supporting strength;

[0056] The right support frame includes a right transverse profile 100111, a right longitudinal long profile 10018, a right longitudinal short profile 100113, a right vertical profile 100110, a right reinforcing rib 100112, a connecting profile 10016, a transverse support member 10017 and a longitudinal support member 10019, one end of the connecting profile 10016 is connected to the side wall of the lifting module 2, and the other end of the connecting profile 10016 is connected to one end of the right longitudinal long profile 10018. The other end of 10018 is connected to one end of the right transverse profile 100111, and the other end of the right transverse profile 100111 is connected to the middle of the right longitudinal short profile 100113. The two ends of the right longitudinal short profile 100113 are respectively used to install the front right guide frame 10072 and the rear right guide frame 10074. The right reinforcing rib 100112 is installed at the right longitudinal short profile 100113 to improve the supporting strength. One end of the transverse support member 10017 is connected to The side wall of the lifting module 2, the other end of the horizontal support member 10017 is connected to the lower end of the connecting profile 10016, and then the horizontal support member 10017 supports the connecting profile 10016 to ensure that the connecting profile 10016 can still be stable in the same horizontal plane when the right end is subjected to a downward load. One end of the longitudinal support member 10019 is connected to the right longitudinal long profile 10018, and the other end of the longitudinal support member 10019 is connected to the right vertical profile 100110, which plays a fixed supporting role; and the connecting profile 10016, the horizontal support member 10017, the right longitudinal long profile 10018, the longitudinal support member 10019 and the right longitudinal short profile 100113 constitute a three-dimensional space hanging mechanism, and then the corresponding part of the right support frame and the left support frame is fixed to the right side of the lifting module 2, so that the guide frames on the left and right sides are matched in pairs and are symmetrical about the longitudinal center plane of the tea tree row in space;

[0057] The middle support frame includes a front cross beam 10015, the two ends of which are respectively connected between the left longitudinal profile 10014 and the right longitudinal short profile 100113, mainly serving to connect the left support frame and the right support frame and increase the rigidity and strength of the support mechanism.

[0058] The present embodiment also includes a visual information acquisition module 11, which is mainly composed of a camera bracket and a visual camera. The module is fixedly installed as a whole in the center of the top front side of the lifting module 2. The camera bracket is fixedly connected to the lifting module 2 by bolts, and the visual camera is installed on the camera bracket. The visual camera is mainly used to collect visual information of the road condition in front of the profiling tea picking machine, so as to provide the visual navigation system with tea road detection and path extraction, and to perform navigation control of the profiling tea picking machine, so that the present embodiment has a visual navigation function, realizes autonomous operation, has a high level of intelligence, reduces labor input, and provides equipment and technical support for solving the problem of picking high-quality tea.

[0059] The control module 4 is an electrical control cabinet, which is mainly composed of electrical control circuits, controller mainboards, onboard computers, power supply 102 switches, circuit boards and other components. It is fixedly installed on the left side of the middle and rear section of the support plate 101, close to the rear side of the lifting module 2. It mainly completes functions such as operation information detection, control algorithm execution, and execution component instruction sending, and is used to realize the intelligent control of this embodiment.

[0060] The contoured tea plucking machine provided in this embodiment is suitable for plucking high-quality tea leaves from a tea garden with a relatively flat surface after pruning. The specific operation process is as follows:

[0061] The profiling tea picking machine as a whole travels in the inter-row area between two rows of tea trees in the tea garden. The cutter and the lifting frame 5 and other components are located directly above the tea canopy surface on the right side of the fuselage (based on the main view). The canopy envelope profiling module 10 is located in front of the cutter. The envelope covering skin covers the tea canopy surface, physically presenting the top envelope curved surface of the canopy surface area to be picked. The sensor is always located directly above the front of the cutter. The detection point of the sensor is located on the envelope layer 10022 of the envelope covering skin. Multiple sensors can measure multiple height position information of the top envelope curved surface of the tea tree canopy. The height position information of the tea canopy surface can be accurately estimated through noise reduction, filtering and other algorithm (Kalman) processing. According to the distance between the tea canopy surface and the cutter and the standard length required for picking high-quality tea, the lifting module 2 can be controlled to move in real time to adjust the position of the cutter and track the ups and downs of the tea canopy surface in real time. During the forward movement of the profiling tea picking machine in this embodiment, the cutter and the fan body 601 of the collection module run synchronously, and the wind generated by the fan mechanism 6 blows to the top of the cutter through the air supply duct mechanism 8, blowing the picked fresh tea leaves into the cutting fixed frame 703. The cutting fixed frame 703 is a bridge hole type frame structure, and a mesh leaf collection bag commonly used in tea picking machinery is hung at the tail, so that the fresh tea leaves are blown into the mesh leaf collection bag to complete the collection of tea leaves. In addition, the driving of the profiling tea picking machine in this embodiment is navigated by the visual information collection module 11 to achieve automatic driving; at the same time, a manual remote control driving mode is provided, and the mode selection and switching can be performed through the remote control. The cutter, the fan body 601 and other components are all provided with switch buttons on the remote control. When the fresh tea leaves in the mesh leaf collection bag are full, the force sensor provided at the connection between the cutting fixed frame 703 and the mesh leaf collection bag can be used to provide signal feedback to achieve shutdown and unloading, or it can be judged manually.

[0062] Traditional tea picking machines use sensors to directly measure the tea head surface to estimate the position of the tea head surface, which requires high sensor accuracy, is time-consuming to calculate, has poor real-time performance, large estimation errors, and high costs. Based on this, this embodiment innovatively proposes a flexible envelope technology to physically present the envelope surface of the tea head top surface. Ordinary industrial sensors can be used to accurately and efficiently detect the plane (curved surface) where most bud vertices in the tea head surface are located, which has the technical advantages of being simple, efficient, and accurate.

[0063] Traditional tea picking machines use manual mechanical driving, remote control driving and other modes, which have high operation intensity, low production efficiency and low intelligence. Based on this, this embodiment uses visual navigation technology to achieve autonomous navigation in the tea garden environment, reducing labor intensity and labor demand, and has the technical advantages of easy use and high production efficiency.

[0064] The chassis of the traditional tea plucking machine is not equipped with a shock absorbing system. For the work of picking high-quality tea, which requires extremely high machine operation stability, it is difficult to meet the operating requirements of the canopy detection system, cutter and other components, which seriously affects the picking quality. Based on this, the present embodiment adopts an electric push rod 104 and a shock absorbing spring 103 to cooperate to realize the active control of the vibration of the walking chassis 1. By detecting the motion and dynamic information of the top surface of the walking chassis 1, the electric push rod 104 is controlled to apply active displacement and acceleration to the top surface of the walking chassis 1 to offset the up and down bumps and vibrations of the walking chassis 1 caused by ground bumps, and always ensure that the top surface of the walking chassis 1 is in a horizontal state, ensuring the stability of the operating environment of key operating components such as the cutter, which is of great significance to improving the accuracy of the detection system and the following control system and improving the picking quality.

[0065] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A tea-picking machine, characterized in that: The utility model comprises a walking chassis, a control module, a canopy surface enveloping and profiling module, a canopy surface position detection module, a lifting module, a tea picking module and a collecting module. The lifting module is installed on the walking chassis. The tea picking module and the collecting module are both connected to the lifting end of the lifting module. The canopy surface enveloping and profiling module is located in front of the tea picking module and is used to envelop the tea canopy surface of the to-be-picked area in front of the tea picking module. The canopy surface position detection module is used to detect the tea leaf height information of the tea canopy surface of the to-be-picked area and transmit it to the control module. The control module can control the lifting and lowering of the lifting module according to the tea leaf height information. The lifting module is used to drive the tea picking module and the collecting module to rise and fall according to the tea leaf height information. The tea picking module is used to pick fresh tea leaves, and the collecting module is used to collect the picked fresh tea leaves.

2. The contour tea picking machine according to claim 1, characterized in that: The walking chassis is of electric crawler type, and the walking chassis includes a supporting chamber, a supporting plate, a bump handling mechanism, a power supply and a track body, the power supply is used to provide electrical energy, the supporting plate is located above the supporting chamber, and the upper surface of the supporting plate forms a mounting plane, the track body is installed on both sides of the supporting chamber, the bump handling mechanism is located in the supporting chamber, and the upper end of the bump handling mechanism extends out of the supporting chamber and is connected to the lower end of the supporting plate, and the bump handling mechanism is used to detect the vibration and bump of the supporting plate and adjust the height of the support plate in real time.

3. The contour tea picking machine according to claim 2, characterized in that: The bump handling mechanism includes multiple acceleration and displacement sensors, multiple shock-absorbing springs, and multiple electric push rods. The multiple acceleration and displacement sensors are arranged around the outer periphery of the support plate. Each acceleration and displacement sensor is used to detect the vibration acceleration and displacement information of the support plate and transmit it to the control module. The lower ends of each electric push rod and each shock-absorbing spring are fixed to the inner bottom surface of the support chamber, and the upper ends of each electric push rod and each shock-absorbing spring are connected to the lower end surface of the support plate. The control module can control the lifting and lowering of each electric push rod according to the information detected by the acceleration and displacement sensors.

4. The contour tea picking machine according to claim 1, characterized in that: The lifting module includes a servo motor, a ball screw mechanism and a moving slider. The lower end of the ball screw mechanism is installed on the upper end of the walking chassis. The servo motor is installed on the upper end of the ball screw mechanism and can drive the ball screw mechanism to rotate. The moving slider is located at the outer periphery of the ball screw mechanism, and the moving slider is fixedly connected to the nut on the ball screw and can be lifted and lowered with the rotation of the ball screw mechanism. The moving slider is the lifting end of the lifting module. The lifting module also includes a lifting frame, which includes a main frame, a connecting cross beam and two connecting longitudinal beams. One side of the frame is connected to the lifting end of the lifting module, and the other side of the main frame is connected to the connecting crossbeam through the two connecting longitudinal beams. The main frame is a rectangular frame surrounded by four supporting crossbeams, four supporting longitudinal beams and four supporting vertical beams; the collecting module is installed on the two supporting crossbeams located above, and the collecting module is located directly below the connecting crossbeams, the tea picking module is installed on the two supporting longitudinal beams located below, the canopy position detection module is installed below the connecting crossbeam, and the detection units of the canopy position detection module are distributed along the length direction of the connecting crossbeam.

5. The contour tea picking machine according to claim 1, characterized in that: The tea picking module includes a reciprocating cutter, a cutting drive motor, a cutting fixed frame and a cutting connecting sheet metal. The cutting fixed frame is connected to the lifting end of the lifting module through the cutting connecting sheet metal. The cutting drive motor and the reciprocating cutter are both installed at the front end of the cutting fixed frame. The cutting drive motor is used to control the reciprocating cutter to cut fresh tea leaves. A mesh leaf collecting bag is hung at the tail of the cutting fixed frame, and the leaf collecting bag is used to temporarily store the fresh tea leaves collected by the collection module.

6. The contour tea picking machine according to claim 1, characterized in that: The collecting module includes a fan mechanism and an air supply duct mechanism, the fan mechanism includes a fan body, a fan drive motor and an air supply hose, the air supply duct mechanism includes an exhaust pipe and an air supply connecting sheet metal, the fan body is installed at the lifting end of the lifting module, the fan drive motor is located above the fan body, and the fan drive motor is connected to the fan body through a coupling, the air outlet of the fan body is connected to one end of the air supply hose, and the other end of the air supply hose is connected to the exhaust air inlet of the exhaust pipe, the exhaust pipe has a plurality of exhaust air outlets, and the exhaust air outlet is located above and in front of the tea picking end of the tea picking module, the exhaust air outlet is used to blow away the fresh tea leaves picked by the tea picking module, and the exhaust pipe is connected to the tea picking module through the air supply connecting sheet metal.

7. The contour tea picking machine according to claim 1, characterized in that: The tea leaf position detection module includes a plurality of sensors, which are used to detect the height information of the tea leaf surface in the tea picking area in front of the tea picking module. The sensors are distance sensors, which use ultrasonic ranging, far infrared ranging or laser ranging.

8. The contour tea picking machine according to claim 1, characterized in that: The canopy envelope profiling module includes a support mechanism, and an envelope covering skin, a pressure roller, a pull rope, a torsion spring coil, a torsion spring reel and a guide frame installed on the support mechanism. The support mechanism includes a left support frame, a middle support frame and a right support frame. The lower end of the left support frame is installed on the walking chassis, one end of the right support frame is installed on the lifting module, the other end of the right support frame is connected to the left support frame with the middle support frame, and when in use, the left support frame and the right support frame are symmetrically arranged with respect to the longitudinal center plane of the tea tree row, and the guide frame includes a position The front left guide frame and the rear left guide frame on the left side, and the front right guide frame and the rear right guide frame on the right side, the lower ends of the front left guide frame and the lower ends of the front right guide frame are inclined forward, the left support frame is used to install the front left guide frame and the rear left guide frame, and the right support frame is used to install the front right guide frame and the rear right guide frame, the left end of the torsion spring reel is located on the left support frame, the right end of the torsion spring reel is located on the right support frame, and the two ends of the torsion spring reel extend out of the left support frame and the right support frame respectively and are limited by nuts; The envelope covering skin comprises a guide plate and an envelope layer, the guide plate is connected to the front left guide frame and the front right guide frame, and the guide plate comprises a flat plate section and a curled section fixed as one, the curled section is located in front of the flat plate section, and the front end of the curled section is bent upward, a rotating shaft is respectively installed on both sides between the flat plate section and the curled section, and the ends of the two rotating shafts extend to the hollows located in the front left guide frame and the front left guide frame, and can move along the front left guide frame and the front right guide frame respectively, the front end of the envelope layer is connected to the rear end of the flat plate section, and the guide plate can drive the envelope layer to slide forward along the tea canopy surface, and the rear end of the envelope layer is provided with a redundant section, and the redundant section can extend to the rear of the rear left guide frame and the rear right guide frame; The pressing roller is located above the envelope layer, and two ends of the pressing roller are respectively connected to the hollow of the rear left guide frame and the hollow of the rear right guide frame, and the pressing roller can move up and down along the rear left guide frame and the rear right guide frame; A plurality of torsion spring rolls are installed in the axial direction of the torsion spring reel, and the plurality of torsion spring rolls correspond one to one to the plurality of pull ropes, and one end of the pull rope is connected to the telescopic port of the torsion spring roll, and the other end of the pull rope is connected to the tail edge of the redundant segment, and the pull rope can make the redundant segment vertical.

9. The contour tea picking machine according to claim 8, characterized in that: The left support frame includes a left transverse profile, a left longitudinal profile, a left vertical profile and a left reinforcing rib, the lower end of the left vertical profile is fixed to the walking chassis, the upper end of the left vertical profile is connected to one end of the left transverse profile, the other end of the left transverse profile is connected to the middle part of the left longitudinal profile, the two ends of the left longitudinal profile are respectively used to install the front left guide frame and the rear left guide frame, and the left reinforcing rib is installed at the left transverse profile; The right support frame comprises a right transverse profile, a right longitudinal long profile, a right longitudinal short profile, a right vertical profile, a right reinforcing rib, a connecting profile, a transverse support member and a longitudinal support member, one end of the connecting profile is connected to the side wall of the lifting module, the other end of the connecting profile is connected to one end of the right longitudinal long profile, the other end of the right longitudinal long profile is connected to one end of the right transverse profile, the other end of the right transverse profile is connected to the middle part of the right longitudinal short profile, the two ends of the right longitudinal short profile are respectively used to install the front right guide frame and the rear right guide frame, the right reinforcing rib is installed at the right longitudinal short profile, one end of the transverse support member is connected to the side wall of the lifting module, the other end of the transverse support member is connected to the lower end of the connecting profile, one end of the longitudinal support member is connected to the right longitudinal long profile, and the other end of the longitudinal support member is connected to the right vertical profile; The middle support frame comprises a front cross beam, and two ends of the front cross beam are respectively connected between the left longitudinal profile and the right longitudinal short profile.

10. The contour tea picking machine according to claim 1, characterized in that: It also includes a visual information collection module, which is installed on the top front side of the lifting module, and is used to collect visual information of the road condition ahead, and can transmit the collected information to the control module, which is an electrical control cabinet.

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