Crawler-type height self-adjusting intelligent tea picking device

Abstract

The invention relates to a crawler-type height self-adjusting intelligent tea picking device which comprises a rigid frame, a tea picking assembly and walking assemblies installed on the two sides of the bottom of the rigid frame. The tea picking assembly is suspended in the rigid frame through the height adjusting assembly; the height adjusting assembly comprises a driving height adjusting rod and an auxiliary supporting rod; the fixed end of the active height adjusting rod is rotationally connected to the top of the inner wall of the rigid frame, and the movable end is rotationally connected with the side wall of the tea picking assembly through a spherical hinge; the fixed end of the auxiliary supporting rod is rotationally connected to the top of the inner wall of the rigid frame, and the movable end is rotationally connected with the side wall of the tea picking assembly through a spherical hinge; a central control module is installed on the top of the rigid frame, and five-direction adjustment of the tea picking assembly is achieved. Five-direction adjustment of the tea leaf picking assembly can be achieved through stretching and retracting of the two active height adjusting rods and opening and closing of the electromagnetic valves, and the flexibility of the tea leaf picking assembly is greatly improved; therefore, the tea picking efficiency is improved, and damage to tea trees is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, in particular to a crawler-type height-self-adjusting intelligent tea-picking device. Background Art

[0002] Mechanized tea picking equipment is widely used in modern agricultural production, but most traditional tea picking machines adopt a structural design with a fixed tea picking height and cannot adapt to the complex terrain of tea gardens.

[0003] In particular, some tea gardens are located on hilly, terraced fields, and other sloping terrain. This makes it difficult for traditional, fixed-height tea-picking equipment to maintain an ideal picking position. This makes it difficult to ensure that the shears used in the tea-picking equipment accurately align with the cutting line of each row of tea trees, thus affecting the quality of the picking. Furthermore, shears that are not aligned with the cutting line can damage the tea trees.

[0004] In the existing technology, although some tea picking equipment has introduced a height adjustment mechanism, most of them adopt manual adjustment or have a single adjustment direction, which is difficult to adapt to complex and changeable terrain conditions, affecting the continuity and efficiency of tea picking operations.

[0005] Therefore, it is very necessary to invent a tea plucking machine with a height adjustment component to overcome the problem that the height of tea plucking equipment in the prior art is not adjustable or the adjustment ability is insufficient. Summary of the Invention

[0006] The present invention provides a crawler-type height-self-adjusting intelligent tea-picking device, which can achieve efficient adaptation to various complex terrains through the optimized design of the height adjustment component, combined with the coordinated cooperation of the crawler walking mechanism, the rigid frame and the tea-picking component. In addition, the five-way adjustment of the tea-picking component can be achieved only by actively controlling the extension and retraction of two active height adjustment rods and the opening and closing of the solenoid valve, which greatly improves the flexibility of the tea-picking component. In this way, the present invention can improve the tea-picking efficiency and reduce the damage to the tea trees, so as to overcome the technical problems existing in actual use proposed in the background technology.

[0007] A crawler-type height-adjustable intelligent tea-picking device comprises a rigid frame, a tea-picking assembly, and walking assemblies mounted on both sides of the bottom of the rigid frame; wherein the tea-picking assembly is suspended inside the rigid frame via a height-adjusting assembly; The height adjustment assembly is symmetrically arranged on both sides of the tea picking assembly, and includes an active height adjustment rod and an auxiliary support rod; the fixed end of the active height adjustment rod is rotatably connected to the top of the inner wall of the rigid frame, and the movable end is rotatably connected to the side wall of the tea picking assembly through a ball joint; the auxiliary support rod is arranged on both sides of the active height adjustment rod, the fixed end of which is rotatably connected to the top of the inner wall of the rigid frame, and the movable end is rotatably connected to the side wall of the tea picking assembly through a ball joint, and the air inlet is connected to a solenoid valve, which is used to control the air inlet and outlet directions of the pneumatic telescopic rod; A central control module is installed on the top of the rigid frame, and the extension and retraction of the active height adjustment rod, the auxiliary support rod and the solenoid valve are electrically connected to the central control module; the central control module is used to control the extension and retraction of the active height adjustment rod and the air intake and exhaust directions of the solenoid valve. It controls the height adjustment component to drive the tea picking component to achieve five-way adjustment in the directions of X-axis, Y-axis, Roll angle, Pitch angle and Yaw angle through a combination of the extended and retracted state of the active height adjustment rod and the air intake and exhaust directions of the solenoid valve.

[0008] The rigid frame includes an upper steel frame and a lower support, and the lower support is fixed to the bottom of the upper steel frame; the upper steel frame is spliced into a sun shape by multiple square steel pipes, and the lower support includes four vertically arranged circular steel pipes; wherein, the central control module is arranged on the upper steel frame, and the lower support is connected to the walking component.

[0009] The rigid frame and the lower bracket are both provided with cable ducts inside, and the cable ducts are used for routing cables of the central control module.

[0010] The active height adjustment rod includes an electric telescopic rod and a double L-shaped connector; wherein the double L-shaped connector is mounted on the top of the rigid frame; one end of the electric telescopic rod is rotatably connected to the double L-shaped connector, and the other end is connected to the tea picking assembly via a first ball joint; The auxiliary support rod includes a single L-shaped connector and a pneumatic telescopic rod; wherein, the single L-shaped connector is installed on the top of the rigid frame and is symmetrically arranged on both sides of the double L-shaped connector; one end of the pneumatic telescopic rod is connected to the single L-shaped connector through a second ball joint, and the other end is connected to the tea picking assembly through a third ball joint; the solenoid valve is installed on one side of the pneumatic telescopic rod.

[0011] The telescopic end of the electric telescopic rod is provided with a rectangular column, the fixed end of the first ball joint is fixed with a limit nut, and the rectangular column passes through the limit nut to achieve the connection between the electric telescopic rod and the first ball joint; The electric telescopic rod and the double L-shaped connector are rotatably connected via a bolt that passes through the connector in a horizontal direction; and spring washers are sleeved between the fixed ends of the bolt and the double L-shaped connector.

[0012] The electric telescopic rod includes an electric cylinder and an electric push rod; wherein a sliding bearing is provided on the outside of the electric push rod.

[0013] The second and third ball joints each include a ball rod and a fixing member; the ball rod is fixed to the tea picking assembly and the single L-shaped connector, respectively, and includes a ball portion and a straight rod portion; a spherical groove is formed on one side of the fixing member for clamping the ball portion of the ball rod; The ball part includes a disc-shaped connecting piece and a columnar fixed connecting short rod; wherein, the disc-shaped connecting piece is used to fix the ball rod to the tea picking component and the single L-shaped connecting piece respectively, and the columnar fixed connecting short rod is used to connect the disc-shaped connecting piece and the ball part.

[0014] The central control module includes a controller housing, a laser radar, a depth camera, an inertial sensor, a pressure sensor and a core control board; the controller housing is installed in the middle of the top of the rigid frame, and the core control board is arranged inside the controller housing; the laser radar and the depth camera are both arranged at the front end of the top of the rigid frame; the inertial sensor is arranged inside the controller housing; the pressure sensor is arranged at the connection between the pneumatic telescopic rod and the ball joint.

[0015] The tea picking assembly includes a cover, a spiral wheel shaft, a fixed rake, a base frame, a fence-shaped cutter, a tea picking motor and a fixed cover; The base frame includes a horizontally arranged bottom plate and vertically arranged support plates on both sides. A plurality of fence-shaped cutters are arranged in an array along the length of one side of the bottom plate for cutting tea leaves. The cover is mounted on the top of the base frame in parallel along the length direction, and a tea picking chamber is enclosed between the cover and the base frame; The spiral wheel shaft is installed inside the tea picking chamber and rotates along the central axis of the tea picking chamber; one end of the spiral wheel shaft is coaxially fixed to the tea picking motor, and the tea picking motor is installed outside the base frame; The fixed rake is installed inside the tea picking chamber along a direction perpendicular to the central axis of the spiral wheel shaft, and the fixed rake is tilted toward the hedge-shaped tool; a plurality of fixed rakes are arranged in an array along the central axis of the spiral wheel shaft, and are arranged in the gap between the paddles of the spiral wheel shaft; the base frame is provided with a strip-shaped discharge port on the opposite side of the hedge-shaped tool for discharging the sheared tea leaves; a collection hopper is provided below the discharge port for collecting tea leaves.

[0016] The exterior of the tea-picking motor is covered with a fixed cover.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The crawler-type, height-adjusting, intelligent tea-picking device provided herein utilizes a central control module to control the extension and retraction of an active height-adjusting lever, which in turn controls the air inlet and outlet directions of a solenoid valve, thereby switching the auxiliary support levers between a non-extendable and non-retractable state. By independently controlling the four auxiliary support levers on either side, the upward and downward extension and retraction of the active height-adjusting levers is converted into five-way adjustment in the X-axis, Y-axis, roll angle, pitch angle, and yaw angle directions. This allows the device to adapt to changing terrain, ensuring that the tea-picking assembly is always at the optimal operating height and posture, minimizing damage to tea plants.

[0018] 2. The crawler-type, height-adjustable, intelligent tea-picking device provided in this application utilizes the high grip of its walking assembly. After monitoring terrain using inertial sensors and depth cameras, it coordinates with the height adjustment assembly to adjust the center of gravity of the entire tea-picking device. This allows the device to flexibly adapt to tea gardens of varying slopes, improving its terrain adaptability.

[0019] 3. The crawler-type, height-adjustable, intelligent tea-picking device provided herein utilizes a rigid frame to provide mechanical stability for the entire device. Furthermore, the stop nuts on the active height-adjustment levers and the spring washers on the auxiliary support levers effectively enhance the cushioning capacity during height adjustment, preventing movement dislocation of the tea-picking components, reducing vibration, and improving the operational continuity of the entire device.

[0020] 4. The crawler-mounted, height-adjustable intelligent tea-picking device provided in this application utilizes lidar, a depth camera, an inertial sensor, and a pressure sensor. The lidar analyzes the reflective properties of surfaces, combined with multispectral imaging data from the depth camera, to construct a three-dimensional feature model of the tea tree canopy and intelligently identify the textural differences between young buds and older leaves. Simultaneously, the inertial sensor continuously monitors the device's tilt angle and motion trajectory, integrating terrain data with the spatial model. Combined with the pressure sensor, the device collects real-time contact force parameters between the tea-picking assembly and the tea tree branches, forming a dynamic feedback mechanism. The core control board then processes this multi-source data through the control system, automatically adjusting the height, pitch angle, and penetration depth of the tea-picking mechanism by controlling solenoid valves and electric actuators. This ensures that the blade maintains a precise pressure threshold when contacting young buds, preventing damage to the tea tree's epidermis due to mechanical overload. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is the overall structural diagram of the crawler-type height self-adjusting intelligent tea picking device of the present invention; Figure 2This is a structural diagram of the height adjustment component of the crawler-type height self-adjusting intelligent tea picking device of the present invention; Figure 3 This is a rigid frame structure diagram of the crawler-type height self-adjusting intelligent tea picking device of the present invention; Figure 4 This is a structural diagram of the tea picking components of the crawler-type height self-adjusting intelligent tea picking device of the present invention; Figure 5 This is a structural diagram of the walking assembly of the crawler-type height self-adjusting intelligent tea picking device of the present invention; Figure 6 This is the overall structural diagram of the crawler-type height self-adjusting intelligent tea picking device from another perspective of the present invention.

[0022] In the figure: 10, height adjustment assembly; 20, rigid frame; 30, tea picking assembly; 40, walking assembly; 50, collection hopper; 11. Active height adjustment rod; 12. Auxiliary support rod; 111. Double L-shaped connector; 112. Spring washer; 113. Push rod motor; 114. Electric cylinder; 115. Electric push rod; 116. Sliding bearing; 117. Limit nut; 118. Ball joint; 121. Single L-shaped connector; 122. Pressure sensor; 123. Solenoid valve; 124. Pneumatic cylinder; 125. Pneumatic rod; 126. Oval connecting hole; 127. Columnar fixed connecting rod; 128. Disc-shaped connector; 21. Upper steel frame; 22. Lower bracket; 23. Central control module; 24. LiDAR; 25. Depth camera; 26. Inertial sensor; 27. Flange connector; 31. Cover; 32. Spiral axle; 33. Fixed harrow; 34. Base frame; 35. Hedge cutter; 36. Tea picking motor; 37. Fixed cover; 41. U-shaped support frame; 42. Drive motor; 43. Passive driving wheel; 44. Active driving wheel; 45. Track. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention are clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0024] Reference Figure 1 The present application provides a crawler-type height-self-adjusting intelligent tea-picking device, which includes a rigid frame 20, a tea-picking component 30, and walking components 40 installed on both sides of the bottom of the rigid frame 20.

[0025] The rigid frame 20 provided in this application is mainly used to fix each functional component (such as the tea picking component 30, the traveling component 40, etc.). It consists of an upper steel frame 21 and a lower support 22. Among them, the lower support 22 is fixed to the bottom of the upper steel frame; its specific structure depends on Figure 3 As shown, the upper steel frame 21 is spliced into a "day" shape by multiple square steel pipes, and the lower support 22 includes four vertically arranged circular steel pipes; a central control module 23 is arranged on the upper steel frame 21, and the lower support 22 is connected to the traveling component 40. The rigid frame 20 provides structural support for the entire device and also provides a fixed reference point for the tea picking component 30; among them, the lower support 22 is connected to the traveling component 40 through a flange connector 27.

[0026] The tea picking component 30 is suspended and installed inside the rigid frame 20 through a height adjustment component 10; the height adjustment component 10 is symmetrically arranged on both sides of the tea picking component 30, and it includes a main height adjustment rod 11 and an auxiliary support rod 12. When the device is working, the height adjustment component 10 will combine with the sensing elements included in the central control module 23 to perform terrain detection, so that the tea picking component 30 can achieve real-time height adjustment under different slope and terrain conditions; specifically, the auxiliary support rod 12 and the main height adjustment rod 11 work together to enhance the support force of the device on complex terrains.

[0027] The specific structure refers to Figure 2 As shown, the fixed end of the main height adjustment rod 11 is rotatably connected to the top of the inner wall of the rigid frame 20, and its movable end is rotatably connected to the side wall of the tea picking component 30 through a ball joint 118; the auxiliary support rod 12 is arranged on both sides of the main height adjustment rod 11, its fixed end is rotatably connected to the top of the inner wall of the rigid frame 20, and its movable end is rotatably connected to the side wall of the tea picking component 30 through a ball joint 118.

[0028] The specific structure of the main height adjustment rod 11 refers to Figure 2 As shown, it includes an electric telescopic rod and a double L-shaped connecting piece 111; among them, the double L-shaped connecting piece 111 is installed on the top of the rigid frame 20; one end of the electric telescopic rod is rotatably connected to the double L-shaped connecting piece 111, and the other end is rotatably connected to the housing 31 through a first ball joint 118; among them, the push rod motor 113 used for the electric telescopic rod is fixedly installed at the lower part of the rigid frame 20, and the telescopic movement of the push rod is used to drive the tea picking component 30 to adjust its height, so that the tea picking component 30 is always at the optimal working height.

[0029] The specific structure of the auxiliary support rod 12 refers to Figure 2As shown, it includes a single L-shaped connector 121, a solenoid valve 123 and a pneumatic telescopic rod, wherein the pneumatic telescopic rod includes a pneumatic cylinder 124 and a pneumatic rod 125; wherein, the single L-shaped connector 121 is installed on the top of the rigid frame 20 and is symmetrically arranged on both sides of the double L-shaped connector 111; one end of the pneumatic telescopic rod is connected to the single L-shaped connector 121 through a second ball joint 118, and the other end thereof is connected to the cover 31 through a third ball joint 118, and an elliptical connecting hole 126 is provided on the connecting side of the third ball joint 118 for connecting to the cover 31; and, a solenoid valve 123 is installed on one side of the pneumatic telescopic rod, and the solenoid valve 123 is used to control the air inlet and outlet directions of the pneumatic telescopic rod.

[0030] The disc-shaped connector 128 and cylindrical fixed connecting rod 127 at the third ball joint provide additional mechanical support, allowing the device to maintain a level position even on rough terrain, improving operational stability. The single L-shaped connector 121, the elliptical connecting hole 126, and the ball joint 118 form a linked structure, allowing the auxiliary support rod 12 to provide a buffer when the height adjustment assembly 10 changes height, reducing the impact of sudden rises and falls of the tea picking assembly 30 on the stability of the entire device.

[0031] After the entire device has completed the tea picking operation, when the tea picking component 30 in the initial state deviates in height due to changes in the terrain, the active height adjustment rod 11 will automatically adjust the electric push rod 115 under the feedback of the central control module 23, and then cooperate with the solenoid valve 123 to control the air inlet and outlet directions of the pneumatic telescopic rod, so that the tea picking component 30 is always in the ideal cutting position to ensure the picking quality.

[0032] Furthermore, the specific operation of making the tea picking assembly 30 always in the ideal shearing position is as follows: the ball joint 118 provided at the rotational connection between the active height adjustment rod 11 and the auxiliary support rod 12 of the present application can be used to enhance the rotational freedom of the support rod, so that it can adapt to the ground undulations at a larger angle. Specifically, the height adjustment assembly 10 is connected to the tea picking assembly 30 through six ball joints 118 (the first ball joint, the second ball joint, and the third ball joint). Through the telescopic movement of the active height adjustment rod 11 and the pneumatic control of the auxiliary support rod 12, and with the help of the multi-degree-of-freedom characteristics of the ball joint 118, the five-dimensional motion control of the tea picking assembly 30, including forward and backward displacement, vertical lifting, pitch tilt, lateral swing, and heading adjustment, can be accurately achieved.

[0033] Reference Figure 2 and 3 The central control module 23 includes a controller housing, a laser radar 24, a depth camera 25, an inertial sensor 26, a pressure sensor 122 and a core control board; the controller housing is installed in the middle of the top of the rigid frame 20, and the core control board is set inside the controller housing.

[0034] Among them, the core control board is integrated into the controller cabin at the top of the frame in a sealed protective structure to form a complete control center; the laser radar 24 and the depth camera 25 are both arranged at the front end of the top of the rigid frame 20. The laser radar 24 is responsible for scanning the three-dimensional spatial information of the working area, while the depth camera 25 focuses on obtaining stereoscopic visual data from a near-ground perspective; the inertial sensor 26 is arranged inside the controller shell to capture the dynamic posture parameters of the equipment; the pressure sensor 122 is arranged at the connection between the pneumatic telescopic rod and the ball joint 118.

[0035] During operation, the LiDAR 24 analyzes the reflective properties of surfaces and, combined with multispectral imaging data from the depth camera 25, constructs a three-dimensional feature model of the tea tree canopy, intelligently identifying the textural differences between young buds and older leaves. Simultaneously, the inertial sensor 26 continuously monitors the equipment's tilt angle and trajectory, integrating terrain data with the spatial model to form the basis for the control system to adjust the tea plucking assembly 30. At this time, the pressure sensor 122 collects the contact force parameters between the tea plucking assembly 30 and the tea tree branches in real time, forming a dynamic feedback mechanism.

[0036] After the core control board processes these multi-source data through the control system, it automatically adjusts the height, pitch angle, and cutting depth of the tea picking mechanism by controlling the solenoid valve 123 and the electric push rod 115, ensuring that the cutter maintains a precise pressure threshold when contacting the tender buds, thereby avoiding damage to the tea tree epidermis due to mechanical overload. Thus, the entire device provided by this application can achieve intelligent adaptation of the equipment posture and cutting action during tea picking operations through the three-level linkage of sensor collaboration, data fusion, and closed-loop control.

[0037] Specifically for the above operations, the present application classifies tea leaves by combining the point cloud data of the lidar 24 and the images of the depth camera 25, and performs feedforward adaptive adjustment on the tea picking component 30 in conjunction with the inertial sensor 26, and then performs feedback adjustment on the height and posture of the tea picking component 30 by integrating the data of the pressure sensor 122 in the auxiliary support rod 12, so as to avoid damaging the tea tree; specifically, the pressure sensor 122 detects the resistance of the tea knife in real time, and feeds back to the central controller to adjust the height of the tea picking component 30.

[0038] Specifically, the core control board can control the air inlet and outlet directions of the pneumatic cylinder 124 through the solenoid valve 123, thereby realizing the adjustment force direction of the auxiliary support rod 12, and combined with the reciprocating motion of the active height adjustment rod 11, the five-way adjustment of the tea picking component 30 can be realized.

[0039] In addition, in hilly or sloping tea gardens, the tea picking device is prone to tilting or overturning due to the shift of the center of gravity. However, the present application can realize the intelligent adjustment of the center of gravity through the cooperation of the active height adjustment rod 11 and the auxiliary support rod 12. The specific working steps are: when the device moves to an area with a larger slope, the inertial sensor 26 detects the change in the tilt angle, and the central control module 23 controls the push rod motor 113 to adjust the height of one side of the tea picking device by means of the extension and retraction of the electric push rod 115, so that the center of gravity of the device always remains stable. At the same time, the auxiliary support rod 12 provides buffer support during the center of gravity adjustment process to prevent the equipment from shaking violently due to excessive adjustment speed, thereby improving overall stability.

[0040] Reference Figure 3 The tea picking assembly 30 includes a cover 31, a spiral wheel shaft 32, a fixed rake 33, a base frame 34, a fence-shaped cutter 35, a tea picking motor 36 and a fixed cover 37; the base frame 34 includes a horizontally arranged bottom plate and vertically arranged support plates on both sides. One side of the base plate is arranged with a plurality of fence-shaped cutters 35 arranged in an array along its own length direction for cutting tea leaves; the cover 31 is installed parallel to the top of the base frame 34 along the length direction, and a tea picking chamber is enclosed between the cover 31 and the base frame 34; the spiral wheel shaft 32 is installed inside the tea picking chamber and rotates around the central axis of the tea picking chamber; one end of the spiral wheel shaft 32 is coaxially fixed to the tea picking motor 36, and the tea picking motor 36 is installed outside the base frame 34; The fixed rake 33 is installed inside the tea picking chamber along a direction perpendicular to the central axis of the spiral wheel shaft 32, and the fixed rake 33 is tilted toward the hedge cutter 35; a plurality of fixed rakes 33 are arranged in an array along the central axis of the spiral wheel shaft 32, and are arranged in the gap between the paddles of the spiral wheel shaft 32; the spiral wheel shaft 32 in the tea picking assembly 30 is combined with the hedge cutter 35 for precise shearing, and cooperates with the fixed rake 33 to collect tea leaves, thereby reducing tea loss and improving picking efficiency; thereby, the present application can shear tea leaves through the cooperation of the spiral wheel shaft 32 and the hedge cutter 35, and realize orderly collection of tea leaves with the help of the fixed rake 33, thereby improving picking accuracy and efficiency.

[0041] Specifically, the spiral axle 32 drives the plucked tea leaves along a specific direction to the collection area through rotation. At the same time, the fixed harrow 33 works in conjunction with the spiral axle 32 to ensure that the tea leaves do not scatter and improve the picking quality.

[0042] In addition, refer to Figure 4 The travel assembly 40 of this device consists of a U-shaped support frame 41, a drive motor 42, active travel wheels 44, passive travel wheels 43, and tracks 45. This provides stable travel and ensures continuous operation. Furthermore, in muddy terrain, the travel assembly 40 provides a larger contact area, preventing the device from sinking.

[0043] The height adjustment assembly 10 works in conjunction with the travel assembly 40, enabling the tea plucking assembly 30 to maintain the optimal height and posture for tea picking operations under varying terrain conditions. Because the height adjustment assembly 10 moves only in a plane parallel to the L-shaped connectors (single L-shaped connector and double L-shaped connector 111), the two sets of height adjustment assemblies 10 are connected to the housing 31 of the tea plucking assembly 30 via six ball joints 118 (first ball joint 118, second ball joint 118, and third ball joint 118). The two active height adjustment rods 11 reciprocate and extend, and the opening and closing mechanisms of the solenoid valves 123 of the four auxiliary support rods 12 control the length locking and unlocking of the auxiliary support rods 12. Combined with the high flexibility of the ball joints 118, the tea plucking assembly 30 can achieve five-dimensional movement (forward and backward, up and down, pitch, roll, and heading).

[0044] Specifically, the auxiliary support rods 12 on the left side along the positive direction of the X-axis are marked as auxiliary support rods 122 and auxiliary support rods 121, and the active height adjustment rod 11 here is marked as active height adjustment rod 11A; the auxiliary support rods 12 on the right side along the positive direction of the X-axis are marked as auxiliary support rods 124 and auxiliary support rods 123, and the active height adjustment rod 11 here is marked as active height adjustment rod 11B; the applicant determines whether the auxiliary support rod 12 is allowed to be extended or retracted, and whether the active height adjustment rod 11 is extended or retracted. For specific operating logic, please refer to the control logic correspondence table of the five-way adjustment method of the active height adjustment rod 11 and the auxiliary support rod 12.

[0045] Active height adjustment lever and auxiliary support lever control logic five-way adjustment method correspondence table (taking the forward direction as an example) Preferably, both the rigid frame 20 and the lower bracket 22 are provided with cable ducts for routing cables of the central control module 23 .

[0046] Preferably, a rectangular column is provided at the telescopic end of the electric telescopic rod, and a limiting nut 117 is fixed to the fixed end of the first ball joint 118. The rectangular column passes through the limiting nut 117 to realize the connection between the electric telescopic rod and the first ball joint 118 to ensure that the electric telescopic rod will not be positionally shifted when the height changes, and at the same time provide the necessary buffering effect to reduce vibration during the height adjustment process, avoid severe vibration affecting the normal operation of the equipment, and at the same time reduce mechanical wear and improve the durability of the equipment.

[0047] The electric telescopic rod is pivotally connected to the double L-shaped connector 111 via a horizontally extending latch. Furthermore, spring washers 112 are positioned between the fixed ends of the latch and the double L-shaped connector 111, providing additional cushioning to reduce sudden vibrations caused by terrain changes, ensuring smoother and more reliable adjustment. This ensures that the electric telescopic rod does not shift during height changes and provides the necessary cushioning to reduce vibration during height adjustment.

[0048] Preferably, the electric telescopic rod includes an electric cylinder 114 and an electric push rod 115; wherein, a sliding bearing 116 is provided on the outside of the electric push rod 115 to guide the movement direction of the electric push rod 115, ensuring the stable operation of the electric telescopic rod during the lifting process, reducing shaking and mechanical wear, and improving the smoothness and durability of the adjustment process.

[0049] Preferably, the second ball joint 118 and the third ball joint 118 each include a ball rod and a fixing member; the ball rod is fixed to the housing 31 and the single L-shaped connector, respectively, and includes a ball portion and a straight rod portion; a spherical groove is provided on one side of the fixing member for clamping the ball portion of the ball rod; The ball section includes a disc-shaped connector 128 and a cylindrical fixed connecting rod 127. The disc-shaped connector 128 is used to secure the ball section to the housing 31 and the single L-shaped connector, respectively. The cylindrical fixed connecting rod 127 connects the disc-shaped connector 128 to the ball section. The single L-shaped connector 121, in conjunction with the elliptical hole and ball joint 118, forms an adaptive linkage structure. The combined support of the disc base and the cylindrical rod ensures that the device maintains a horizontal position even in complex terrain.

[0050] Preferably, a fixed cover 37 is provided on the outside of the tea picking motor 36 to protect the tea picking motor 36.

[0051] Working principle: First, the tea picking device moves along the tea tree collection direction under the drive of the walking assembly 40. When the inertial sensor 26 detects that the tea picking device is going uphill, the tea picking assembly 30, under the control of the central control module 23, lifts up and tilts upward to match the situation where the tea trees are tilted along the slope.

[0052] At this time, the fence-shaped cutter 35 will cut the tea leaves of appropriate length along the picking line, and push the tea leaves toward the outlet direction of the tea picking assembly 30 through the spiral wheel shaft 32. Finally, the tea leaves are discharged and fall into the collecting hopper 50.

[0053] Simultaneously, the LiDAR 24 and depth camera 25 collaborate to construct a three-dimensional feature model of the tea tree canopy, intelligently identifying the textural differences between young buds and older leaves. The pressure sensor then senses the reaction force of the tea branches. When the reaction force exceeds a preset pressure value, it indicates that the tea plucking assembly 30 on that side has been lowered too low. At this point, under the control of the central control module 23, the tea plucking assembly 30 rotates along the roll angle, lifting the side with the excessive feedback force upward to avoid damaging the tea tree.

[0054] Then, when the tea picking device moves to the four corners where it is inconvenient to move forward, the tea picking component 30 can move forward and rotate along the yaw angle under the control of the central control module 23 to ensure the integrity of the picking as much as possible.

Claims

1. A crawler-type height-self-adjusting intelligent tea-picking device, comprising a rigid frame (20), a tea-picking assembly (30), and walking assemblies (40) mounted on both sides of the bottom of the rigid frame (20); wherein, The tea picking component (30) is suspended and installed inside the rigid frame (20) through the height adjustment component (10); it is characterized in that: The height adjustment components (10) are symmetrically arranged on both sides of the tea picking component (30), and each height adjustment component (10) includes a main height adjustment rod (11) and an auxiliary support rod (12); the fixed end of the main height adjustment rod (11) is rotatably connected to the top inner wall of the rigid frame (20), and its movable end is rotatably connected to the side wall of the tea picking component (30) through a spherical hinge (118); the auxiliary support rods (12) are arranged on both sides of the main height adjustment rod (11), the fixed end of each auxiliary support rod (12) is rotatably connected to the top inner wall of the rigid frame (20), and its movable end is rotatably connected to the side wall of the tea picking component (30) through a spherical hinge (118), and an air inlet of each auxiliary support rod (12) is connected with a solenoid valve (123), and the solenoid valve (123) is used to control the air inlet and outlet directions of the pneumatic telescopic rod; A central control module (23) is installed on the top of the rigid frame (20), and the telescoping of the main height adjustment rod (11), the auxiliary support rods (12) and the solenoid valve (123) are all electrically connected to the central control module (23); the central control module (23) is used to control the telescoping of the main height adjustment rod (11) and the air inlet and outlet directions of the solenoid valve (123), and through the combination of the extending and retracting states of the main height adjustment rod (11) and the air inlet and outlet directions of the solenoid valve (123), the central control module (23) controls the height adjustment component (10) to drive the tea picking component (30) to achieve five-way adjustment in the directions of the X-axis, Y-axis, Roll roll angle, Pitch pitch angle and Yaw yaw angle.

2. The crawler type height self-adjusting intelligent tea picking device according to claim 1, wherein The rigid frame (20) includes an upper steel frame (21) and a lower support, and the lower support (22) is fixed to the bottom of the upper steel frame; the upper steel frame (21) is spliced into a shape like the Chinese character "Ri" by multiple square steel pipes, and the lower support (22) includes four vertically arranged circular steel pipes; wherein, the central control module (23) is arranged on the upper steel frame (21), and the lower support (22) is connected with the traveling component (40).

3. The crawler type height self-adjusting intelligent tea picking device according to claim 2, wherein Wire grooves are provided inside both the rigid frame (20) and the lower support (22), and the wire grooves are used for the central control module (23) to route wires.

4. The crawler type height self-adjusting intelligent tea picking device according to claim 1, wherein The main height adjustment rod (11) includes an electric telescopic rod and a double L-shaped connecting piece (111); wherein, the double L-shaped connecting piece (111) is installed on the top of the rigid frame (20); one end of the electric telescopic rod is rotatably connected to the double L-shaped connecting piece (111), and the other end thereof is connected to the tea picking component (30) through a first spherical hinge (118); The auxiliary support rod (12) includes a single L-shaped connector (121) and a pneumatic telescopic rod; wherein the single L-shaped connector (121) is mounted on the top of the rigid frame (20) and is symmetrically arranged on both sides of the double L-shaped connector (111); one end of the pneumatic telescopic rod is connected to the single L-shaped connector (121) via a second ball joint (118), and the other end thereof is connected to the tea picking assembly (30) via a third ball joint (118); the solenoid valve (123) is mounted on one side of the pneumatic telescopic rod.

5. The crawler-type height-adjusting intelligent tea-picking device according to claim 4, characterized in that: The telescopic end of the electric telescopic rod is provided with a rectangular column, the fixed end of the first ball joint (118) is fixed with a limiting nut (117), and the rectangular column passes through the limiting nut (117) to achieve the connection between the electric telescopic rod and the first ball joint (118); The electric telescopic rod and the double L-shaped connecting piece (111) are rotatably connected via a bolt that passes through in a horizontal direction; and spring washers (112) are sleeved between the fixed ends on both sides of the bolt and the double L-shaped connecting piece (111).

6. The crawler-type height-adjusting intelligent tea-picking device according to claim 4, characterized in that: The electric telescopic rod comprises an electric cylinder (114) and an electric push rod (115); wherein a sliding bearing (116) is provided on the outside of the electric push rod (115).

7. The crawler-type height-adjusting intelligent tea-picking device according to claim 4, characterized in that: The second ball joint (118) and the third ball joint (118) each include a ball rod and a fixing member; the ball rod is fixed to the tea picking assembly (30) and the single L-shaped connecting member, respectively, and includes a ball portion and a straight rod portion; a spherical groove is provided on one side of the fixing member for clamping the ball portion of the ball rod; The ball portion includes a disc-shaped connecting piece (128) and a columnar fixed connecting short rod (127); wherein the disc-shaped connecting piece (128) is used to fix the ball rod to the tea picking assembly (30) and the single L-shaped connecting piece respectively, and the columnar fixed connecting short rod (127) is used to connect the disc-shaped connecting piece (128) and the ball portion.

8. The crawler-type height-adjusting intelligent tea-picking device according to claim 4, characterized in that: The central control module (23) includes a controller housing, a laser radar (24), a depth camera (25), an inertial sensor (26), a pressure sensor (122) and a core control board; the controller housing is installed in the middle of the top of the rigid frame (20), and the core control board is arranged inside the controller housing; the laser radar (24) and the depth camera (25) are both arranged at the front end of the top of the rigid frame (20); the inertial sensor (26) is arranged inside the controller housing; and the pressure sensor (122) is arranged at the connection between the pneumatic telescopic rod and the ball joint (118).

9. The crawler-type height-adjustable intelligent tea-picking device according to claim 1, characterized in that: The tea picking assembly (30) includes a cover (31), a spiral wheel shaft (32), a fixed harrow (33), a base frame (34), a fence-shaped cutter (35), a tea picking motor (36) and a fixed cover (37); The base frame (34) comprises a horizontally arranged bottom plate and vertically arranged support plates on both sides, and a plurality of fence-shaped cutters (35) are arranged in an array along the length direction of the bottom plate on one side of the bottom plate for cutting tea leaves; The cover (31) is mounted on the top of the base frame (34) in parallel along the length direction, and a tea picking chamber is enclosed between the cover (31) and the base frame (34); The spiral wheel shaft (32) is installed inside the tea picking chamber and rotates along the central axis of the tea picking chamber; one end of the spiral wheel shaft (32) is coaxially fixed to the tea picking motor (36), and the tea picking motor (36) is installed outside the base frame (34); The fixed rake (33) is installed inside the tea picking chamber along a direction perpendicular to the central axis of the spiral wheel shaft (32), and the fixed rake (33) is tilted toward the hedge cutter (35); a plurality of fixed rakes (33) are arranged in an array along the central axis of the spiral wheel shaft (32), and are arranged in the paddle gap of the spiral wheel shaft (32); the base frame (34) is provided with a strip-shaped discharge port on the opposite side of the hedge cutter (35) for discharging the sheared tea leaves; a collecting hopper (50) is provided below the discharge port for collecting the tea leaves.

10. The crawler-type height-adjusting intelligent tea-picking device according to claim 9, characterized in that: The exterior of the tea-picking motor (36) is provided with a fixed cover (37).

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