Multi-end cooperative operation high-quality tea intelligent picking device and method

Abstract

The application discloses a kind of multi-end collaborative operation's famous and excellent tea intelligent picking device and method, it is related to tea picking technical field, including rack, walking module, identification positioning module, picking module and conveying module.The present application solves the problem of leaf drop and damage caused by the current end picker using "lift off" or "clamping" picking action, using the integrated mode of shear blade and flexible clamping end, without damaging the leaf, shear blade shearing while clamping tea shoots;At the same time, the application adopts the mode of multi-degree-of-freedom mechanical arm harvesting and conveying module conveying and collecting famous and excellent tea, reduces the length of the motion trajectory of multi-degree-of-freedom mechanical arm, thereby solving the problem that the time of fresh leaf picking and conveying to leaf collecting box is relatively long in the traditional mechanical arm picking mode;In addition, the friction between fresh leaves and conveying module in this process is small, reducing the damage risk of fresh leaves after picking.

Description

Technical Field

[0001] This invention relates to the field of tea picking technology, specifically to an intelligent picking device and method for high-quality tea with multi-terminal collaborative operation. Background Technology

[0002] my country is a major tea producer with extensive tea-growing areas and a wide variety of tea tree varieties. Premium teas require high-quality teas with intact and tender leaves, typically single buds, one bud and one leaf, or one bud and two leaves. Since most tea-harvesting machinery on the market cannot meet the requirements of premium teas, manual harvesting is currently the primary method. This method is labor-intensive and inefficient, and with the increasing shortage of manual labor in recent years, the cost of manual leaf harvesting is gradually rising. To effectively improve the harvesting efficiency of premium teas and reduce harvesting costs and labor intensity, intelligent harvesting equipment is the future development trend. For example: A tea leaf picking and sorting integrated machine, patent number CN202410367090.1, discloses a picking device, a sorting device, a walking device, a battery assembly, and an air compression assembly. The walking device is mounted on a frame, and the sorting device is mounted on the frame. The picking device is installed at the front end of the sorting device. The battery assembly and the air compression assembly are respectively installed on both sides of the frame, with the output end of the air compression assembly extending into the sorting device. This device uses a cutting blade to pick the tea leaves whole, and then uses a screening assembly to separate the collected fresh leaves into one-bud-one-leaf, one-bud-two-leaf, one-bud-three-leaf, and broken leaves, which are then conveyed and collected.

[0003] However, compared with existing technologies, this invention grades and sorts the fresh tea leaves while picking them, improving picking and sorting efficiency. However, this invention is not selective in terms of the tea leaves picked and is only suitable for tea picking after Qingming Festival; it is not applicable to picking premium teas before Qingming Festival.

[0004] And a gantry-type premium tea picking machine with patent number CN202210597726.2 is disclosed, which includes a carrier, a support, a robotic arm, a robotic claw, and a suction device; the support is mounted on the carrier, the robotic arm is mounted on the support, the robotic claw includes a base frame, front fingers, a linear actuator, and a tea collecting assembly, the base frame is fixed to the end of the robotic arm, and a pair of front fingers for gripping buds and leaves are mounted on the base frame; the tea collecting assembly includes a rigid tube, a flexible tube, and a thin rod, the rigid tube is fixed to the base frame, the flexible tube is connected to the rigid tube, and the flexible tube is located between the two front fingers; the thin rod is located inside the rigid tube and the flexible tube, and a support ring is provided at the end of the thin rod, which opens the bottom opening of the flexible tube; the linear actuator drives the thin rod to move up and down inside the rigid tube and the flexible tube, and the front fingers are provided with notches for accommodating the support ring; the suction device is connected to the rigid tube; the gantry-type premium tea picking machine of the present invention uses a flexible tube to suck in buds and leaves, ensuring that the entire bud and leaf enter the flexible tube intact and are picked as a whole, avoiding damage to the buds and leaves and improving the appearance of the buds and leaves.

[0005] However, compared with the existing technology, this invention lacks the location of specific picking and cutting points and the specific identification of buds and leaves, resulting in inconsistent grades of fresh leaves collected; and by using an air suction device to suck the buds and leaves into the hose and collecting tea leaves by air suction, there is friction between the fresh leaves and the hose wall, which can easily cause damage to the fresh leaves inside the hose.

[0006] Another patent, CN202010193788.8, discloses a high-quality tea picking machine and its identification method based on artificial intelligence recognition. The machine includes a power system, a control system, a walking system, a lighting system, a vision system, a picking system, a transmission system, an infrared detection system, and a leaf collection box. The power system drives the walking system forward under the control system. Four binocular cameras serve as the vision system for the high-quality tea picking machine. After image acquisition, the images are uploaded to the control system server via local storage or a 5G cloud connection. Image recognition technology and artificial intelligence methods are then used to identify and locate the tea leaves. A spider-like robot in the picking system moves and rotates the system to a suitable position. The end-effector of the picking system breaks and clamps the new tea shoots, then transports them to the transmission system, which then transfers them to the leaf collection box for layered storage.

[0007] However, the harvesting system described in this invention is divided into two parts: a spider-hand robot and an end-effector. The spider-hand robot includes a static platform, a moving platform, a drive motor, an active arm, and a driven arm. The static platform is installed on the top plate of the mounting frame, and the end-effector is installed at the lower end of the moving platform. This configuration makes the harvesting system occupy a large space and is not flexible enough. Moreover, the first and second harvesting arms move alternately during operation, which will result in a long harvesting and transportation time and low efficiency. Furthermore, the method of breaking the tea buds at specific picking points to ensure the integrity of the bud shape is not suitable for the dense bud growth of spring tea.

[0008] In summary, existing harvesting equipment still has the following problems: 1. Existing mechanized tea-picking machinery, such as single-person tea-picking machines, double-person tea-picking machines, and self-propelled tea-picking machines, lacks selectivity, resulting in a large number of broken and old leaves being picked, making them unsuitable for picking premium teas.

[0009] 2. Intelligent tea-picking machinery for famous and high-quality teas is still in the research and development stage. The currently proposed intelligent tea-picking method based on depth cameras still has problems such as inaccurate identification and positioning, poor environmental adaptability due to interference factors such as weather, light, and wind, and cannot achieve large-scale accurate picking.

[0010] 3. Currently, the end effector involved simulates the "lifting" or "pulling" action of a human hand for picking, but the success rate of picking is not high, and the leaves are easy to fall off and be damaged during the pulling process; in addition, the way the existing spider-like robotic arm connects to the picking end is not flexible enough, and the time for the tea leaves to move to the leaf collection box after picking is relatively long, resulting in poor picking efficiency; the current robotic arm picking method has a large and clumsy arm, and the efficiency and accuracy are not high. 4. Currently, the end effector and post-harvest collection actions are not continuous. The use of robotic arms for harvesting leaves results in a long time to transport the harvested leaves to the leaf collection box. The use of air suction leaf collection methods results in wind pressure differential damage to the blades and friction damage between the blades and the pipe wall. Summary of the Invention

[0011] This invention provides a smart harvesting device and method for high-quality tea with multi-terminal collaborative operation, aiming to solve the problems existing in the prior art.

[0012] To achieve the above objectives, the present invention provides a multi-terminal collaborative intelligent tea-picking device, comprising: frame; The walking module is connected to the lower part of the frame to drive the frame to move; The identification and positioning module is located on the upper part of the frame to obtain a top view of the tea ridges. It uses a grid algorithm to divide the image into a grid matrix and performs gridding processing on the tea buds in the image. The picking module is mounted on the upper part of the frame and has a multi-degree-of-freedom robotic arm for picking tea buds. The end of the multi-degree-of-freedom robotic arm is equipped with a bionic actuator for cutting and clamping tea leaves. The conveying module is rotatably mounted on the frame and located at the rear of the collection module, used to transport the tea buds picked by the multi-degree-of-freedom robotic arm to the leaf collection box.

[0013] Preferably, the walking module includes a mounting frame, a walking motor, a drive wheel, and a track. The mounting frame is located at the bottom of the frame, the walking motor is located inside the mounting frame, the drive wheel is located at both ends of the mounting frame, the output end of the walking motor is connected to one of its drive wheels via a reducer, and the track is fitted onto the drive wheel.

[0014] Preferably, the harvesting module further includes a moving mechanism. A mounting frame is provided within the frame, and the moving mechanism is movably positioned on both sides of the mounting frame. The conveying module is fixedly connected to the lower part of the mounting frame. The moving mechanism includes a moving platform, several sprockets, a switching rod, an upper locking component, and a lower locking component. Sprockets are rotatably positioned on the moving platform, and the switching rod is slidably positioned within the moving platform and can slide to both sides. A chain is provided within the mounting frame for limiting movement. Sprockets are rotatably positioned on both sides of the mounting frame, with the chain sleeved on the sprockets. Sprockets are respectively engaged with the upper and lower sides of the chain. The upper and lower locking components are slidably positioned within the moving platform via springs and sliding rods. Trapezoidal blocks are provided on the upper and lower locking components, and the two ends of the switching rod are respectively... A ramp is installed, and the moving table moves to the end of the mounting frame via a chain. After the switching rod contacts the mounting frame, it pushes the ramp to push the trapezoidal block upward or downward. This pushes the upper locking member upward to engage and lock with the upper sprocket, or pushes the lower locking member downward to engage and lock with the lower sprocket. The moving chain can then drive the locked sprocket to move together. When the rotational freedom of the upper sprocket is locked, the chain drives the moving table to one side of the frame. When the rotational freedom of the lower sprocket is locked, the chain drives the moving table to the other side of the frame, so that the moving table drives the multi-degree-of-freedom robotic arm to reciprocate linearly on the frame.

[0015] Preferably, the conveying module includes a conveying frame, a drive motor, rollers, and a conveyor belt. The conveying frame is fixed to the lower part of the mounting frame, the rollers are rotatably located on both sides of the conveying frame, the drive motor is located on one side of the conveying frame and connected to one of its rollers, and the end of the other roller is connected to the linkage wheel on one of its sprockets via a transmission chain or synchronous belt. Two sprockets coaxially located on the mounting frame are connected by a connecting shaft and then connected to the linkage wheel. The leaf collection box is located on one or both sides of the frame.

[0016] Preferably, the multi-degree-of-freedom robotic arm includes robotic arm one, robotic arm two, and robotic arm three. Robotic arm one is connected to a moving platform via a joint motor, robotic arm two is connected to the end of robotic arm one via a joint motor, and robotic arm three is connected to the end of robotic arm two via a joint motor. A bionic end effector is located at the end of robotic arm three. The bionic end effector includes a rotary motor, a chuck, a shearing blade, and a flexible clamping part. The rotary motor is located at the end of robotic arm one, the chuck is fixed to the output end of the rotary motor, the shearing blade is located on the chuck, and the flexible clamping part is located on the chuck and above the shearing blade.

[0017] Preferably, a crossbeam is provided inside the frame, and the mounting frame is slidably fitted onto the crossbeam; the crossbeam is provided with a strip-shaped through hole, and a rack is provided on one side of the strip-shaped through hole; a transverse motor is provided on the upper part of the mounting frame, and the output end of the transverse motor meshes with the rack through a gear to drive the mounting frame to move laterally inside the frame.

[0018] Preferably, vertical pipes are vertically connected to both sides of the frame, and a limit rod is fixedly installed on the mounting frame. The limit rod slides inside the vertical pipe, and a second spring is sleeved on the limit rod. One end of the second spring abuts against the end of the vertical pipe.

[0019] Preferably, the identification and positioning module includes a camera located at the front end of the frame, a height measuring camera located on the moving platform, and a lidar located at the top of the frame; it also includes a control module located on one side of the frame, and the control module is electrically connected to the walking module, the identification and positioning module, the picking module, and the conveying module respectively.

[0020] A method for intelligent harvesting of premium tea using multi-terminal collaborative operation, employing the aforementioned intelligent harvesting device for premium tea using multi-terminal collaborative operation, includes the following steps: S1, the walking module plans an adaptive cross-row walking path based on the image of the tea bud surface captured by the camera and using a path planning algorithm; the walking motor drives the track to move the frame forward across rows, stopping when it has moved a distance of one frame length; during the picking process, the walking module makes intermittent movements, moving the distance of one frame each time; S2, After the rack stops at the corresponding position, the top lidar acquires the three-dimensional point cloud data of the tea canopy surface. First, the two-dimensional planar data of the tea canopy surface is extracted. Then, based on the two-dimensional planar data of the tea canopy surface, grid planning is performed to locate the two-dimensional position of the premium tea buds to be picked in each grid. Then, based on the three-dimensional point cloud data of the tea canopy surface, the height information of the buds in each grid is extracted, and the buds in the grid are numbered from high to low. S3, driven by the conveying module, the picking module moves from left to right to each grid after the tea shed surface is divided into two-dimensional planar grids, making intermittent movements; S4, the picking module stops at the corresponding grid, and the height measuring camera at the picking end calculates the specific height position of each bud in real time according to the bud number in the grid, and transmits it to the control module; S5, the control module integrates the two-dimensional planar data obtained by the lidar and the specific height data obtained by the height measurement camera to generate the three-dimensional position data of the bud to be picked, and sends instructions to the end effector robotic arm; S6, after receiving the corresponding instruction, the multi-degree-of-freedom robotic arm moves to the picking point of the tender buds of famous tea with the end effector. The shearing motor drives the shearing blade of the chuck to clamp and cut off the bud. After the bud is cut, it is held by the flexible clamping part. S7, after the bud is cut at the end of the picking process, it is driven by a multi-degree-of-freedom robotic arm to the top of the conveyor module. The flexible clamping part releases the bud, and the bud falls naturally onto the conveyor module's track and is transported to the leaf collection box. S8, the buds in each grid are picked sequentially according to their numbers. After one grid is picked, the picking module moves to the next grid in the same row and picks in sequence. After the first row of grids is picked, the conveyor module moves from front to back, moving the distance of one grid at a time. When picking the fresh leaves in the second row of grids, the picking module moves from right to left. When picking the fresh leaves in the third row of grids, the picking module moves from left to right, and so on. The picking modules installed on both sides of the conveyor module move in the same way. S9, when the front multi-degree-of-freedom robotic arm moves to the position where the rear multi-degree-of-freedom robotic arm begins to pick, the horizontal motor drives the conveyor module to move on the crossbeam, causing the two multi-degree-of-freedom robotic arms to move together a distance equal to the width of the conveyor module, and continue working until the conveyor module moves from the front of the frame to the back of the frame. S10: After harvesting is completed in one area of ​​a rack, the rack moves forward one rack's distance, and the horizontal motor drives the conveyor module and the harvesting module to return to the starting position, and the harvesting of the next area begins.

[0021] Compared with existing technologies, it has the following beneficial effects: 1. To solve the problem of relying on manual labor and lacking available organic methods for harvesting famous and high-quality teas; the present invention proposes a multi-terminal collaborative intelligent harvesting device and method for famous and high-quality teas that can replace manual labor in harvesting tender buds (including single buds, one bud and one leaf, and one bud and two leaves) for making famous and high-quality teas. 2. To address the problem of poor environmental adaptability in high-quality tea picking technology that relies on visual positioning, caused by interference from factors such as weather, lighting, and wind on imaging and depth positioning; the present invention proposes a multi-terminal collaborative intelligent tea picking device with a four-sided light-blocking design and an internal supplementary lighting strip to maintain a stable lighting environment, reduce the interference of ambient light and weather factors on image acquisition, improve the consistency of image acquisition quality, and provide a foundation for the stability of algorithm recognition and positioning.

[0022] 3. To solve the problem of leaf loss and damage caused by the current "lifting and breaking" or "clamping" picking action of the end-picking device, the bionic execution end designed in this invention adopts a shearing blade and flexible clamping end in one piece. Without damaging the leaves, the shearing blade cuts and clamps the tender tea buds at the same time.

[0023] 4. To address the issue of discontinuous actions between the bionic end effector and post-harvest collection, this invention employs a multi-degree-of-freedom robotic arm for harvesting and conveying premium tea leaves. After harvesting, the robotic arm only needs to perform lifting and rotating actions to place the tea leaves on a conveyor belt, which then moves them in real-time to the fresh leaf collection box. This reduces the trajectory length of the multi-degree-of-freedom robotic arm, thus solving the problem of long transport times from harvested leaves to the collection box in traditional robotic arm harvesting methods. Simultaneously, the process minimizes friction between the fresh leaves and the conveyor module, reducing the risk of damage after harvesting. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only preferred embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of a multi-terminal collaborative intelligent tea picking device according to the present invention; Figure 2 This is a schematic diagram of the intelligent tea-picking device for multi-terminal collaborative operation according to the present invention. Figure 3 This is a plan view of the intelligent tea-picking device for multi-terminal collaborative operation according to the present invention; Figure 4 This is an internal schematic diagram of the intelligent tea-picking device for multi-terminal collaborative operation according to the present invention. Figure 5 This is a schematic diagram of the multi-degree-of-freedom robotic arm of the present invention; Figure 6 This is a schematic diagram of the biomimetic execution end of the present invention; Figure 7 This is a schematic diagram of the crossbeam and mounting frame of the present invention; Figure 8 This is a schematic diagram of the mounting frame and the horizontal motor of the present invention; Figure 9 This is a schematic diagram of the transmission module and mounting frame of the present invention; Figure 10 This is a schematic diagram of the chain and sprocket 2 of the present invention; Figure 11 This is a schematic diagram of the multi-degree-of-freedom robotic arm and mobile platform of the present invention; Figure 12 This is a schematic diagram of the interior of the mobile station of the present invention; Figure 13 for Figure 12 Enlarged diagram of point A in the middle.

[0026] Reference numerals: 1-Frame; 11-Mounting frame; 12-Crossbeam; 13-Vertical tube; 2-Walking module; 21-Mounting bracket; 22-Walking motor; 23-Drive wheel; 24-Track; 3-Identification and positioning module; 31-Camera; 32-Altitude measurement camera; 33-LiDAR; 4- Harvesting Module; 41- Multi-DOF Robotic Arm; 411- Robotic Arm One; 412- Robotic Arm Two; 413- Robotic Arm Three; 42- Bionic Actuator; 421- Gripper; 422- Shearing Blade; 423- Flexible Clamping Part; 43- Moving Mechanism; 431- Moving Stage; 432- Sprocket One; 433- Switching Rod; 4331- Inclined Block; 434- Upper Locking Component; 435- Lower Locking Component; 4345- Trapezoidal Block; 436- Chain; 437- Sprocket Two; 438- Spring One; 439- Slide Rod; 5-Conveyor module; 51-Conveyor frame; 52-Drive motor; 53-Roller; 54-Conveyor belt; 55-Connecting shaft; 56-Linkage wheel; 6- Leaf collection box; 7-Control Module; 8-Spring Two; 9-Limit rod; 10-Horizontal motor; 101-Rack; 102-L-shaped plate. Detailed Implementation

[0027] To better understand the structure, functional features, and advantages of the present invention, preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings: like Figures 1 to 4 As shown, this invention provides a multi-terminal collaborative intelligent tea-picking device, comprising: Rack 1; The walking module 2 is connected to the lower part of the frame 1 to drive the frame 1 to move; The identification and positioning module 3 is located on the upper part of the frame 1 to obtain a top view of the tea ridge. It uses a grid algorithm to divide the image into a grid matrix and performs gridding processing on the tea buds in the image. The picking module 4 is movably mounted on the upper part of the frame 1 and has a multi-degree-of-freedom robotic arm 41 for picking tea buds. The end of the multi-degree-of-freedom robotic arm 41 is provided with a bionic actuator 42 for cutting and clamping tea leaves. The conveying module 5 is rotatably mounted on the frame 1 and located at the rear of the collection module, for conveying the tea buds picked by the multi-degree-of-freedom robotic arm 41 to the leaf collection box 6.

[0028] See Figure 1The walking module 2 includes a mounting frame 21, a walking motor 22, a drive wheel 23, and a track 24. The mounting frame 21 is located at the bottom of the frame 1. The walking motor 22 is located inside the mounting frame 21. The drive wheel 23 is rotatably located at both ends of the mounting frame 21. The output end of the walking motor 22 is connected to one of its drive wheels 23 through a reducer. The track 24 is fitted onto the drive wheel 23.

[0029] See Figure 2 It also includes a control module 7, which is located on one side of the frame 1. The control module 7 is electrically connected to the walking module 2, the identification and positioning module 3, the picking module 4 and the conveying module 5 respectively, so as to control the normal operation of the walking module 2, the identification and positioning module 3, the picking module 4 and the conveying module 5 through the control module 7.

[0030] See Figure 5 The picking module 4 also includes a moving mechanism 43. The frame 1 is provided with an installation frame 11. The moving mechanism 43 is movably mounted on both sides of the installation frame 11. The conveying module 5 is fixedly connected to the lower part of the installation frame 11. The moving mechanism 43 includes a moving platform 431, several sprockets 432, a switching rod 433, an upper locking member 434, and a lower locking member 435. The sprockets 432 are rotatably mounted on the moving platform 431. The switching rod 433 is slidably mounted inside the moving platform 431 and can slide to both sides so that the sliding protrusion of the switching rod 433 protrudes from one side of the moving platform 431.

[0031] See Figures 7 to 11 A chain 436 with a limiting mechanism is provided inside the mounting frame 11. Two sprockets 437 are rotatably mounted on both sides of the mounting frame 11. The chain 436 is sleeved on the two sprockets 437. A first sprocket 432 meshes with the upper and lower sides of the chain 436, respectively. A sliding rod 439 is provided on the upper locking member 434 and the lower locking member 435. The sliding rod 439 is slidably connected to both sides of the moving platform 431. A circular groove is provided inside the moving platform 431, and a spring 438 is provided inside the circular groove. The spring 438 abuts against a limiting block at the end of the sliding rod 439, and the other end of the spring 438 abuts against a fixing block at the end of the circular groove. Specifically, the fixing block is threadedly connected to the end of the circular groove to confine the spring 438 within the circular groove. By setting a slide bar 439 and a spring 438, the upper locking member 434 and the lower locking member 435 are slidably disposed in the moving platform 431. The upper locking member 434 and the lower locking member 435 rely on one or two locking teeth on them to engage with the sprocket 432 to lock its rotational freedom. This allows the chain 436 to move and drive the fixed sprocket 432 to move linearly together. The sprocket 432 on the other side rotates during the movement of the moving platform 431, so that the moving platform 431 can reciprocate linearly on the mounting frame 11.

[0032] See Figure 13The upper locking member 434 and the lower locking member 435 are provided with trapezoidal blocks 4345 at their lower parts. The two ends of the switching rod 433 are respectively provided with inclined blocks 4331. The moving table 431 is moved to the end of the mounting frame 11 by the chain 436. After one end of the switching rod 433 contacts the mounting frame 11, it pushes the inclined blocks 4331 to push the trapezoidal blocks 4345 to move upward or downward. This pushes the upper locking member 434 to move upward to engage and lock with the upper sprocket 432, or pushes the lower locking member 435 to move downward to engage and lock with the lower sprocket 432. This switches the upper sprocket 432 or the lower sprocket 432 of the moving table 431 to be locked, so that the moving table 431 can reciprocate linearly on the mounting frame 11.

[0033] See Figure 2 The conveying module 5 includes a conveyor frame 51, a drive motor 52, rollers 53, and a conveyor belt 54. The conveyor frame 51 is fixed to the lower part of the mounting frame 11. The rollers 53 are rotatably mounted on both sides of the conveyor frame 51. The drive motor 52 is located on one side of the conveyor frame 51 and connected to one of its rollers 53. The end of the other roller 53 is connected to the linkage wheel 56 on one of its sprockets 437 via a transmission chain or synchronous belt. The two sprockets 437, coaxially mounted on the mounting frame 11, are connected to the linkage wheel 56 via a connecting shaft 55. When the drive motor 52 and conveyor belt 54 move to one side, the roller 53, linkage wheel 56, and transmission chain or synchronous belt drive sprocket 437 to rotate together, thereby causing the two chains 436 on both sides of the mounting frame 11 to move synchronously. The switching rod 433 switches the upper locking member 434 and lower locking member 435 to lock the upper sprocket 432 or the lower sprocket 43, so that the picking modules 4 on both sides of the mounting frame 11 can perform relative linear movement and linear reciprocating movement at the same time. The leaf collection box 6 is set on one or both sides of the frame 1 for collecting the picked buds.

[0034] When the conveying module 5 is working, the switching lever 433 is set so that the chain 436 moves to drive the picking module 4 to move synchronously and reciprocate on the mounting frame 11. The switching lever 433 of the present invention can switch between locking the upper sprocket 432 and the lower sprocket 432 by moving, so that the moving chain 436 can drive the locked sprocket 432 to move together. When the rotational degree of freedom of the upper sprocket 432 is locked, the chain 436 drives the moving platform 431 to move to one side of the frame 1. When the rotational degree of freedom of the lower sprocket 432 is locked, the chain 436 drives the moving platform 431 to move to the other side of the frame 1, so as to realize that the moving platform 431 drives the multi-degree-of-freedom robotic arm 41 to reciprocate linear motion on the frame 1, thereby realizing the simultaneous operation of the conveying module 5 and the multi-degree-of-freedom robotic arm 41 controlled by a single motor.

[0035] See Figure 2The identification and positioning module 3 includes a camera 31 mounted at the front end of the frame 1, a height measuring camera 32 mounted on the mobile platform 431, and a lidar 33 mounted on the top of the frame 1. The identification and positioning module 3 uses the top-mounted camera 31 to acquire a top-down view of the tea ridge, and uses a grid algorithm to divide the image into a 1 cm × 1 cm grid matrix, performing gridding processing on the tea buds in the image. The vertex of the tea bud in each grid is identified, and the x and y coordinates are established, with one tea bud identified in each grid. The bionic execution end effector 42 of the picking module 4 is moved to the corresponding coordinate position. The height measuring camera 32 acquires a side view image of the bud, identifies the tea stem, and determines the z-axis coordinate of the tea bud cutting point.

[0036] See Figure 2 The frame 1 is equipped with light-shielding plates on all four sides, and lighting strips are installed on the conveyor frame 51 and the upper part of the frame 1 to provide sufficient light source so that the normal operation of the harvesting device is not affected in low light conditions. Furthermore, solar panels are installed on the upper part of the frame 1 to provide energy for battery power generation and storage.

[0037] See Figure 5 The multi-degree-of-freedom robotic arm 41 includes robotic arm one 411, robotic arm two 412, and robotic arm three 413. Robotic arm one 411 is connected to the moving platform 431 via a joint motor. Robotic arm two 412 is connected to the end of robotic arm one 411 via a joint motor. Robotic arm three 413 is connected to the end of robotic arm two 412 via a joint motor. A bionic actuator 42 is located at the end of robotic arm three 413. After the bionic actuator 42 completes the picking action, robotic arm one 411 lifts the arm, simultaneously driving robotic arm two 412 to retract. The joint motor between robotic arm two 412 and robotic arm three 413 drives robotic arm three 413 to rotate 180 degrees, loosening the picked fresh leaves and letting them fall onto the conveyor belt 54 of the conveyor module 5, where they are transported to the leaf collection box 6.

[0038] See Figure 5 and Figure 6The bionic end effector 42 includes a rotary motor, a gripper 421, a shearing blade 422, and a flexible clamping part 423. The rotary motor is located at the end of the robotic arm 411, the gripper 421 is fixed to the output end of the rotary motor, the shearing blade 422 is mounted on the gripper 421, and the flexible clamping part 423 is mounted on the gripper 421 and located above the shearing blade 422. The multi-degree-of-freedom robotic arm 41 can move in the x, y, and z directions in space, and simultaneously achieves the overall rotation of the bionic end effector 42 by means of the rotary motor of the bionic end effector 42. A height measuring camera 32 is mounted on the side of the multi-degree-of-freedom robotic arm 41 at a 45° downward angle to acquire side-view images of tea leaves for z-direction positioning of the tea bud picking point. The bionic end effector 42 can simulate the shape of human fingers for picking, and uses two streamlined films, the shearing blade 422 on the films, and the flexible clamping part 423 with a sponge structure above the shearing blade 422. During the picking action, the plates engage inwards, and the upper part of the tea bud is first wrapped and fixed by the flexible clamping part 423. As it is squeezed, the shearing blade 422 cuts the stem of the tea. After the shearing is completed, the picked bud is wrapped by the flexible clamping part 423 and sent to the top of the conveyor module 5 by the multi-degree-of-freedom robotic arm 41. The motor or telescopic structure controls the two plates to release, and the picked premium tea falls onto the conveyor belt 54. The conveyor belt 54 transports the tea to the leaf collection box 6, and it falls into the leaf collection box 6 through the slide, completing the picking and collection.

[0039] Specifically, the distance between the two flexible clamping parts 423 is 2-5mm wider than the distance between the two shearing blades 422, and the elasticity coefficient of the flexible clamping part 423 is 4-10N / cm; See Figures 7 to 9 A crossbeam 12 is provided inside the frame 1, and a mounting frame 11 is slidably fitted onto the crossbeam 12. The crossbeam 12 has a strip-shaped through hole, and a rack 101 is provided on one side of the strip-shaped through hole. A transverse motor 10 is provided on the upper part of the mounting frame 11 via an L-shaped plate 102. The output end of the transverse motor 10 meshes with the rack 101 through a gear to drive the mounting frame 11 to move laterally within the frame 1. Specifically, the L-shaped plate 102 is fixedly connected to both ends of the upper part of the mounting frame 11. After the L-shaped plate 102 is connected to the mounting frame 11, it forms a U-shaped groove to limit the sliding position on the crossbeam 12.

[0040] See Figure 2 Vertical tubes 13 are vertically connected to both sides of the frame 1. A limit rod 9 is fixedly installed on the mounting frame 21. The limit rod 9 slides inside the vertical tube 13. A spring 8 is sleeved on the limit rod 9. One end of the spring 8 abuts against the end of the vertical tube 13. A damper is provided at the end of the limit rod 9. The damper is slidably connected to the vertical tube 13. The shock absorption mechanism composed of the spring 8 and the damper enables the harvesting device to move forward smoothly.

[0041] A method for intelligent harvesting of premium tea using multi-terminal collaborative operation, employing the aforementioned intelligent harvesting device for premium tea using multi-terminal collaborative operation, includes the following steps: S1, the walking module 2 plans an adaptive cross-row walking path based on the image of the tea bud surface captured by the camera 31 using a path planning algorithm; the walking motor 22 drives the track 24 to move the frame 1 forward across rows, stopping when it reaches a distance of one frame 1 length; during the picking process, the walking module 2 makes intermittent movements, moving the distance of one frame 1 each time; S2, After the rack 1 stops at the corresponding position, the top lidar 33 acquires the three-dimensional point cloud data of the tea canopy surface. First, it extracts the two-dimensional planar data of the tea canopy surface, and then performs grid planning based on the two-dimensional planar data of the tea canopy surface to locate the two-dimensional position of the tender buds of famous tea that need to be picked in each grid. Then, it extracts the height information of the buds in each grid based on the three-dimensional point cloud data of the tea canopy surface, and arranges the buds in the grid from high to low according to their sequence number. S3, under the drive of the conveying module 5, the picking module 4 starts to move from left to right to each grid after the two-dimensional planar grid is divided on the tea shed surface, and performs intermittent reciprocating linear motion. S4, the picking module 4 stops at the corresponding grid. The height measuring camera 32 at the end of the picking module 4 calculates the specific height position of each bud in real time according to the bud number in the grid and transmits it to the control module 7. S5, the control module 7 integrates the two-dimensional planar data obtained by the lidar 33 and the specific height data obtained by the height measurement camera 32 to generate the three-dimensional position data of the bud to be picked, and sends instructions to the end effector robotic arm; S6, after receiving the corresponding instruction, the multi-degree-of-freedom robotic arm 41 moves to the picking point of the famous tea buds with the end effector. The shearing motor drives the shearing blade 422 of the chuck 421 to clamp and cut off the bud. After the bud is cut off, the flexible clamping part 423 holds the bud. S7, after the bud is cut at the end of the picking process, it is driven by the multi-degree-of-freedom robotic arm 41 to the top of the conveyor module 5. The flexible clamping part 423 releases the bud, and the bud falls naturally onto the conveyor belt 24 of the conveyor module 5 and is transported to the leaf collection box 6. S8, the buds in each grid are picked sequentially according to their numbers. After one grid is picked, the picking module 4 moves to the next grid in the same row and picks in sequence. After the first row of grids is picked, the conveying module 5 moves from front to back, moving the distance of one grid at a time. When picking the fresh leaves in the second row of grids, the picking module 4 moves from right to left. When picking the fresh leaves in the third row of grids, the picking module 4 moves from left to right, and so on. The picking modules 4 installed on both sides of the conveying module 5 move in the same way. S9, when the front multi-degree-of-freedom robotic arm 41 moves to the position where the rear multi-degree-of-freedom robotic arm 41 begins to pick, the horizontal motor 10 drives the conveying module 5 to move on the crossbeam 12, so as to drive the two multi-degree-of-freedom robotic arms 41 to move together a distance the width of the conveying module 5, and continue to work until the conveying module 5 moves from the front of the frame 1 to the back of the frame 1. S10, after harvesting is completed in one area of ​​rack 1, rack 1 moves forward by the distance of rack 1, and the horizontal motor 10 drives the conveying module 5 and the harvesting module 4 to return to the starting position and continue harvesting in the next area.

[0042] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technology of the present invention without departing from the scope of the present invention are within the protection scope of the present invention.

Claims

1. A multi-terminal collaborative intelligent tea-picking device, characterized in that, include: Rack (1); The walking module (2) is connected to the lower part of the frame (1) to drive the frame (1) to move; The identification and positioning module (3) is located on the upper part of the frame (1) to obtain a top view of the tea ridge, and to divide the image into a grid matrix using a grid algorithm to perform gridding processing on the tea buds in the image; The picking module (4) is movably mounted on the upper part of the frame (1) and has a multi-degree-of-freedom robotic arm (41) for picking tea buds. The end of the multi-degree-of-freedom robotic arm (41) is provided with a bionic execution end (42) for cutting and clamping tea leaves. The conveying module (5) is rotatably mounted on the frame (1) and located at the rear of the collection module, for conveying the tea buds picked by the multi-degree-of-freedom robotic arm (41) to the leaf collection box (6).

2. The intelligent tea-picking device for multi-terminal collaborative operation according to claim 1, characterized in that, The walking module (2) includes a mounting frame (21), a walking motor (22), a drive wheel (23), and a track (24). The mounting frame (21) is located at the bottom of the frame (1). The walking motor (22) is located inside the mounting frame (21). The drive wheel (23) is rotatably located inside both ends of the mounting frame (21). The output end of the walking motor (22) is connected to one of the drive wheels (23) via a reducer. The track (24) is fitted onto the drive wheel (23).

3. The intelligent tea-picking device for multi-terminal collaborative operation according to claim 2, characterized in that, The picking module (4) also includes a moving mechanism (43). An installation frame (11) is provided inside the frame (1). The moving mechanism (43) is movably disposed on both sides of the installation frame (11). The conveying module (5) is fixedly connected to the lower part of the installation frame (11). The moving mechanism (43) includes a moving platform (431), several sprockets (432), a switching rod (433), an upper locking component (434), and a lower locking component (435). The sprockets (432) are rotatably disposed on the moving platform (431). The switching rod (433) is slidably disposed inside the moving platform (431) and can slide to both sides. A chain (436) is limited inside the installation frame (11). Sprockets (437) are rotatably disposed on both sides of the installation frame (11). The chain (436) is sleeved on the sprockets (437). The sprockets (432) are respectively engaged with the chain. The upper and lower sides of (436); the upper locking member (434) and the lower locking member (435) are slidably disposed in the moving platform (431) by means of spring (438) and slide rod (439), trapezoidal blocks (4345) are provided on the upper locking member (434) and the lower locking member (435), and inclined blocks (4331) are respectively provided at both ends of the switching rod (433). The moving platform (431) is moved by means of the chain (436). The switch lever (433) is moved to the end of the mounting frame (11) so that one end of the switch lever (433) contacts the mounting frame (11) and pushes the inclined block (4331) to push the trapezoidal block (4345) to move upward or downward, thereby pushing the upper locking member (434) to move upward to engage and lock with the upper sprocket (432) or pushing the lower locking member (435) to move downward to engage and lock with the lower sprocket (432).

4. The intelligent tea-picking device for multi-terminal collaborative operation according to claim 3, characterized in that, The conveying module (5) includes a conveying frame (51), a drive motor (52), a roller (53), and a conveyor belt (54). The conveying frame (51) is fixed to the lower part of the mounting frame (11). The roller (53) is rotatably disposed on both sides of the conveying frame (51). The drive motor (52) is disposed on one side of the conveying frame (51) and connected to one of its rollers (53). The end of the other roller (53) is connected to the linkage wheel (56) on one of its sprockets (437) through a transmission chain or synchronous belt. The two sprockets (437) coaxially disposed on the mounting frame (11) are connected to the linkage wheel (56) through a connecting shaft (55). The leaf collection box (6) is disposed on one or both sides of the frame (1).

5. The intelligent tea-picking device for multi-terminal collaborative operation according to claim 4, characterized in that, The multi-degree-of-freedom robotic arm (41) includes robotic arm one (411), robotic arm two (412) and robotic arm three (413). Robotic arm one (411) is connected to the moving platform (431) via a joint motor. Robotic arm two (412) is connected to the end of robotic arm one (411) via a joint motor. Robotic arm three (413) is connected to the end of robotic arm two (412) via a joint motor. The bionic actuator (42) is located at the end of robotic arm three (413).

6. The intelligent tea-picking device for multi-terminal collaborative operation according to claim 5, characterized in that, The bionic actuator (42) includes a rotary motor, a chuck (421), a shearing blade (422), and a flexible clamping part (423). The rotary motor is located at the end of the robotic arm (411). The chuck (421) is fixed to the output end of the rotary motor. The shearing blade (422) is located on the chuck (421). The flexible clamping part (423) is located on the chuck (421) and above the shearing blade (422).

7. The intelligent tea-picking device for multi-terminal collaborative operation according to claim 6, characterized in that, A crossbeam (12) is provided inside the frame (1), and the mounting frame (11) is slidably sleeved on the crossbeam (12). The crossbeam (12) is provided with a strip-shaped through hole, and a rack (101) is provided on one side of the strip-shaped through hole. A horizontal motor (10) is provided on the upper part of the mounting frame (11). The output end of the horizontal motor (10) meshes with the rack (101) through a gear to drive the mounting frame (11) to move laterally inside the frame (1).

8. The intelligent tea-picking device for multi-terminal collaborative operation according to claim 2, characterized in that, The frame (1) is vertically connected to the two sides of the vertical tube (13). A limit rod (9) is fixedly installed on the mounting frame (21). The limit rod (9) slides inside the vertical tube (13). A spring (8) is sleeved on the limit rod (9). One end of the spring (8) abuts against the end of the vertical tube (13).

9. The intelligent tea-picking device for multi-terminal collaborative operation according to claim 7, characterized in that, The identification and positioning module (3) includes a camera (31) set at the front end of the frame (1) and a height measuring camera (32) set on the mobile platform (431), as well as a lidar (33) set on the top of the frame (1); it also includes a control module (7) set on one side of the frame (1), and the control module (7) is electrically connected to the walking module (2), the identification and positioning module (3), the picking module (4) and the conveying module (5) respectively.

10. A method for intelligent harvesting of premium tea using multi-terminal collaborative operation, employing the intelligent harvesting device for premium tea using multi-terminal collaborative operation as described in claim 9, characterized in that, Includes the following steps: S1, the walking module (2) plans an adaptive cross-row walking path based on the tea bud image captured by the camera (31); the walking motor (22) drives the track (24) to move the frame (1) forward across rows, and stops when it reaches a distance of one frame (1); during the picking process, the walking module (2) makes intermittent movements, moving the distance of one frame (1) each time; S2, After the rack (1) stops at the corresponding position, the top laser radar (33) acquires the three-dimensional point cloud data of the tea bud surface. First, it extracts the two-dimensional plane data of the tea bud surface, and then performs grid planning based on the two-dimensional plane data of the tea bud surface to locate the two-dimensional position of the famous and high-quality tea buds to be picked in each grid. Then, it extracts the height information of the buds in each grid based on the three-dimensional point cloud data of the tea bud surface, and arranges the buds in the grid from high to low according to the sequence number. S3, the picking module (4), driven by the conveying module (5), moves from left to right to each grid after the two-dimensional planar grid of the tea shed is divided, and performs intermittent reciprocating linear motion. S4, the picking module (4) stops at the corresponding grid. The height measurement camera (32) at the end of the picking module calculates the specific height position of each bud in real time according to the bud number in the grid and transmits it to the control module (7). S5, the control module (7) integrates the two-dimensional plane data obtained by the lidar (33) and the specific height data obtained by the height measurement camera (32) to generate the three-dimensional position data of the bud to be picked, and sends the instruction to the end robotic arm; S6, after receiving the corresponding instruction, the multi-degree-of-freedom robotic arm (41) moves to the picking point of the famous tea buds with the end of the picking execution. The shearing motor drives the shearing blade (422) of the chuck (421) to clamp and cut off the bud. After the bud is cut off, the bud is clamped by the flexible clamping part (423). S7. After the bud is cut at the end of the picking process, it is driven by the multi-degree-of-freedom robotic arm (41) to the top of the conveyor module (5). The flexible clamping part (423) releases the bud, and the bud falls naturally onto the conveyor belt (24) of the conveyor module (5) and is transported to the leaf collection box (6). S8, the buds in each grid are picked in sequence according to the number. After one grid is picked, the picking module (4) moves to the next grid in this row and picks in sequence. After the first row of grids is picked, the conveying module (5) moves from front to back in sequence, moving the distance of one grid each time. When picking the fresh leaves in the second row of grids, the picking module (4) moves from right to left. When picking the fresh leaves in the third row of grids, the picking module (4) moves from left to right, and so on in a straight line. The picking modules (4) installed on both sides of the conveying module (5) move in the same way. S9, when the front multi-degree-of-freedom robotic arm (41) moves to the position where the rear multi-degree-of-freedom robotic arm (41) begins to pick, the horizontal motor (10) drives the transmission module (5) to move on the crossbeam (12), thereby moving the multi-degree-of-freedom robotic arms (41) on both sides of the transmission module (5) together by a distance equal to the width of the transmission module (5), and continue working until the transmission module (5) moves from the front of the frame (1) to the back of the frame (1); S10, when the area of ​​a rack (1) is finished being harvested, the rack (1) moves forward by the distance of one rack (1), and the horizontal motor (10) drives the conveying module (5) and the harvesting module (4) to return to the starting position and continue to harvest the next area.

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