Single-track self-propelled tea-leaf picking machine and automatic profiled tea picking control method thereof

Abstract

The application discloses a single-track crawler-type tea-picking machine and an automatic profiled tea-picking control method thereof, and relates to the technical field of tea-picking machines. The single-track crawler-type tea-picking machine comprises a self-propelled chassis, a Z-axis guide rail structure is arranged on the top of the self-propelled chassis, a vertical plate is arranged on the movable end of the Z-axis guide rail structure, a tea-picking cantilever is hingedly arranged on the vertical plate, and an angle adjusting driving structure is arranged between the tea-picking cantilever and the vertical plate. The Z-axis guide rail structure adjusts the height of the tea-picking cantilever, and the angle adjusting driving structure adjusts the pitch angle of the tea-picking cantilever. Compared with the prior art, the single-track crawler-type tea-picking machine and the automatic profiled tea-picking control method thereof have the advantages that the tea-picking machine has tea-pomf surface sensing capability, and the cutting height and the pitch angle can be automatically adjusted.

Description

Technical Field

[0001] This invention relates to agricultural harvesting machinery, specifically a single-row tracked self-propelled tea harvester and its automatic contour-following tea harvesting control method. Background Technology

[0002] Tea is an important economic crop in my country, with a wide planting area, especially concentrated in hilly and mountainous regions. Tea harvesting is a crucial step in tea production, directly affecting harvesting efficiency and the quality of fresh leaves. With the advancement of agricultural mechanization, tea-harvesting machinery is gradually replacing manual harvesting, becoming an important means of improving harvesting efficiency.

[0003] Existing tea-picking machinery still has certain limitations in terms of structure and function. On the one hand, the height adjustment capability of the cutter of some tea-picking equipment is limited, making it difficult to adapt to the working conditions where the height of the tea tree canopy varies greatly in different tea gardens, which is particularly evident in hilly and mountainous terrain.

[0004] On the other hand, the pitch and angle of the cutter mostly rely on manual adjustment or fixed settings, lacking the ability to automatically adjust according to the terrain and tea bush shape. When working on slopes, it is easy to cause the cutting surface to tilt, affecting the harvesting quality. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the above-mentioned technical defects and provide a single-row tracked self-propelled tea picking machine with tea canopy surface sensing capability and automatic adjustment of cutting height and pitch angle, as well as its automatic contour-following tea picking control method.

[0006] To solve the above technical problems, the technical solution provided by the present invention is as follows: a single-track self-propelled tea picking machine, including a self-propelled chassis, a Z-axis guide rail structure connected to the top of the self-propelled chassis, a vertical plate installed on the movable end of the Z-axis guide rail structure, a tea picking cantilever hinged on the vertical plate, and an angle adjustment drive structure installed between the tea picking cantilever and the vertical plate.

[0007] It also includes a touch-sensitive tea tree posture sensing component, a posture sensor, and a control system;

[0008] The touch-sensitive tea tree posture sensing component is installed on the tea picking cantilever to sense changes in the height of the tea canopy and output a height signal.

[0009] The attitude sensor monitors the angle difference between the self-propelled chassis and the horizontal plane and outputs an attitude signal;

[0010] The control system is electrically connected to the touch-sensitive tea tree posture sensing component, posture sensor, Z-axis guide rail structure and angle adjustment drive structure to adjust the height of the tea picking cantilever and the pitch angle of the tea picking cantilever.

[0011] Preferably, the angle adjustment drive structure is an electric actuator hinged to the upright plate. The telescopic end of the electric actuator is hinged to the top of the tea-picking cantilever. The electric actuator extends and retracts according to the attitude signal to compensate for the tilt angle of the self-propelled chassis and keep the tea-picking cantilever horizontal.

[0012] Preferably, the Z-axis guide rail structure includes a column and a Z-axis lead screw module installed in the column, and the movable end of the Z-axis guide rail structure is a slider structure that is connected to the Z-axis lead screw module for transmission.

[0013] The Z-axis lead screw module drives the slider structure to rise and fall according to the height signal, so that the tea picking cantilever follows the height change of the tea canopy surface.

[0014] Preferably, the touch-sensitive tea tree posture sensing component includes a mounting plate, a tea canopy surface sensing lever rotatably connected to the mounting plate, and a digital high-precision angle sensor.

[0015] The digital high-precision angle sensor and the tea-spray surface sensing lever are installed and configured via a coupling;

[0016] The tea canopy surface sensing lever generates angular displacement due to changes in the height of the tea canopy surface, and the digital high-precision angle sensor converts the angular displacement into a height signal output.

[0017] Preferably, the control system acquires the sensing signals from the attitude sensor and the touch-sensitive tea tree attitude sensing component in real time at a preset frequency;

[0018] When the angular deviation of the attitude signal exceeds the preset control dead zone, the drive angle adjustment drive structure performs pitch compensation.

[0019] When the height signal exceeds the preset height deviation threshold, the Z-axis guide rail structure is driven to perform lifting compensation.

[0020] Another aspect of the present invention discloses an automatic contour-following tea-picking control method, comprising the following steps:

[0021] S1: The self-propelled chassis moves along the tea tree rows. The tea tree attitude sensing component's tea canopy surface sensing paddle contacts the tea canopy surface, senses the height change of the tea canopy surface and outputs a height signal. The attitude sensor monitors the angle difference between the self-propelled chassis and the horizontal plane and outputs an attitude signal.

[0022] S2: The control system drives the Z-axis guide rail structure according to the height signal to adjust the height of the tea picking cantilever, so that the reciprocating tea picking knife follows the height of the tea canopy surface;

[0023] S3: The gyroscope monitors the angle difference between the self-propelled chassis and the horizontal plane and outputs an attitude signal. The control system adjusts the drive structure according to the attitude signal to adjust the pitch angle of the tea-picking cantilever so that the tea-picking blades remain horizontal.

[0024] S4: Tea picking tools are used to cut and collect fresh tea leaves.

[0025] Preferably, the height signal output of the tea canopy surface sensing lever in S1 includes:

[0026] When the paddle is subjected to the force of the change in the height of the tea canopy surface, torque and angular displacement are generated at the pivot.

[0027] When the angular displacement exceeds the set value, it is transmitted to the digital high-precision angle sensor through the coupling and converted into an electrical signal as a height signal output.

[0028] Preferably, the control system in S2 and S3 adopts a dual-axis cooperative control strategy, wherein attitude compensation takes precedence over altitude adjustment;

[0029] The pitch angle compensation of the tea-picking cantilever is completed based on the attitude signal to bring the cutter to a horizontal state;

[0030] Adjust the height of the tea-picking cantilever according to the height signal so that the blades follow the height of the tea canopy surface;

[0031] in:

[0032] Two sensor signals are acquired in parallel at a preset frequency, and the control system outputs compensation commands independently.

[0033] Preferably, the control system in S3 also has a control dead zone;

[0034] When the angle deviation of the attitude signal is within the preset dead zone range, the output of the angle adjustment drive structure adjustment command is stopped.

[0035] The control dead zone is ±2 degrees.

[0036] Preferably, the control system in S3 also has a control dead zone;

[0037] When the angle deviation of the attitude signal is within the preset dead zone range, the output of the angle adjustment drive structure adjustment command is stopped.

[0038] The control dead zone is ±2 degrees.

[0039] The advantages of this invention compared with the prior art are as follows: This invention achieves automatic adjustment of the height and pitch angle of the tea picking cantilever by combining the Z-axis guide rail structure with the angle adjustment drive structure, which can adapt to the working conditions of tea gardens in hilly and mountainous areas with different tea canopy heights and large terrain undulations.

[0040] The tea canopy surface sensing pick is based on the torque balance principle to sense changes in the height of the tea canopy surface in real time. It works in conjunction with a gyroscope to monitor the horizontal attitude of the chassis. The control system collects dual-channel sensor signals in a closed loop at a frequency of 100Hz, driving the lifting mechanism and electric push rod to compensate in coordination. This ensures that the cutter always follows the height of the tea canopy surface and remains horizontal, achieving contour tracking and picking. This significantly improves the consistency of picking quality. This invention enables efficient mechanized harvesting of bulk tea in hilly and mountainous areas. Attached Figure Description

[0041] Figure 1 This is a structural diagram of a single-track self-propelled tea-picking machine.

[0042] Figure 2 This is a second-view structural diagram of a single-track self-propelled tea-picking machine.

[0043] Figure 3 This is a schematic diagram of a single-track self-propelled tea-picking machine.

[0044] Figure 4 This is a third-person view structural diagram of a single-track self-propelled tea-picking machine.

[0045] Figure 5 This is a flowchart illustrating the automatic contour-following tea-picking control method.

[0046] As shown in the figure: 1. Self-propelled chassis, 2. Z-axis guide rail structure, 3. Vertical plate, 4. Tea picking cantilever, 5. Angle adjustment drive structure, 6. Tea inlet, 7. Arc-shaped mounting bracket, 8. Blowing cylinder, 9. Air outlet, 10. Drive motor one, 11. Drill fan blade, 12. Discharge bin, 13. Sliding block structure, 14. Drive motor two, 15. Transmission rod, 16. Fixed blade assembly, 17. Moving blade assembly, 18. Reciprocating drive groove, 19. Eccentric wheel, 20. Mounting groove, 21. Mounting plate, 22. Tea canopy surface sensing lever, 23. Digital high-precision angle sensor. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings.

[0048] Combined with appendix Figure 1-4 As shown, a single-track self-propelled tea-picking machine includes a self-propelled chassis 1, which is a dual-track self-propelled chassis. It is suitable for narrow-row operation in densely planted tea gardens in hilly and mountainous areas and has strong climbing ability. In one embodiment, the self-propelled chassis 1 supports two walking control modes: remote control driving and RTK automatic driving. It is equipped with two power modes: pure electric and range-extended hybrid.

[0049] The top of the self-propelled chassis 1 is connected to a Z-axis guide rail structure 2, which includes a column and a Z-axis lead screw module installed in the column. The movable end of the Z-axis guide rail structure 2 is a slider structure 13 that is connected to the Z-axis lead screw module for transmission.

[0050] When in use, the Z-axis lead screw module adopts a motor-driven nut rotation type lead screw nut mechanism with a lead screw lead of 25mm, a repeatability of ±0.03mm, a maximum speed of 1000mm / s, a rated thrust of 798N, and a lead screw outer diameter of 25mm. It works with high-rigidity guide rails to achieve rapid and stable lifting of the tea picking cantilever 4.

[0051] The lifting response speed is 3cm / s, and the height adjustment range is 0~800mm. The Z-axis guide rail structure 2 is driven by a DC servo motor, specifically a Delta servo motor 573HB102-583, which is five-phase and ten-beat, with a maximum operating speed of 0.1m / s (lifting with load) and a power of 0.3kW.

[0052] In one embodiment, physical limit sensors are installed at both ends of the Z-axis guide rail structure 2, with a height range of 400-1200mm;

[0053] If the lifting mechanism touches the highest or lowest physical limit during operation, it will not only stop moving forward immediately, but will also automatically start the rebound program and retreat a safe distance (10mm) in the opposite direction, effectively preventing the mechanical structure from locking or being damaged due to overload impact.

[0054] In one embodiment, a vertical plate 3 is mounted on the slider structure 13 of the Z-axis guide rail structure 2, and a tea-picking cantilever 4 is hinged on the vertical plate 3. An angle adjustment drive structure 5 is installed between the tea-picking cantilever 4 and the vertical plate 3. The angle adjustment drive structure 5 is used to adjust the pitch angle of the tea-picking cantilever 4.

[0055] The angle adjustment drive structure 5 is an electric actuator that is hinged to the vertical plate 3. The telescopic end of the electric actuator is hinged to the top of the tea picking cantilever 4. The electric actuator replaces the tie rod and is an important component for the stability of the cutter structure, with telescopic self-locking stability. On the other hand, it is the actuator for adjusting the horizontal pitch attitude of the cutter.

[0056] When in use, the extension and retraction stroke of the electric push rod is determined by simulation calculation. When the machine body is in a horizontal state, the harvester remains in a horizontal state. At this time, the overall length of the electric push rod is about 1048mm, and the electric push rod stroke moves to 398mm.

[0057] With the machine body tilted 15° to the right, the electric push rod is moved to 484mm by the program control, so that the harvester rotates 15° counterclockwise around the rotation center and keeps it horizontal. At this time, the overall length of the electric push rod is about 1134mm.

[0058] With the machine body tilted 15° to the left, the electric push rod is moved to 304mm by the program control, so that the harvester rotates 15° clockwise around the rotation center and keeps it in a horizontal state. At this time, the overall length of the electric push rod is about 954mm.

[0059] Based on the above analysis, the electric actuator is selected with a stroke specification of 500mm, a thrust of 2000N, a power supply voltage of 24V, and a safe operating range of ±15° for the swing angle.

[0060] The tea-picking cantilever 4 is equipped with a feeding assembly arranged along its length. The feeding assembly includes a drive motor 10 installed at one end of the tea-picking cantilever 4 and a auger fan blade 11 installed inside the tea-picking cantilever 4 and driven by the drive motor 10.

[0061] The lower end of the tea-picking cantilever 4 is also connected to the discharge bin 12 near the discharge direction of the auger blade 11. The drive motor 10 drives the auger blade 11 to rotate, and transports the tea leaves that have entered the tea-picking cantilever 4 to the discharge bin 12 along the length direction.

[0062] A tea inlet 6 is provided on one side of the tea picking cantilever 4. A reciprocating tea picking tool is also installed on the bottom wall of the tea inlet 6. The reciprocating tea picking tool includes a drive motor 14, a transmission rod 15, and a fixed blade group 16 and a moving blade group 17 stacked on the bottom wall of the tea inlet 6.

[0063] The output end of the second drive motor 14 is connected to the transmission rod 15. The end of the moving blade assembly 17 is equipped with a reciprocating drive groove 18. The free end of the transmission rod 15 extends into the reciprocating drive groove 18 and is connected to an eccentric wheel 19. The second drive motor 14 drives the transmission rod 15 to rotate, and the eccentric wheel 19 rotates in the reciprocating drive groove 18, driving the moving blade assembly 17 to perform reciprocating shearing motion relative to the fixed blade assembly 16, thereby cutting the fresh tea leaves. The reciprocating tea picking knife adopts a double serrated blade reciprocating structure, which is suitable for the shape-following picking of typical tea bushes in hilly and mountainous areas.

[0064] In one embodiment, a blowing cylinder 8 is installed above the tea inlet 6 on the tea picking cantilever 4, which is arranged in accordance with the length direction of the tea inlet 6. Multiple air outlets 9 are installed at the lower end of the blowing cylinder 8 along its length direction. The air outlets 9 are arranged facing the feeding component. The cut tea leaves are blown into the tea inlet 6 by the airflow of the blowing cylinder 8 and enter the conveying path of the auger fan blades 11 of the feeding component to achieve air blowing collection.

[0065] In order to adapt to different tea trees, an arc-shaped mounting frame 7 is also installed on the tea picking cantilever 4 above the tea inlet 6. The arc-shaped mounting frame 7 has a mounting groove 20 set along its height direction.

[0066] An adjustable-height touch-sensitive tea tree posture sensing component is installed on the arc-shaped mounting bracket 7. The touch-sensitive tea tree posture sensing component includes a mounting plate 21 that cooperates with the mounting groove 20, a tea canopy surface sensing lever 22 that is rotatably connected to the mounting plate 21, and a digital high-precision angle sensor 23. The digital high-precision angle sensor 23 and the tea canopy surface sensing lever 22 are installed together by a coupling. The side wall of the mounting plate 21 is provided with mounting screw holes that cooperate with the mounting groove 20. By passing bolts through the mounting screw holes and cooperating with the mounting groove 20, the height of the sensing component on the arc-shaped mounting bracket 7 can be adjusted and fixed.

[0067] When in use, the sensing end of the touch-type tea tree posture sensing component (i.e., the tea canopy surface sensing paddle 22) is located in the center of the front of the reciprocating tea picking knife. Its weight is precisely measured to ensure that the morphological characteristics of the tea tree canopy can be monitored in real time during the tea picking process.

[0068] The working principle of this sensing component is based on the torque balance theory in classical mechanics:

[0069] When the tea canopy surface sensing lever 22 is subjected to a force due to the change in the height of the tea canopy surface (pushing upwards or sinking downwards), a corresponding torque will be generated at the pivot, thereby causing a measurable angular displacement. When this mechanical displacement exceeds the set value, it is transmitted to the digital high-precision angle sensor 23 through the coupling, triggering and converting it into a standard electrical signal output to the lead screw motor driver. The servo motor drives the slider structure 13 to rise or fall, driving the cutter to move up and down until the lever returns to the set cutting height, ensuring that the cutting height is always controlled within an ideal range.

[0070] The invention also includes a control system and an attitude sensor. The attitude sensor is a gyroscope used to monitor the angle difference between the self-propelled chassis 1 and the horizontal plane (set value -5° to +5°). The control system is electrically connected to the touch-sensitive tea tree attitude sensing component, the attitude sensor, the Z-axis guide rail structure 2, and the angle adjustment drive structure 5, and controls the operation of the Z-axis guide rail structure 2 and the angle adjustment drive structure 5 according to the sensing signals.

[0071] The control system is an intelligent dual-axis attitude and position servo control system. The system achieves attitude adjustment by driving two core actuators: the electric push rod extension is used to adjust the pitch angle of the tea picking cantilever 4, and the Z-axis lead screw module is used to control the overall height of the tea picking cantilever 4. The system has built-in high-precision sensors and closed-loop control algorithms, supports manual fine-tuning and automatic attitude maintenance, and is equipped with a safety anti-collision and abnormal alarm mechanism.

[0072] The usage is as follows:

[0073] The gyroscope reads the angle difference between the self-propelled chassis 1 and the horizontal plane, and controls the electric push rod to extend or retract through the program so that the picker always stays in a horizontal state. After the picker is adjusted to a horizontal state, the data of the digital high-precision angle sensor 23 of the touch-type tea tree posture sensing component is read, and the vertical height of the Z-axis guide rail structure 2 is adjusted so that the picker is at a suitable tea picking height.

[0074] Once in automatic mode, the system will collect sensor data in real time at a frequency of 100Hz (attitude) and polling (position), and automatically output compensation power to resist external interference, ensuring that the device accurately maintains the locked three-dimensional attitude.

[0075] In one embodiment, to extend the mechanical life, the control system sets a very small "control dead zone" (such as within ±2 degrees). Within this small error, the motor will not operate frequently, preventing the equipment from experiencing high-frequency mechanical vibrations near the target point. The multi-sensor collaborative measurement scheme of the present invention significantly improves the system's adaptability to complex tea garden terrain, ensuring the stability and reliability of the picking operation.

[0076] This invention employs a fully automated, non-destructive harvesting mode consisting of a cutting blade, air blowing collection, screw conveying, and mesh bag collection. It harvests large quantities of fresh tea leaves, 5-10cm high, while in motion. Each step works in concert: a reciprocating tea-picking blade cuts the fresh leaves, a blowing cylinder 8 blows the tea leaves into the tea inlet 6, and a dragon-shaped fan blade 11 conveys the tea leaves to the discharge bin 12. A mesh bag can be connected below the discharge bin 12 for collection, achieving non-destructive harvesting throughout the entire process.

[0077] In specific implementation of the present invention,

[0078] The tea-picking method includes the following steps:

[0079] S1: The self-propelled chassis 1 moves along the tea tree rows. The tea canopy surface sensing paddle 22 of the touch-type tea tree posture sensing component contacts the tea canopy surface, senses the change in the height of the tea canopy surface and outputs a height signal. During the movement, the tea harvester moves stably along the tea tree rows in remote control driving or RTK automatic driving mode. The tea canopy surface sensing paddle 22 contacts the tea canopy surface in real time at the center position directly in front of the cutter. When the height of the canopy surface changes, the paddle is subjected to force and generates angular displacement. The digital high-precision angle sensor 23 converts the angular displacement into an electrical signal output.

[0080] S2: The control system drives the Z-axis guide rail structure 2 according to the height signal to adjust the height of the tea picking arm 4, so that the reciprocating tea picking knife follows the height of the tea canopy surface. After receiving the height signal, the control system drives the servo motor of the Z-axis lead screw module to drive the slider structure 13 to rise or fall, so that the tea picking arm 4 and the reciprocating tea picking knife follow the height change of the tea canopy surface, ensuring that the cutting height is always controlled within the ideal range, and can cut tea leaves with consistent height and quality according to the terrain and tea tree growth.

[0081] S3: The gyroscope monitors the angle difference between the self-propelled chassis 1 and the horizontal plane and outputs an attitude signal. The control system drives the angle adjustment of the drive structure 5 according to the attitude signal, and adjusts the pitch angle of the tea picking cantilever 4 to keep the reciprocating tea picking knife horizontal. The gyroscope collects chassis attitude data in real time at a frequency of 100Hz. When the chassis tilts and the angle difference exceeds the control dead zone (±2 degrees), the control system drives the electric push rod to extend or retract, so that the tea picking cantilever 4 rotates around the hinge point to compensate for the chassis tilt angle and keep the reciprocating tea picking knife in a horizontal state.

[0082] S4: The reciprocating tea-picking blades cut fresh tea leaves. The blowing cylinder 8 blows the tea leaves into the tea inlet 6. The feeding assembly transports the tea leaves to the discharge bin 12. The second drive motor 14 drives the transmission rod 15 to rotate. The eccentric wheel 19 drives the moving blade group 17 to perform reciprocating shearing motion relative to the fixed blade group 16, cutting large batches of fresh tea leaves 5-10cm high. The cut tea leaves are blown into the tea inlet 6 by the airflow of the blowing cylinder 8. The first drive motor 10 drives the dragon fan blade 11 to rotate, transporting the tea leaves along the length of the tea-picking cantilever 4 to the discharge bin 12. A mesh bag is connected below the discharge bin 12 to complete the collection.

[0083] The above steps are continuously and repeatedly executed during the movement of the tea harvester. The system collects sensor data in real time at a frequency of 100Hz (attitude) and polling (position), and automatically outputs compensating power to resist external interference, ensuring that the equipment accurately maintains the locked three-dimensional attitude, thus realizing efficient mechanized harvesting of bulk tea in densely planted tea gardens in hilly and mountainous areas.

[0084] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0085] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0086] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A single-track self-propelled tea-picking machine, comprising a self-propelled chassis (1), wherein a Z-axis guide rail structure (2) is connected to the top of the self-propelled chassis (1), a vertical plate (3) is mounted on the movable end of the Z-axis guide rail structure (2), and a tea-picking cantilever (4) is hinged on the vertical plate (3), characterized in that: An angle adjustment drive structure (5) is installed between the tea picking cantilever (4) and the vertical plate (3); It also includes a touch-sensitive tea tree posture sensing component, a posture sensor, and a control system; The touch-sensitive tea tree posture sensing component is installed on the tea picking cantilever (4) to sense the height change of the tea canopy surface and output a height signal; The attitude sensor monitors the angle difference between the self-propelled chassis (1) and the horizontal plane and outputs an attitude signal; The control system is electrically connected to the touch-type tea tree posture sensing component, posture sensor, Z-axis guide rail structure (2) and angle adjustment drive structure (5) respectively, and adjusts the height of the tea picking cantilever (4) and the pitch angle of the tea picking cantilever (4).

2. The single-row tracked self-propelled tea-picking machine according to claim 1, characterized in that: The angle adjustment drive structure (5) is an electric push rod that is hinged to the upright plate (3). The telescopic end of the electric push rod is hinged to the top of the tea picking cantilever (4). The electric push rod extends and retracts according to the attitude signal to compensate for the tilt angle of the self-propelled chassis so that the tea picking cantilever remains horizontal.

3. The single-row tracked self-propelled tea-picking machine according to claim 1, characterized in that: The Z-axis guide rail structure (2) includes a column and a Z-axis lead screw module installed in the column. The movable end of the Z-axis guide rail structure (2) is a slider structure (13) that is connected to the Z-axis lead screw module for transmission. The Z-axis lead screw module drives the slider structure (13) to rise and fall according to the height signal, so that the tea picking cantilever (4) follows the change in the height of the tea canopy surface.

4. A single-row tracked self-propelled tea-picking machine according to claim 1, characterized in that: The touch-sensitive tea tree posture sensing component includes a mounting plate (21), a tea bud surface sensing lever (22) rotatably connected to the mounting plate (21), and a digital high-precision angle sensor (23). The digital high-precision angle sensor (23) and the tea-spray surface sensing lever (22) are installed and configured via a coupling; The tea canopy surface sensing lever (22) generates angular displacement due to the change in the height of the tea canopy surface, and the digital high-precision angle sensor (23) converts the angular displacement into a height signal output.

5. A single-row tracked self-propelled tea-picking machine according to claim 1, characterized in that: The control system acquires the sensing signals from the attitude sensor and the touch-type tea tree attitude sensing component in real time at a preset frequency. When the angle deviation of the attitude signal exceeds the preset control dead zone, the drive angle adjustment drive structure (5) performs pitch compensation. When the height signal exceeds the preset height deviation threshold, the Z-axis guide rail structure (2) is driven to perform lifting compensation.

6. An automatic contour-following tea-picking control method, using a tea-picking machine as described in any one of claims 1-5, characterized in that: Includes the following steps: S1: The self-propelled chassis (1) moves along the tea tree rows. The tea tree surface sensing paddle (22) of the touch-type tea tree posture sensing component contacts the tea tree surface, senses the height change of the tea tree surface and outputs a height signal. The posture sensor monitors the angle difference between the self-propelled chassis (1) and the horizontal plane and outputs a posture signal. S2: The control system drives the Z-axis guide rail structure (2) according to the height signal to adjust the height of the tea picking arm (4) so ​​that the reciprocating tea picking knife follows the height of the tea shed surface; S3: The gyroscope monitors the angle difference between the self-propelled chassis (1) and the horizontal plane and outputs the attitude signal. The control system adjusts the driving structure (5) according to the attitude signal to adjust the pitch angle of the tea picking cantilever (4) so ​​that the tea picking knife remains horizontal. S4: Tea picking tools are used to cut and collect fresh tea leaves.

7. The automatic contour-following tea-picking control method according to claim 6, characterized in that: The height signal output of the tea canopy surface sensor (22) in S1 includes: When the paddle is subjected to the force of the change in the height of the tea canopy surface, torque and angular displacement are generated at the pivot. When the angular displacement exceeds the set value, it is transmitted to the digital high-precision angle sensor (23) through the coupling and converted into an electrical signal as a height signal output.

8. The automatic contour-following tea-picking control method according to claim 6, characterized in that: The control systems in S2 and S3 employ a dual-axis cooperative control strategy, in which attitude compensation takes precedence over altitude adjustment. The pitch angle compensation of the tea-picking cantilever is completed based on the attitude signal to bring the cutter to a horizontal state; Adjust the height of the tea-picking cantilever according to the height signal so that the blades follow the height of the tea canopy surface; in: Two sensor signals are acquired in parallel at a preset frequency, and the control system outputs compensation commands independently.

9. The automatic contour-following tea-picking control method according to claim 6, characterized in that: The control system in S3 also has a control dead zone; When the angle deviation of the attitude signal is within the preset dead zone range, the adjustment command of the angle adjustment drive structure (5) is stopped. The control dead zone is ±2 degrees.

10. The automatic contour-following tea-picking control method according to claim 8, characterized in that: The altitude signal is acquired using polling, and the attitude signal is acquired at a frequency of 100Hz.

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