Tea tender shoot depth measuring device

Abstract

The utility model provides a tea tender shoot depth measuring device. The tea tender shoot depth measuring device specifically comprises a vertical lifting mechanism, a horizontal adjusting mechanism and a depth measuring mechanism, the vertical lifting mechanism comprises a rack I, a vertical linear sliding rail, a box type sliding block, a vertical ball screw and a vertical supporting block. The horizontal adjusting mechanism comprises a rack II, a high-definition camera, a horizontal adjusting base, a transverse stepping motor and a longitudinal stepping motor; the depth measuring mechanism comprises a winding roll, a measuring stepping motor, a counting camera and a flexible ruler. Four bottom feet are arranged at the bottom of the vertical lifting mechanism, so that the vertical lifting mechanism can be conveniently mounted on the chassis, shaking is reduced, and stability is improved; four connecting points are arranged at the connecting part of the horizontal adjusting mechanism and the vertical lifting mechanism, so that the rigidity of the frame is improved while the lifting stability of the mechanism is ensured, and the deformation of the rack II can be effectively prevented. According to the utility model, accurate depth measurement can be carried out on tea tender shoots in a certain area, and data recording is facilitated while the operation is simple and convenient.

Description

Technical Field

[0001] The utility model belongs to the field of agricultural machinery and relates to a measuring device which is installed on a mobile chassis and is used for obtaining depth information of tea buds. Background Art

[0002] my country is a major tea producer. Tea trees are planted in a wide area and have a wide variety of tea varieties. The tea economy accounts for a high proportion in the agricultural economy. At present, most of the tea picking machines on the market are non-selective harvesting machines based on mechanical cutting blades. Although such machines can replace manual labor and achieve efficient tea harvesting, the freshness and integrity of the picked tea leaves cannot be guaranteed due to their lack of selectivity. From a development perspective, due to the promotion of standardized tea gardens and the improvement of the degree of mechanical automation in the agricultural field, it has become necessary to significantly reduce labor costs and reduce the labor intensity of agricultural production. Therefore, it is very important to develop an autonomous tea picking robot based on computer vision technology to identify and locate tea buds and complete the picking of tea buds. At present, the most commonly used distance measurement methods, such as binocular distance measurement and laser distance measurement, are particularly sensitive to ambient light, resulting in great differences in their measurement effects when the light angle and light intensity change. Therefore, the utility model designs a device that can measure the depth of tea buds from different heights within a certain horizontal range, which can quickly obtain and record the depth information of the tea buds, in order to provide experimental data for subsequent intelligent tea picking. Utility Model Content

[0003] The utility model provides a measuring device installed on a mobile chassis for obtaining depth information of tea buds, so as to solve the problems raised in the above background technology.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A tea bud depth measuring device comprises: a vertical lifting mechanism, a horizontal adjustment mechanism, and a depth measuring mechanism; the vertical lifting mechanism comprises a frame I, a vertical linear slide rail, a box-type slider, a vertical ball screw, and a vertical support block; both ends of the vertical ball screw are fixed to the frame I through vertical lifting mechanism seat bearings, the vertical ball screw is provided with a box-type slider, the box-type slider is connected to the vertical linear slide rail through the vertical slider, the vertical linear slide rail is fixed to the frame I through the vertical support block, and the vertical slider can slide linearly on the vertical linear slide rail; the horizontal adjustment mechanism comprises a frame II, a high-definition camera, a horizontal ball screw, a horizontal lateral adjustment base, a lateral stepping motor, a longitudinal stepping motor, and a horizontal support seat; the high-definition camera is connected to the vertical linear slide rail through the vertical support block, and the vertical slider can slide linearly on the vertical linear slide rail. The horizontal stepping motor is fixed to the horizontal support seat by bolts; the horizontal adjustment base is equipped with a screw sleeve, and the horizontal adjustment base is fixed to the horizontal slider by bolts. The horizontal slider can slide linearly on the horizontal linear slide rail, and the horizontal linear slide rail is fixed to the frame II by the horizontal support seat and the horizontal support block; the horizontal transverse ball screw is connected to the horizontal adjustment mechanism with seat bearing, and the horizontal adjustment mechanism with seat bearing is fixed to the frame II by the horizontal support seat, and one end of the horizontal transverse ball screw is connected to the transverse stepping motor, so that the horizontal adjustment base can realize transverse movement when the transverse stepping motor rotates; the horizontal adjustment mechanism is fixedly connected to the box-type slider in the vertical lifting mechanism and can move in the vertical direction.

[0006] As an optimal technical solution, both the rack I and the rack II are constructed with aluminum profiles, the end points of the aluminum profiles are fixedly connected with L-shaped connecting plates and angle brackets, and the end points of the aluminum profiles and the middle positions of the aluminum profiles are fixedly connected with T-shaped connecting plates and angle brackets; both the rack I and the rack II are detachable.

[0007] As a preferred technical solution of the utility model, the lower end of the vertical ball screw in the vertical lifting mechanism is fixedly connected to the manual crank so that it can rotate under the drive of the manual crank; both sides of the vertical lifting mechanism are equipped with manual cranks, vertical ball screws, and box-type sliders of the same model to ensure the stability of the horizontal adjustment mechanism during lifting; the bottom of the vertical lifting mechanism is equipped with four feet, so that it can be easily installed on the chassis, while reducing shaking and increasing stability.

[0008] As an optimal technical solution of the utility model, the frame II is provided with the same type of transverse stepper motors, horizontal transverse ball screws and horizontal adjustment bases on both sides; horizontal linear slides and horizontal longitudinal ball screws are installed between the horizontal adjustment bases on both sides; both ends of the horizontal linear slides are fixedly connected to the horizontal adjustment bases by bolts; the horizontal longitudinal ball screws are connected to the longitudinal stepper motors through the horizontal adjustment mechanism seat bearings; the transverse stepper motors on both sides move synchronously so that the two sides will not get stuck due to uneven force; there are four connection points at the connection between the horizontal adjustment mechanism and the vertical lifting mechanism, which improves the rigidity of the frame while ensuring the stable lifting of the mechanism, and can effectively prevent the deformation of the frame II.

[0009] As an optimal technical solution of the utility model, the depth measuring mechanism includes a cable reel, a measuring stepper motor, a counting camera, and a flexible ruler; the measuring stepper motor is fixed to the horizontal adjustment base by bolts, the horizontal adjustment base is fixed to the horizontal slider by bolts, the horizontal adjustment base is equipped with a screw sleeve, and the screw sleeve cooperates with the horizontal longitudinal ball screw connected to the longitudinal stepper motor; the output shaft of the measuring stepper motor is connected to the cable reel; the flexible ruler is wound on the cable reel, the connecting piece is fixed to the end of the flexible ruler by bolts, the small proximity switch is fixed in the center groove of the connecting piece by hot melt glue, and three miniature laser lights are respectively fixed in three evenly distributed edge grooves of the connecting piece by hot melt glue; the flexible ruler is straightened and vertically downward under the action of the connecting piece, the small proximity switch and the miniature laser light; the counting camera is fixed to the adjustment base by a bracket, and the counting camera is facing the flexible ruler for reading the scale of the flexible ruler; the depth measuring mechanism can be moved above the tea tree.

[0010] Beneficial effects of the utility model:

[0011] When measuring the depth of tea buds in a designated area, the vertical lifting mechanism, the horizontal adjustment mechanism and the depth measurement mechanism can work simultaneously, so that the small proximity switch can quickly approach the tea buds to be measured; the tea buds to be measured are surrounded by three rays of light emitted by three micro laser lamps, and the small proximity switch can be accurately moved to the top of the tea buds; the small proximity switch can accurately determine whether the tea buds are in contact; finally, the scale of the flexible ruler is read by the counting camera to obtain the depth of the tea buds, thereby saving time and improving efficiency. The present invention adopts the adjustment method of vertical lifting and horizontal movement and cooperates with the depth measurement mechanism, and can quickly and effectively measure the depth of tea buds that are clearly visible and not blocked in a certain area. The bottom of the vertical lifting mechanism is equipped with four feet, so that it can be easily installed on the chassis, while reducing shaking and increasing stability; there are four connection points at the connection between the horizontal adjustment mechanism and the vertical lifting mechanism, which not only ensures the stability of the lifting of the mechanism, but also improves the rigidity of the frame and can effectively prevent the deformation of the frame II; the lateral stepping motors on both sides of the horizontal adjustment mechanism move synchronously, so that the two sides will not be stuck due to uneven force; the utility model can realize the rapid measurement of the depth information of multiple tea buds in the area, and is easy to operate and convenient for data recording. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the utility model;

[0013] Figure 2 This is a schematic diagram of the vertical lifting mechanism structure of the utility model;

[0014] Figure 3 This is a schematic diagram of the structure of the horizontal adjustment mechanism of the utility model;

[0015] Figure 4 This is a schematic diagram of the depth measurement mechanism structure of the utility model;

[0016] Notes on the attached drawings:

[0017] 1. Frame II; 2. Flexible ruler; 3. Vertical ball screw; 4. Vertical lifting mechanism with seat bearing; 5. Frame I; 6. L-type connecting plate; 7. T-type connecting plate; 8. Manual crank; 9. Foot; 10. Vertical linear slide; 11. Box-type slider; 12. Angle code; 13. Vertical support block; 14. Vertical slider; 15. High-definition camera; 16. Horizontal support seat; 17. Horizontal transverse ball screw; 18. Longitudinal stepper motor; 19. Horizontal adjustment mechanism with seat bearing; 20. Transverse stepper motor; 21. Horizontal longitudinal ball screw; 22. Horizontal support block; 23. Horizontal linear slide; 24. Horizontal slider; 25. Screw sleeve; 26. Horizontal adjustment base; 27. Measuring stepper motor; 28. Bracket; 29. ​​Counting camera; 30. Cable reel; 31. Bracket; 32. Mini laser light; 33. Small proximity switch. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and cannot be understood as limiting the specific protection scope of the utility model.

[0019] See also Figure 1-Figure 4The utility model provides a measuring device for obtaining the depth information of tea buds installed on a mobile chassis, including a vertical lifting mechanism, a horizontal adjustment mechanism, and a depth measuring mechanism; the vertical lifting mechanism includes a frame Ⅰ5, a vertical linear slide 10, a box-type slider 11, a vertical ball screw 3, and a vertical support block 13; both ends of the vertical ball screw 3 are fixed to the frame Ⅰ5 through a vertical lifting mechanism with a seat bearing 4, and the vertical ball screw 3 is equipped with a box-type slider 11, and the box-type slider 11 is connected to the vertical linear slide 10 through a vertical slider 14, and the vertical linear slide 10 is fixed to the frame Ⅰ5 through a vertical support block 13, and the vertical slider 14 can slide linearly on the vertical linear slide 10; the horizontal adjustment mechanism includes a frame Ⅱ1, a high-definition camera 15, a horizontal transverse ball screw 17, a horizontal adjustment base 26, a transverse stepping motor 20, a longitudinal stepping motor 18, a water Flat support seat 16; the high-definition camera 15 is fixed by bolts below the middle position of the frame II1; the horizontal stepping motor 20 is fixed on the horizontal support seat 16 by bolts; the horizontal adjustment base 26 is equipped with a screw sleeve 25, and the horizontal adjustment base 26 is fixed on the horizontal slider 24 by bolts. The horizontal slider 24 can slide linearly on the horizontal linear slide 23, and the horizontal linear slide 23 is fixed on the frame II1 through the horizontal support block 22 and the horizontal support seat 16; the horizontal transverse ball screw 17 is connected to the horizontal adjustment mechanism with seat bearing 19, and the horizontal adjustment mechanism with seat bearing 19 is fixed on the frame II1 through the horizontal support seat 16, and one end of the horizontal transverse ball screw 17 is connected to the transverse stepping motor 20, so that the horizontal adjustment base 26 can realize transverse movement when the transverse stepping motor 20 rotates; the horizontal adjustment mechanism is fixedly connected to the box-type slider 11 and can move in the vertical direction.

[0020] Furthermore, the rack I5 and rack II1 are both constructed with aluminum profiles, the end points of the aluminum profiles are fixedly connected with L-shaped connecting plates 6 and angle brackets 12, and the end points of the aluminum profiles and the middle positions of the aluminum profiles are fixedly connected with T-shaped connecting plates 7 and angle brackets 12; both rack I5 and rack II1 are detachable.

[0021] Furthermore, the lower end of the vertical ball screw 3 in the vertical lifting mechanism is fixedly connected to the manual crank 8, so that it can rotate under the drive of the manual crank 8; both sides of the vertical lifting mechanism are equipped with the same type of manual crank 8, vertical ball screw 3, and box-type slider 11, which can ensure the stability of the horizontal adjustment mechanism during lifting; the bottom of the vertical lifting mechanism is equipped with four feet 9, so that it can be easily installed on the chassis, while reducing shaking and increasing stability.

[0022] Furthermore, the frame II1 has the same type of transverse stepper motors 20, horizontal transverse ball screws 17, and horizontal adjustment bases 26 on both sides. A horizontal linear slide 23 and a horizontal longitudinal ball screw 21 are installed between the horizontal adjustment bases 26 on both sides. The two ends of the horizontal linear slide 23 are fixedly connected to the horizontal adjustment base 26 by bolts, and the horizontal longitudinal ball screw 21 is connected to the longitudinal stepper motor 18 through the horizontal adjustment mechanism seat bearing 19; the transverse stepper motors 20 on both sides move synchronously, so that the two sides will not get stuck due to uneven force; the connection part of the horizontal adjustment mechanism and the vertical lifting mechanism has four connection points, which not only ensures the stability of the lifting and lowering of the mechanism, but also improves the rigidity of the frame, which can effectively prevent the deformation of the frame II1.

[0023] Furthermore, the depth measuring mechanism includes a cable reel 30, a measuring stepper motor 27, a counting camera 29, and a flexible ruler 2; the measuring stepper motor 27 is fixed to a horizontal adjustment base 26 by bolts, the horizontal adjustment base 26 is fixed to a horizontal slider 24 by bolts, the horizontal adjustment base 26 is provided with a lead screw sleeve 25, the lead screw sleeve 25 cooperates with a horizontal longitudinal ball screw 21 connected to the longitudinal stepper motor 18; the output shaft of the measuring stepper motor 27 is connected to the cable reel 30; the flexible ruler 2 is wound on the cable reel 30, and the connecting piece 31 is fixed by bolts. Fixed at the end of the flexible ruler 2, the small proximity switch 33 is fixed in the central groove of the connecting piece 31 by hot melt adhesive, and the three miniature laser lights 32 are respectively fixed in the three evenly distributed edge grooves of the connecting piece 31 by hot melt adhesive; the flexible ruler 2 is straightened and vertically downward under the action of the connecting piece 31, the small proximity switch 33 and the miniature laser lights 32; the counting camera 29 is fixed on the horizontal adjustment base 26 by the bracket 28, and the counting camera 29 is facing the flexible ruler 2 for reading the scale of the flexible ruler 2; the depth measuring mechanism can be moved above the tea tree.

[0024] The working principle of the utility model is: during installation, the foot 9 of the utility model is fixedly connected to the chassis by bolts. The working process is: when measuring the depth of tea buds in a designated area, first shake the hand crank 8 according to the height of the tea tree to drive the vertical ball screw 3 to rotate to adjust the height of the box-type slider 11 in the vertical lifting mechanism, and after driving the horizontal adjustment mechanism to a suitable height, the hand crank 8 is no longer shaken to fix the height. The selection of this height needs to be determined according to the field of view of the high-definition camera 15 and the width of the tea tree row, so that the shooting width of the high-definition camera 15 is slightly larger than the width of the tea tree row; connect the high-definition camera 15 to a computer, control the high-definition camera 15 through the computer to take a clear photo of the entire measurement area, and mark the surface and unobstructed tea buds in the photo with serial numbers, and then measure the depth of the marked buds one by one in the order of the serial numbers and record the data. The measurement process is as follows: the rotation of each stepper motor is realized by manually controlling the corresponding stepper motor driver; the lower end of the small proximity switch 33 is manually set to be at the same horizontal plane as the lens of the high-definition camera 15, and the scale of the flexible ruler 2 is 0 when it is in this position. First, keep the three micro laser lights 32 always on; control the lateral stepper motor 20 to work, so that the lateral stepper motors 20 on both sides of the horizontal adjustment mechanism rotate at the same speed and in the same direction to drive the horizontal lateral ball screw 17 to rotate, so that the depth measurement mechanism moves horizontally; secondly, control the longitudinal stepper motor 18 to work, and the rotation of the longitudinal stepper motor 18 drives the horizontal longitudinal ball screw 21 to rotate, so that the depth measurement mechanism moves longitudinally. Through lateral and longitudinal movement, the three beams of light emitted by the three micro laser lamps 32 in the depth measuring mechanism surround the tea buds to be measured, and then the measuring stepper motor 27 is controlled to work, so that the measuring stepper motor 27 in the depth measuring mechanism rotates forward to drive the winding reel 30 to rotate forward, so that the flexible ruler 2 drops vertically. When the lower end of the small proximity switch 33 contacts the tea buds, the measuring stepper motor 27 stops rotating, so that the winding reel 30 stops rotating and the flexible ruler 2 stops dropping; then the counting camera 29 connected to the computer reads the scale of the flexible ruler 2, which is the vertical distance from the tea buds to the high-definition camera 15, that is, the depth value of the tea buds, and the depth data of the tea buds is measured. Next, the measuring stepper motor 27 is controlled to reverse, driving the winding reel 30 to reverse, so that the flexible ruler 2 rises vertically away from the buds that have been measured; then the horizontal stepper motor 20 and the vertical stepper motor 18 are controlled to rotate respectively, and the measurement of the next tea bud to be measured in the measuring area is started. The above measurement process is repeated and the depth data of the measured tea buds are recorded accordingly until the depth measurement of the buds in the range is completed, and the chassis fixedly connected to the utility model is moved to the next measurement area, and the above working process is performed again.

[0025] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A tea bud depth measuring device, characterized in that: The invention comprises a vertical lifting mechanism, a horizontal adjustment mechanism and a depth measuring mechanism; the vertical lifting mechanism comprises a frame I (5), a vertical linear slide rail (10), a box-type slider (11), a vertical ball screw (3) and a vertical support block (13); both ends of the vertical ball screw (3) are fixed on the frame I (5) through a vertical lifting mechanism seat bearing (4); the vertical ball screw (3) is provided with a box-type slider (11); the box-type slider (11) is connected to the vertical linear slide rail through a vertical slider (14) The horizontal adjustment mechanism comprises a frame II (1), a high-definition camera (15), a horizontal transverse ball screw (17), a horizontal adjustment base (26), a transverse stepping motor (20), a longitudinal stepping motor (18), and a horizontal support seat (16); the high-definition camera (15) is connected to the vertical linear slide rail (10), the vertical linear slide rail (10) is fixed on the frame I (5) through a vertical support block (13), and the vertical slider (14) can slide linearly on the vertical linear slide rail (10); the horizontal adjustment mechanism comprises a frame II (1), a high-definition camera (15), a horizontal transverse ball screw (17), a horizontal adjustment base (26), a transverse stepping motor (20), a longitudinal stepping motor (18), and a horizontal support seat (16); the high-definition camera (15) The horizontal stepping motor (20) is fixed to the horizontal support seat (16) by bolts; the horizontal adjustment base (26) is provided with a screw sleeve (25), the horizontal adjustment base (26) is fixed to the horizontal slider (24) by bolts, the horizontal slider (24) can slide linearly on the horizontal linear slide rail (23), the horizontal linear slide rail (23) is fixed to the frame II (1) through the horizontal support block (22) and the horizontal support seat (16); the horizontal transverse ball screw (17) is connected to the horizontal adjustment mechanism with seat bearing (19), the horizontal adjustment mechanism with seat bearing (19) is fixed to the frame II (1) through the horizontal support seat (16), one end of the horizontal transverse ball screw (17) is connected to the transverse stepping motor (20), so that the horizontal adjustment base (26) can realize transverse movement when the transverse stepping motor (20) rotates; the horizontal adjustment mechanism is fixedly connected to the box-type slider (11) and can move in the vertical direction.

2. A tea bud depth measuring device according to claim 1, characterized in that: Both the rack I (5) and the rack II (1) are constructed with aluminum profiles. The ends of the aluminum profiles are fixedly connected by L-shaped connecting plates (6) and angle brackets (12), and the ends of the aluminum profiles and the middle of the aluminum profiles are fixedly connected by T-shaped connecting plates (7) and angle brackets (12). Both the rack I (5) and the rack II (1) are detachable.

3. A tea bud depth measuring device according to claim 1, characterized in that: The lower end of the vertical ball screw (3) in the vertical lifting mechanism is fixedly connected to a manual crank (8) so that the vertical ball screw can rotate under the drive of the manual crank (8); both sides of the vertical lifting mechanism are equipped with manual cranks (8), vertical ball screws (3) and box-type slide blocks (11) of the same type, which can ensure the stability of the horizontal adjustment mechanism when it is lifted or lowered; the bottom of the vertical lifting mechanism is equipped with four feet (9), so that the vertical lifting mechanism can be easily installed on the chassis, while reducing shaking and increasing stability.

4. A tea bud depth measuring device according to claim 1, characterized in that: The frame II (1) is provided with a horizontal stepping motor (20), a horizontal horizontal ball screw (17), and a horizontal adjustment base (26) of the same model on both sides. A horizontal linear slide rail (23) and a horizontal longitudinal ball screw (21) are installed between the horizontal adjustment bases (26) on both sides. Both ends of the horizontal linear slide rail (23) are fixedly connected to the horizontal adjustment base (26) by bolts. The horizontal longitudinal ball screw (21) is connected to the longitudinal stepping motor (18) through a horizontal adjustment mechanism seat bearing (19). The horizontal adjustment bases (26) on both sides move synchronously, so that the two sides will not be stuck due to uneven force. There are four connection points at the connection part between the horizontal adjustment mechanism and the vertical lifting mechanism, which not only ensures the stability of the lifting of the mechanism, but also improves the rigidity of the frame and effectively prevents the deformation of the frame II (1).

5. A tea bud depth measuring device according to claim 1, characterized in that: The depth measuring mechanism comprises a cable reel (30), a measuring stepping motor (27), a counting camera (29), and a flexible ruler (2); the measuring stepping motor (27) is fixed to a horizontal adjustment base (26) by bolts, the horizontal adjustment base (26) is fixed to a horizontal slider (24) by bolts, the horizontal adjustment base (26) is provided with a lead screw sleeve (25), the lead screw sleeve (25) cooperates with a horizontal longitudinal ball screw (21) connected to the longitudinal stepping motor (18); the output shaft of the measuring stepping motor (27) is connected to the cable reel (30); the flexible ruler (2) is wound on the cable reel (30), the connecting piece (31) is screwed to the cable reel (30), and the connecting piece (31) is screwed to the cable reel (30). The bolt is fixed to the end of the flexible ruler (2), the small proximity switch (33) is fixed to the central groove of the connecting piece (31) by hot melt adhesive, and the three miniature laser lights (32) are fixed to three evenly distributed edge grooves of the connecting piece (31) by hot melt adhesive respectively; the flexible ruler (2) is straightened and vertically downward under the action of the connecting piece (31), the small proximity switch (33) and the miniature laser lights (32); the counting camera (29) is fixed to the horizontal adjustment base (26) by the bracket 28, and the counting camera (29) is directly opposite to the flexible ruler (2) for reading the scale of the flexible ruler (2); the depth measuring mechanism can be moved above the tea tree.

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