99results about How to "Improve picking quality" patented technology

The invention discloses a first-arrival travel time picking method and device for a seismic signal comprising noise, and the method comprises the following steps: carrying out the decomposition of an original seismic signal s(t) comprising noise through a noise adaption complete set EMD (Empirical Mode Decomposition) method, and obtaining a series of finite IMF components from high frequency to low frequency and residual components; screening out a plurality of high-frequency IMF components according to an EIF effective index function, and carrying out the wavelet threshold denoising; carrying out the accumulation and reconstruction of the high-frequency IMF components denoised through wavelet threshold denoising and the high-frequency IMF components which are not denoised, i.e., obtaining the denoised seismic signal x(t); initially determining the first-arrival travel time t0 through an improved sliding time window energy ration method; calculating a local extreme value in a time window comprising the moment t0 through an AIC information criterion method, wherein the time corresponding to the extreme value is the precise first-arrival travel time t. According to the invention, the method can effectively improve the seismic noise inhibition effect and improve the picking precision of the first-arrival travel time, and creates the conditions for the accurate processing and explanation of the subsequent seismic data.

The invention relates to an intelligent tea leaf picking machine and belongs to the technical field of agricultural machinery. The intelligent tea leaf picking machine comprises a machine frame, a tea leaf picking device, a tea green collecting device, a lifting device and a height adjusting device, wherein the lifting device is arranged at the end, far away from the advancing direction, of the machine frame and can lift along the inner side of the machine frame; the tea leaf picking device is fixedly arranged on the lifting device; the height adjusting device comprises a height sensor, a controller and an actuating motor; signal output ends of an ultrasonic sensor are respectively connected with signal input ends of the controller; a controlled end of the actuating motor is connected with a signal output end of the controller; the actuating motor is used for driving a lifting frame to lift. Due to the fact that the intelligent tea leaf picking machine has a tea tree young sprout height identifying function and can adaptively adjust the height of a cutter, the picking quality of the tea leaf picking machine is improved.

The invention discloses a crawler type pineapple picking machine, which comprises a vehicle body, a crawler traveling mechanism, a mechanical arm picking device, a pineapple conveying mechanism, a pineapple collecting box, a power supply lithium battery and a control box, wherein the crawler traveling mechanism is arranged at the bottom of the vehicle body, the mechanical arm picking device is arranged on the right side of the top of the vehicle body, the pineapple conveying mechanism is arranged on the left side of the top of the vehicle body, and the pineapple collecting box and the controlbox are arranged on the rear side of the top of the vehicle body. The mechanical arm picking device comprises a mechanical arm and a cutting picking mechanism, wherein the cutting picking mechanism comprises a mechanical picking claw and a pineapple stem cutting mechanism, the pineapple stem cutting mechanism is arranged at the bottom of the picking claw, the picking claw is arranged at the outerend of the mechanical arm, and an identification sensor is arranged in the mechanical picking claw. The middle part of the front side and the two sides of the front part of the vehicle body are respectively provided with an obstacle avoidance sensor, and the top of the control box is provided with a wireless camera and an image transmission module. According to the crawler type pineapple picking machine, an intelligent and mechanical picking mode is adopted, so that the picking efficiency is improved, and the picking cost is reduced.

The invention discloses an intelligent fruit picking robot and an implementation method thereof. The intelligent fruit picking robot is good in universality and high in automation degree and efficiency. The intelligent fruit picking robot comprises a robot base. two crawler traveling mechanisms symmetrically mounted on the two sides of the base, a fork lifting mechanism mounted on the base, a robot hand mechanism located on the fork lifting mechanism, a picking execution mechanism mounted at the front end of the robot hand mechanism and an image acquisition mechanism mounted on the base.

The invention discloses a method and a device for picking high-quality dark brownish green. The method comprises the following steps: firstly, rotating a hobbing blade, pocketing the dark brownish green to be picked into a sorting toothed slot, then cutting off the dark brownish green by a hobbing type cutter and a fixed blade, and throwing the dark brownish green which is cut off into a dark brownish green collection device by the hobbing type cutter so as to realize the cutting and the collection of the dark brownish green. The invention adopts a mode of combining the hobbing type cutter and a fixed-face cutting blade and enables the mode of cutting the dark brownish green to be similar to hobbing, and the hobbing type cutter can throw the dark brownish green which is cut off into a box body under a situation of self rotation because the cutting direction is the same as the throwing-out direction of tea leaves, thereby enhancing the picking efficiency effectively, avoiding the loss caused by the shatter of the dark brownish green in the picking process, utilizing sorting teeth to guide the cutting of the dark brownish green during cutting, reducing the picked old peduncles and the picked old leaves of the dark brownish green greatly and enhancing the picking quality of the dark brownish green.

The invention relates to an automatic tea picking machine with an adjusting function convenient to use. The automatic tea picking machine comprises a flat plate, a collecting mechanism, a processor, apicking mechanism and a moving mechanism, wherein the picking mechanism comprises a crawler belt, a translation plate, an adjusting plate, a sucker, a suction pipe, a picking assembly and two adjusting assemblies; the moving mechanism comprises two moving assemblies; the moving assembly comprises a driving unit and two moving units; and the moving unit comprises an adjusting rod, an air cylinder,a first motor and a moving wheel. In the automatic tea picking machine with the adjusting function convenient to use, the moving mechanism can be adjusted according to the body shape of a tea tree, so that two air cylinders in the moving assembly are respectively disposed at two sides of the tea tree; the height of the flat plate is also adjusted, so that the picking mechanism is disposed above the tea tree to facilitate the picking; moreover, the picking mechanism can adjust the angular position of the sucker according to the top shape of the tea tree, so that the picking assembly is convenient for cutting and picking tea leaves, the damage to tea tree branches can be avoided, and the picking quality and the equipment practicability can be improved.

The invention discloses a vibrating fruit picking device and a picking method. The vibrating fruit picking device comprises a moving device, a vibrating device and a collecting device, wherein the vibrating device and the collecting device are both mounted on the moving device; the vibrating device comprises a vibrating motor, a first transmission device and a clamping device; an output shaft of the vibrating motor is connected with the clamping device by the first transmission device; trunks of a fruit tree can be clamped by the clamping device; the vibrating motor can drive the clamping device to vibrate by the first transmission device; the collecting device comprises a collecting mesh and a telescopic bracket; the telescopic bracket is arranged on the moving device; the collecting meshis arranged on the telescopic mesh; the telescopic bracket can be extended and retracted to drive the collecting mesh to be unfolded and folded; the collecting mesh is elastic and is used for collecting fruits. The vibrating fruit picking device provided by the invention is simple in operation and relatively high in safety and reliability, and can improve picking efficiency, save manpower and material resources, better ensure the quality of the picked fruits and reduce damage to fruits during picking.

The invention relates to a multifunctional tea picking robot which comprises a picking mechanism, a spraying mechanism, a power device, a dynamic visual recognition system and an omnibearing travelingtrolley. The picking mechanism, the spraying mechanism and the power device are fixed on a top chassis of the omnibearing traveling trolley, the picking mechanism is used for picking tea leaves, thespraying mechanism is used for spraying liquid, and the power device provides compressed air for the picking mechanism; a first rotating shaft motor of the dynamic visual recognition system drives a first rotating shaft to rotate so as to drive a support to rotate around the first rotating shaft, and a second rotating shaft motor drives a second rotating shaft to rotate so as to drive the supportto rotate around the second rotating shaft. The multifunctional tea picking robot has the advantages that the robot is reasonable in integral structure and convenient for operation; the picking mechanism, the spraying mechanism, the dynamic visual recognition system and the omnibearing traveling trolley are adopted for matched running to realize distinguishing and picking of the tea leaves and spraying of liquid like pesticide and water, so that tea picking efficiency is improved; the omnibearing traveling trolley is driven to run by adopting multiple movement mechanisms, thereby being able toadapt to any terrain.

The invention discloses a honeysuckle picking device with high efficiency and good picking quality. The honeysuckle picking device comprises a box body (8). A driving shaft driven by motive power is arranged at the box body (8). The honeysuckle picking device is characterized in that the box body (8) is provided with a collecting cover (1), a honeysuckle inlet (12) and a honeysuckle outlet (13) are arranged at the collecting cover (1) and a picking arm (4) is arranged at the driving shaft (5) inside the collecting cover (1). The honeysuckle stem enters into the collecting cover (1) from the honeysuckle inlet (12), honeysuckle flowers are dropped down by the picking arm (4) and discharged from the honeysuckle outlet (13). The honeysuckle picking device is simple in structure and easy in operation and can avoid collecting unripened honeysuckle flowers, so that the honeysuckle picking quality is good and the picking device is high in working efficiency, low in cost and suitable for popularizing and using.

The invention relates to a control system and a control method of a picking manipulator. The control system is characterized by comprising an upper computer, a lower computer, a finger joint motor control module and a visual identifying system; a transmission module is arranged between the upper computer and the lower computer; the lower computer is respectively connected with the finger joint motor control module and the visual identifying system; the upper computer virtually debugs various optimal grabbing gestures of the manipulator according to shapes and sizes of different types of fruitand vegetables, and transmits to the lower computer through the transmission module; the lower computer receives and stores the various optimal grabbing gesture information of the manipulator virtually debugged by the upper computer, and transfers the correspondingly debugged grabbing gesture information to the finger joint motor control module for instruction sending according to the informationconveyed by the visual identifying system; and the finger joint motor control module receives and executes instructions of the lower computer. The control system is flexible in use, shortens the debugging time, and effectively improves the picking efficiency.

An automatic fruit picking device based on information traceability relates to a picking device and a method. The device comprises a visual recognition device, a QR code pasting device, an automatic picking device and a fruit picking robot, wherein the automatic picking device is connected with a fruit collection box through a conveying hose, the visual recognition device, the QR code pasting device and the automatic picking device are respectively installed on the fruit picking robot; the visual recognition device is connected with the input end of the fruit picking robot, and the output endof the fruit picking robot is respectively connected with the QR code pasting device and automatic picking device. The method includes the steps of determining the position and maturity of the fruit on a fruit tree by the visual recognition device, activating the QR code pasting device to paste planting information, starting the automatic picking device to pick the fruit, and conveying the pickedfruit through the conveying hose to the fruit collection box. The invention can realize automatic picking and quality tracing of fruits, and has great promotion value.

The invention relates to the technical field of tea leaf picking, in particular to a fresh leaf grading device for grading fresh tea leaves and a tea leaf picker. The fresh leaf grading device comprises a grading sieve, wherein a plurality of sieve meshes are formed in the grading sieve, the sizes of the sieve meshes are matched with fresh tea leaves with one bud on one leaf, the grading sieve isobliquely arranged, and the lower end of the grading sieve is in clearance fit with a picking assembly and the tea leaf picker, so that tea leaves picked by the picking assembly are located above thegrading sieve; the tea leaf picker has two discharging ports including a first discharging port located on the upper side and a second discharging port located below the first discharging port, collecting assemblies are arranged at the first discharging port and the second discharging port, and the higher end of the grading sieve is arranged on the lower edge of the first discharging port. By means of the fresh leaf grading device, follow-up grading work is substantially facilitated, besides, the sieved tender leaves and buds are separately transported, and the damage risk in the turnover process is reduced.

The invention provides a pepper picking device which comprises a picking mechanism and a conveying mechanism. The picking mechanism is used for picking pepper fruit and comprises a picking bin, cutter assemblies and a driving part, wherein the picking bin is used for acquiring pepper bundles, the cutter assemblies are arranged in the picking bin and used for separating the pepper fruit on the pepper bundles from fruit stems, and the driving part is used for driving the cutter assemblies to rotate relative to the picking bin; the conveying mechanism is used for conveying the pepper fruit picked by the picking mechanism into a collecting device communicated with the picking mechanism and comprises a conveying bin communicated with the picking bin and a conveying part stored in the conveying bin, and the conveying part is in linkage connection with the cutter assemblies through a power transmission mechanism. According to the pepper picking device, not only is improvement of the pepper fruit picking quality efficiency facilitated, but also the picking difficulty and cost can be greatly reduced, and the problem that in current pepper picking, perfect picking can be achieved only by depending on human power is solved.

The invention discloses a flexible chip pickup method. Flexible chips are picked from ultrathin flexible wafers. The method comprises the steps of providing thermal stripping films; pasting the thermal stripping films to the backs of the ultrathin flexible wafers through adhesive layers; cutting and separating the flexible chips; heating the thermal stripping films to enable the adhesive layers tolose viscosity; jacking the flexible chips by using ejector pins, and separating the flexible chips from the thermal stripping films; and picking up the flexible chips. A flexible chip pickup deviceis used for picking up the flexible chips from the ultrathin flexible wafers, and comprises a pickup table for placing the ultrathin flexible wafers, the ejector pins used for jacking the flexible chips, and a chip pickup apparatus used for picking up the flexible chips; and the upper parts of the ejector pins are provided with platforms. According to the method disclosed by the invention, the problems that the flexible chips are easily broken due to uneven stress and cannot be stripped in the picking process are avoided, so that the yield of manufacturing the flexible chips is improved.

The invention discloses a preset celastrus orbiculatus fruit completely-nondestructive picking, layering and loading portable bearing device which comprises a nondestructive hold-pulling preset pneumatic blow-stirring picking mechanism, a spiral rotating nondestructive gliding mechanism, a barycenter shift nondestructive layering and loading mechanism and a slow-rebound flexible bearing member. The spiral rotating nondestructive gliding mechanism is rotatably arranged at the upper end of the barycenter shift nondestructive layering and loading mechanism, the nondestructive hold-pulling presetpneumatic blow-stirring picking mechanism is arranged on the spiral rotating nondestructive gliding mechanism, and the slow-rebound flexible bearing member is arranged on the side wall of the barycenter shift nondestructive layering and loading mechanism and below the spiral rotating nondestructive gliding mechanism. The invention belongs to the celastrus orbiculatus fruit picking machinery. The device is a barycenter-shift nondestructive conveying, layering and loading portable bearing device preset with a flexible preset picking hole, capable of accurately and flexibly picking celastrus orbiculatus fruit in a completely-nondestructive manner and repellent to branches, leaves and immature fruits therein.

The invention discloses a hydraulic lifting type automatic betel nut picking machine. The hydraulic lifting type automatic betel nut picking machine comprises a lower-layer supporting plate, a liftingmechanism, a lifting driving device, an upper-layer supporting plate, a cutting device and a collecting device, wherein the lower-layer supporting plate is fixedly arranged at the bottom of the lifting mechanism; the upper-layer supporting plate is arranged at the top of the lifting mechanism; the lifting driving device is arranged on the lower-layer supporting plate and is used for driving the lifting mechanism to ascend / descend; the cutting device is arranged on the upper-layer supporting plate and comprises an annular track, a moving trolley and a cutting piece; the annular track is fixedon the upper-layer supporting plate; the moving trolley can move along the annular track; the cutting piece is arranged at the top of the moving trolley; and the collecting device is arranged on a side surface of the moving trolley. The hydraulic lifting type automatic betel nut picking machine integrates climbing, cutting and collecting, the betel nut picking efficiency and quality are improvedeffectively, and potential safety hazards existing in the traditional manual picking mode are eliminated.

The invention relates to the field of small fruit and vegetable harvesters. According to the technical scheme, a double-arm small fruit and vegetable harvesting robot is characterized in that a harvester comprises a moving platform, and the moving platform is provided with a picking mechanical arm used for picking strawberries, an auxiliary mechanical arm used for taking and placing strawberry boxes, a stacking frame used for stacking the strawberry boxes, a camera and a control unit; the picking mechanical arm comprises a first mechanical arm arranged on the moving platform, a clamping jaw cylinder arranged at the front end of the first mechanical arm, flexible grippers arranged on jaw arms of the clamping jaw cylinder, and an air supply unit; each flexible gripper comprises a flexible partition plate, an air bag and a flexible clamping plate, wherein the air bags and the flexible clamping plates are arranged at the two sides of the flexible partition plates correspondingly; the air supply unit is connected with the clamping jaw air cylinders and the air bags. a plurality of protruding parts are arranged on the surface of each air bag; the flexible partition plates are fixed to the claw arms of the clamping jaw air cylinder; and the air supply unit is communicated with the clamping jaw air cylinder and the air bags. The double-arm small fruit and vegetable harvesting robot has the characteristics of being simple, practical and good in picking effect.

The invention discloses an automatic picking device suitable for horizontal centralized three-dimensional cultivation of agaric bags, and belongs to fungus production and harvesting equipment. A walking driving motor with a seat plate and a gear is mounted on a walking plate frame; a limiting roller is mounted on the seat plate; the walking plate frame is supported and mounted on the upper longitudinal beam of a supporting frame through the clamping fit of the gear and the limiting roller; the gear is meshed with the teeth on the upper longitudinal beam; a picking driving motor equipped with adriving chain wheel is mounted on the walking plate frame; a rectangular frame type picking component frame is fixedly arranged on the lower side part of the walking plate frame; a driving half shaftfixedly provided with a follow-up chain wheel and a driving disc is inserted into the walking plate frame and the rectangular frame type picking component frame; a chain is sleeved on the driving chain wheel and the follow-up chain wheel; and a shaft rod with an agaric picking component is fixedly arranged between a follow-up disc fixedly provided with a follow-up half shaft and the driving disc.The device realizes the mechanized automatic picking operation of the horizontal centralized three-dimensional configured agaric bags, and is reasonable in structure, high in applicability, high in operation efficiency and good in picking quality.

The invention discloses a honeysuckle flower picking machine. The honeysuckle flower picking machine comprises a casing, wherein the casing comprises a needle-shaped isolating screen arranged at a flower picking port; the needle-shaped isolating screen comprises a dynamic isolating screen body and a static isolating screen body which is fixedly connected with the casing; the dynamic isolating screen is connected with a rail device arranged in the casing and a drive device arranged in the casing, and the driving device is connected with a power supply. The honeysuckle picking machine can improve the quality of picked honeysuckle flowers, increase economic benefits, reduce the labor intensity and improve the labor efficiency.

The invention discloses a method and a device for picking high-quality tea leaves. The method comprises the following steps: firstly, introducing tea leaves into a sorting tooth groove by using a sorting tooth, and then, cutting off the tea leaves by using a horizontal rotating movable cutter and a fixed blade, wherein the design of fixedly connecting a tea shifting body and a movable blade is used for realizing the purposes of shearing, shifting and combining in the cutting process of the tea leaves, thus the cut tea leaves can be shifted into a collecting device of the tea leaves to realize the purpose of picking the tea leaves. The invention adopts the mode of combining a horizontal rotating cutting blade and a fixed surface cutting blade to enable the cutting mode of the tea leaves to be similar to the shearing mode, and because the cutting direction and pushing direction are identical, the damage surfaces caused by cutting the tea leaves are reduced; the cut tea leaves are shifted into a tea inlet in the shearing, shifting and combining mode, thereby effectively improving the picking efficiency and avoiding the loss caused by the falling of the tea leaves in the picking process; and meanwhile, the sorting tooth is used for introducing the tea leaves for cutting, thereby greatly reducing the probability of picking old stems and old leaves of the tea leaves and improving the picking quality of the tea leaves.

The invention discloses a tea leaf bud unmanned aerial vehicle picking device and belongs to the technical field of agricultural mechanical equipment. The device solves the problems of long working time and high labor intensity of tea picking workers. The device structurally comprises an unmanned aerial vehicle; the unmanned aerial vehicle is provided with a picking device, a collecting box and an air suction device; the picking device is used for simulating the actions of human hands to finish picking of tea leaf buds; the collecting box is used for collecting the picked tea leaf buds; the air suction device is connected with the collecting box; the unmanned aerial vehicle is provided with an image acquisition device and a solar light panel, the image acquisition device is used for collecting images near the unmanned aerial vehicle so as to confirm and plan a picking path, and the solar light panel is used for providing cruising power; the picking device is used for picking the tea leaf buds, and the tea leaf buds are placed into the collecting box. The picking device is compact in structure, and can simulate the action of people to replace manual picking of fresh single buds; the quality of the picked tea leaf buds is high, the labor intensity of the workers is greatly reduced, and the picking efficiency is improved.

The invention discloses a forest fruit receiving device. The forest fruit receiving device comprises a bracket and a receiving component. The bracket comprises a base and a side bracket installed above the base. The receiving component comprises a receiving disk, and a height regulating device for driving the receiving disk to be lifted. The height regulating device is installed on the side bracket. While fruits need to be received, according to the specific height of forest trees, the height of the receiving disk is regulated by the height regulating device, so the fruits can be stably falleninto the receiving disk, the circumstance of scratching and damaging the fruits is reduced, and the picking quality of the fruits is effectively improved.

An intelligent citrus picking robot and a citrus picking method, the robot includes a walking mechanism, a mechanical arm, a worktable, a recovery device, a control system and a power supply system, the mechanical arm, the control system and the power supply system are installed on the worktable, and the front end of the mechanical arm is provided The end effector and the vision system, the vision system is connected with the control system data, the control system controls the movement of the manipulator through the manipulator drive unit, the control system controls the movement of the walking mechanism through the walking drive unit, and the power supply system provides work for the control system and the walking mechanism power supply; the mechanical arm comprises a first arm, a second arm, a third arm, a fourth arm, a fifth arm and a sixth arm which are movably connected in turn; the citrus picking method comprises: starting a walking mechanism, making the robot approach fruit trees, searching for citrus, Catch citrus, pick citrus, adjust grip force, recycle citrus. The invention has high picking efficiency, high picking quality, high intelligence, strong practicability, and is easy to popularize and use.

The invention relates to an intelligent tea leaf picking machine and belongs to the technical field of agricultural machinery. The intelligent tea leaf picking machine comprises a machine frame, a tea leaf picking device, a tea green collecting device, a lifting device and a height adjusting device, wherein the lifting device is arranged at the end, far away from the advancing direction, of the machine frame and can lift along the inner side of the machine frame; the tea leaf picking device is fixedly arranged on the lifting device; the height adjusting device comprises a height sensor, a controller and an actuating motor; signal output ends of an ultrasonic sensor are respectively connected with signal input ends of the controller; a controlled end of the actuating motor is connected with a signal output end of the controller; the actuating motor is used for driving a lifting frame to lift. Due to the fact that the intelligent tea leaf picking machine has a tea tree young sprout height identifying function and can adaptively adjust the height of a cutter, the picking quality of the tea leaf picking machine is improved.

The invention discloses tea-picking equipment capable of conducting tea picking under different standards. The tea-picking equipment capable of conducting tea picking under the different standards comprises a tea-picking machine, wherein a tea-feeding cavity is formed in the tea-picking machine, a tea-collecting device is arranged in the tea-feeding cavity, the tea-collecting device comprises parts which are fixedly arranged in the tea-feeding cavity in a bilaterally-symmetric mode, and tea-storing cavities are formed in the tea-feeding cavity in a bilaterally-symmetric mode, and communicate with the tea-feeding cavity. By means of the tea-picking equipment capable of conducting tea picking under the different standards, tea can be picked under the different standard requirements, when rough picking needs to be conducted, the tea is comprehensively and fast picked through a rough-processing tea-picking device, thus the tea is subjected to large-scale picking and collection, when the picking standards need to be raised, the tea can be subjected to fine picking through a fine-processing tea-picking device, the picking quality is high, no secondary large-scale screening needs to be conducted, the picking performance is efficient and convenient, time and labor are saved, a lot of human input is avoided, the cost is saved, and expenses are kept down.

The invention relates to a chassis control system for a picking robot. The chassis control system is characterized by comprising an upper computer module, a master control module, a plane positioningmodule, a visual identification module, a chassis walking module and a power supply module; the plane positioning module, the visual identification module and the chassis walking module are connectedwith the master control module; and the upper computer module is in communication connection with the master control module and receives and displays information transmitted by the master control module. According to the chassis control system, the plane positioning module and the visual identification module are combined, the practicability is high, the accuracy is high, popularization is facilitated, and the problem that an existing chassis control system for the picking robot is difficult to reach the picking position accurately according to the complex agricultural environment is solved.

The invention belongs to the field of agricultural machinery. The invention aims to provide an adsorption type tea picking device with a screening function. The adsorption type tea picking device can realize picking of tender shoots with one bud and one leaf and one bud and two leaves, so that the picked tender shoots meet the requirements of making famous and high-quality tea, and meanwhile, the stability and the accuracy of the device in the picking process can be ensured. According to the technical scheme, the adsorption type tea leaf picking device with the screening function is characterized by comprising an end effector used for picking tea leaves, a delta mechanical arm fixedly connected with the end effector to drive the end effector to move and a negative pressure collecting device used for providing negative pressure to collect the tea leaves. The end effector communicates with the negative pressure collecting device.

The invention relates to the technical field of tea picking machinery, and provides a tea picking machine. The tea-leaf picker provided by the invention comprises a walking mechanism; the first end of the mechanical arm is connected with the top face of the walking mechanism, and the mechanical arm can rotate around the longitudinal axis of the mechanical arm and can stretch out and draw back. The pose adjusting mechanism is rotationally connected with the second end of the mechanical arm; the picking mechanism is connected with the pose adjusting mechanism; part of the detection mechanism is arranged on the mechanical arm, and the rest part of the detection mechanism is arranged on the pose adjusting mechanism; the controller is used for controlling the mechanical arm and the pose adjusting mechanism to act according to signals sent by the detection mechanism. According to the tea-leaf picker, the length of the mechanical arm and the angle of the pose adjusting mechanism can be adjusted in real time according to the detection result of the detection mechanism, then the height, the transverse position and the angle of the picking mechanism are adjusted in real time, and the picking quality is improved. According to the tea-leaf picker, the posture of the picking mechanism can be adjusted in real time, and adaptability is high.

The invention belongs to the technical field of picking devices for Chinese prickly ash. In order to improve picking efficiency and reduce picking labor intensity of Chinese prickly ash, the invention discloses a picker for Chinese prickly ash capable of being used at tail ends of picking devices for Chinese prickly ash. The picker for Chinese prickly ash comprises a clamping unit, a shearing unit and a vision unit; the visual unit is used for identifying and positioning a position of to-be-picked Chinese prickly ash; the clamping unit is used for clamping and fixing the to-be-picked Chinese prickly ash positioned by the visual unit; and the shearing unit is used for cutting and picking the Chinese prickly ash fixed by the clamping unit. The picker for Chinese prickly ash can realize remote rapid identification, positioning, cutting and picking of the Chinese prickly ash, so that picking efficiency the Chinese prickly ash is improved and picking labor intensity of the Chinese prickly ash is greatly reduced.