Famous high-quality tea picking robot capable of selectively picking and picking method of famous high-quality tea picking robot

Abstract

The invention discloses a famous high-quality tea picking robot capable of selectively picking and a picking method of the famous high-quality tea picking robot. Selective picking of famous high-quality tea is achieved through image recognition and a claw capable of conducting selective picking. The invention relates to an intelligent tea leaf picking robot which can be divided into six structuresincluding a picking end effector, a right-angled mechanical arm, a six-wheel walking chassis, a shear type lifting mechanism, a visual camera image recognition module and a collecting device. Coordinates of a tea leaf picking point are obtained through camera image recognition; the mechanical arm drives the picking end effector to move to the position of the picking point for picking; after picking is completed, the tea leaves are recycled by a collecting mechanism containing a negative air pressure machine through a hose; after all tea leaves in the area are picked, the robot walks to the next area to continue picking; and meanwhile, the lifting mechanism can adjust the height of the mechanical arm to adapt to multiple tea garden environments.

Description

technical field [0001] The invention relates to the technical field of tea picking, in particular to a famous tea picking robot and method. Background technique [0002] Tea can be divided into bulk tea and famous tea in terms of quality. Famous tea generally refers to the collective name of high-quality tea and famous tea. Famous high-quality tea has much higher requirements for picking compared to bulk tea, which is specifically reflected in the high requirements for the tenderness of buds and leaves and the number of picked buds and leaves. The general requirements are one bud, one bud and one leaf, or one bud and two leaves. The initial exhibition; while the picking of ordinary tea is relatively low according to the requirements. The picking standard of general red and green tea is one bud, two leaves, three leaves and the same tenderness. The best picking standard is to use one bud with four or five leaves or all new shoots that form permanent buds. Existing picking m...

AI Technical Summary

Problems solved by technology

Existing picking machines can be mainly divided into two categories, one is large self-propelled tea picking machines, and the other is small single-person tea picking machines and double-person tea picking machines. The picking methods of these two types of equipment are " One-size-fits-all” picking, the tea leaves cannot be identified during picking, and tea leaves and branches and leaves that do not meet the standards may be picked, so these two types of machinery are not suitable for picking famous and high-quality teas

[0003] In the past 10 years, my country's tea industry has made great progress, but the development of famous and high-quality tea has not reached the corresponding level. The lack of tea-picking machinery suitable for picking famous and high-quality tea is one of the main reasons for hindering the development of famous and high-quality tea. The picking of famous and high-quality tea is quite labor-intensive. It takes about 20,000 pickings to pick one catty, one bud and two leaves, about 30,000 pickings to pick one catty, one bud and one leaf, and more than 60,000 pickings to pick one. It takes a skilled tea picker two to three days to pick a pound of tea with a single bud. Another reason is the difficulty of hiring tea pickers. With the rapid development of society, a large number of laborers have flowed to cities. Now it is difficult to see young tea pickers in tea gardens, which has led to the increase of labor costs for tea pickers and the aging of tea pickers. If workers are too old, they must reduce the manual operations required in tea picking machines.

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