Double-mechanical-arm tea leaf picking robot based on machine vision

Abstract

The invention provides a double-mechanical-arm tea leaf picking robot based on machine vision. The double-mechanical-arm tea leaf picking robot comprises a transverse guide rail module (10), a longitudinal guide rail module (20), a vertical guide rail module (30), a tail end execution assembly (40) and a visual recognition mechanism. The end execution assembly (40) comprises a collection box (41), a mounting seat (42), a driving assembly (43), a first connecting rod (44), a guide plate (45), a knife rest box (46), a knife rest seat (47) and a blade (48); the driving assembly (43) comprises a steering engine support (431), a steering engine (432), a transmission shaft (433) and a second connecting rod (434). The picking robot can automatically detect and position tea leaves, and meanwhile, the picking robot is matched with the tail end execution assembly to shear and collect the tea leaves; compared with traditional manual collection, the picking robot is high in positioning precision, good in picking consistency and high in picking efficiency.

Description

technical field [0001] The invention relates to the technical field of tea picking equipment, in particular to a machine vision-based tea picking robot with double mechanical arms. Background technique [0002] Tea is one of the three major beverages in the world, and it is also my country's national beverage. In the daily life of the people, tea, especially high-end tea made from one bud and one leaf, is in huge demand. Tea not only has the therapeutic effect on various diseases, but also has good effects of prolonging life, anti-aging and strengthening the body. [0003] At present, tea picking is mainly carried out by manual or manual hand-held picking machines, which are labor-intensive, low in picking efficiency, and high in picking cost, which cannot meet the huge demand in the tea market. Moreover, most of the existing manual or manual hand-held picking machines rely on the human eye to locate the position of the tea leaves, and the human eye is prone to fatigue afte...

AI Technical Summary

Problems solved by technology

[0003]At present, tea picking is mainly carried out manually or with manual hand-held picking machines. The manual labor intensity is high, the picking efficiency is low, and the picking cost is high, which cannot meet the huge demand of the tea market quantity

Moreover, most of the existing manual or manual hand-held picking machines rely on human eyes to locate the position of tea leaves. Human eyes are prone to fatigue after long-term picking operations, resulting in low positioning accuracy of tea leaves, which in turn leads to low picking accuracy and further reduces picking efficiency. , and even cause tea damage

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