CN109121702A - A kind of control system and control method of tea place picking robot - Google Patents
A kind of control system and control method of tea place picking robot Download PDFInfo
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- CN109121702A CN109121702A CN201811088903.4A CN201811088903A CN109121702A CN 109121702 A CN109121702 A CN 109121702A CN 201811088903 A CN201811088903 A CN 201811088903A CN 109121702 A CN109121702 A CN 109121702A
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- 241001122767 Theaceae Species 0.000 title claims description 76
- 238000000034 method Methods 0.000 title claims description 10
- 238000003860 storage Methods 0.000 claims abstract description 48
- 238000009966 trimming Methods 0.000 claims abstract description 26
- 235000009024 Ceanothus sanguineus Nutrition 0.000 claims abstract description 15
- 240000003553 Leptospermum scoparium Species 0.000 claims abstract description 15
- 235000015459 Lycium barbarum Nutrition 0.000 claims abstract description 15
- 230000009471 action Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000005303 weighing Methods 0.000 claims description 5
- 238000005520 cutting process Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 230000017525 heat dissipation Effects 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 2
- 238000003892 spreading Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 3
- 244000269722 Thea sinensis Species 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 15
- 238000003306 harvesting Methods 0.000 description 10
- 238000003825 pressing Methods 0.000 description 6
- 238000013138 pruning Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000035784 germination Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/04—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of tea
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
A kind of control system of tea place picking robot, including control cabinet, running gear, rail set, anti-wash from device, walking balancing device, collection and storage device and clipping device；Control cabinet, it is anti-wash from device, walking balancing device, collection are located on running gear with storage device and clipping device, control cabinet is connect with the wireless remote controlled receiver at the top of control cabinet, and running gear setting is on rail set.The present invention advances on single track, economizes the land resource, and is equipped with the anti-device that washes from single track and robot and guarantees that steadily safely braking stops device in orbit；Guarantee stationarity of the robot when walking on single track by the walking balancing device being equipped with, and then guarantees that trimming does not damage tea tree and tealeaves；Trimming is carried out to tealeaves by clipping device and blows into collection and storage device collection under air exhausting device effect, guarantees the high efficiency collected.
Description
Technical Field
The invention relates to the field of picking robots, in particular to a control system and a control method of a tea garden picking robot.
Background
Tea picking is to pick tea leaves from young shoots of tea trees, the existing tea picking modes are generally three, the first mode is manual picking, tea pickers pick tea leaves with different qualities through fingers and break the tea leaves to pick the tea leaves and place the tea leaves in a tea picking basket, the integrity of the picked tea leaves can be guaranteed, but the working efficiency is low, and the labor intensity is high; the second is harvesting, picking is carried out by using tools such as a small iron scraper, a sickle or a picking clamp, the working efficiency is improved to a certain extent, but branches are easily cut to influence the germination of new tips of a lower wheel due to the blunt edge of the tool or the slow cutting speed of tea pluckers and the like; the third is to use the tea garden harvesting robot to pick, and the tea garden harvesting robot in the prior art generally picks through the arranged manipulator.
In the prior art, most of tea garden harvesting robots are double-track to keep the stability of the tea garden during traveling, but occupy large space, and a large number of single tracks are arranged inside a tea tree bundle at present, but the traveling stability of the single tracks cannot be guaranteed, so that the harvesting efficiency is influenced when the stability is not guaranteed during harvesting, and the tea garden harvesting robots are easy to turn on one side when turning; when the device runs at the tail end of the track, the braking of the robot needs to be completed within a safe distance, but the prior art does not have the function of forcing the robot to brake under a fault state so as to ensure that the robot does not rush away from the running track; meanwhile, in the prior art, tea leaves are collected by the collecting robot directly by a funnel when the tea leaves are collected, the collecting capacity is small, the tea leaves cannot fall to the ground easily and are wasted, and the collecting efficiency is low; moreover, the straight saw blade of current trimming means does not match with the natural outward appearance of tea tree, and the pruning is that the condition that exists the omission and harm the tea tree takes place, and is inefficient.
Disclosure of Invention
In light of the problems set forth in the background, the present invention provides an improvement in a control system and a control method for a tea garden picking robot, and the present invention is further described below.
A control system of a tea garden picking robot is characterized by comprising a control box, a traveling device, a rail device, an anti-impact device, a traveling balancing device, a collecting and storing device and a trimming device; the control box, the anti-impact device, the walking balancing device, the collecting and storing device and the trimming device are located on the walking device, the control box is connected with the wireless remote control receiver arranged at the top of the control box, and the walking device is arranged on the rail device.
Furthermore, the walking device comprises a first underframe, a control box is arranged on the first underframe, a motor and a first bearing seat are arranged on a second underframe and below the frame, a belt conversion shaft is arranged on the first bearing seat and connected with the middle part of the second belt pulley, one end of the first belt is connected with the belt pulley arranged on the output shaft of the motor, the other end of the first belt is connected with the second belt pulley, one end of the second belt is connected with the belt conversion shaft, the other end of the second belt is connected with a driving wheel connecting shaft, the driving wheel is connected with the second underframe through the driving wheel connecting shaft, a walking wheel hanging plate is connected with the first underframe through the walking wheel hanging plate connecting shaft and the bearing seat, the walking wheel is connected with the walking wheel hanging plate through the walking wheel connecting shaft, a small wheel is connected with the wheel connecting plate through a small wheel connecting shaft, the left end and the right end of the tea tree support are respectively connected with a tea pressing roller through a tea pressing roller hanging plate, a first underframe is hinged with a second underframe, two pairs of rigid spring connecting columns are arranged on the first underframe and the second underframe, the two pairs of corresponding rigid spring connecting columns are respectively connected with two rigid springs, two tea leaf unfolding frames are respectively connected with the first underframe and the second underframe, and driving wheels, walking wheels and small wheels are contained, so that tea tree branches and tea leaves are unfolded during walking, and the interference on the movement of the driving wheels, the walking wheels and the small wheels is prevented; the driving wheels and the walking wheels are respectively meshed with the track device through stainless steel columns on the driving wheels and the walking wheels, and the driving wheels and the walking wheels are respectively correspondingly arranged on small wheels which are tightly attached to the lower plane of the track so as to tightly hold the track device, so that the walking of the whole system is realized.
Further, the rail device, the rack welding is at the middle part of side's side pipe upside, square union piece overlaps respectively inside the both ends of square pipe, and through bolt and square union coupling, the sleeve passes through bolt and square union coupling, the through-hole that square pipe was equipped with has set up bracing piece one, bracing piece one is fastened on square pipe through the aperture meshing that the bolt was equipped with from the sleeve side, bracing piece one is connected with link ring one, bracing piece two is connected with link ring two, link ring one is connected with link ring two through the bolt, bracing piece one and bracing piece two set up subaerial through the supporting seat one of pole and the supporting seat two of pole respectively, bracing piece one and bracing piece two extrude fixedly through the supporting seat one of screw and pole and the supporting seat two of pole respectively.
The control system of a tea garden picking robot as claimed in claim 1, wherein: scour protection is from device, including limit switch and photoelectric type rotary encoder, limit switch and photoelectric type rotary encoder pass through the serial ports and are connected with the control box, photoelectric type rotary encoder passes through the keyway with the drive wheel connecting axle and is connected, limit switch sets up the front end at chassis one side overhead gage, the baffle rack welds the downside at the overhead gage, the overhead gage passes through the baffle rack and manages the rack toothing that has welded on the side and set up on square pipe, the baffle is through four bolts down, four spring washers and four nuts are connected and sticis on square pipe with the overhead gage.
Furthermore, the walking balancing device comprises a load cam arranged on the first base frame and a first motor arranged on the load cam, the first motor is connected with a distance detector which is arranged on one side of the track and is fixedly connected with the first base frame, and two pressure switches are respectively arranged on the first base frame and positioned on two sides of the load cam; still including setting up the drive bottle on chassis one, be equipped with the solenoid valve with pressure switch electric connection on the drive bottle, the drive bottle passes through high-pressure line and connects first knot piece and the second and detain the piece, first knot piece and second are detained the piece and are passed through the hanging beam and set up in chassis one's below, and first knot piece and second are detained the piece and are passed through reset spring and connect chassis one, first knot piece and second are detained the piece and are set up in orbital both sides and clearance fit between, the last relief valve that is equipped with of high-pressure line, first knot piece is equipped with the recess towards one side that the piece was detained to the second, the second is detained one side that the piece was equipped with the lug towards first knot piece, be equipped with low high sealing valve that leaks.
Furthermore, the collecting and storing device comprises a storage box, the storage box is connected with the supporting beam through bolts, the supporting beam is arranged on the supporting rod, an upper shell of the storage box is arranged above the storage box, the tea leaves outlet is respectively arranged at two sides of the storage box, and the outlet baffles are respectively arranged on the tea leaves outlet and connected with the storage box through hinges; the supporting plate is arranged on the outer side of the storage box, and the air box and the tea weighing module which are connected with the second motor are arranged on the supporting plate; one end of the first air guide pipe is connected with the air box, the other end of the first air guide pipe is arranged above a bottom plate of the storage box, and the bottom plate is an arc-shaped plate imitating the shape of a tea tree bundle; one end of the second air guide pipe is connected with the air box, and the other end of the second air guide pipe is arranged in the storage box; the first air guide pipe valve and the second air guide pipe valve are respectively arranged on the first air guide pipe and the second air guide pipe.
Furthermore, the trimming device comprises a control box which is arranged on the storage box and connected with the control box, a driving motor which is connected with the control box is arranged on the upper side of the supporting beam, a belt device is arranged on the lower side of the supporting beam through a belt device shell, the driving motor is connected with a belt pulley I, the belt pulley I is connected with a belt pulley II through a belt, an eccentric shaft which is arranged in the middle of the belt pulley II penetrates through an eccentric cam I and an eccentric cam II to be connected to the bottom plate, the eccentric cam I is connected with a blade I, the eccentric cam II is connected with a blade II, elliptical holes and heat dissipation holes which are identical in distribution rule are arranged on the blade I and the blade II, and the elliptical holes and; the first blade and the second blade are connected through waist-shaped connecting grooves respectively, left and right cutting actions are completed through the connecting grooves, the first blade is arranged on the upper side of the bottom plate, and the second blade is arranged on the lower side of the bottom plate.
A tea garden picking robot control method is characterized by comprising the following steps:
s1, the robot walks on the rail device;
s11, keeping balance through a walking balance device;
s2, the tea leaves are trimmed by the action of the trimming device;
s3, collecting and storing the tea leaves separated after trimming by the collecting and storing device;
s4, when the robot reaches the tail end of the track, the anti-impact device acts, and the robot is stably braked and stopped;
further, the step S1 includes a step S12, in case of emergency, the balancing device is operated, and the robot locks on the track device.
Further, the step S4 includes a step S41, in case of emergency, the robot is forced to stop on the track by the anti-impact device.
Has the advantages that: the invention advances on the single track, saves land resources, and is provided with the anti-impact device on the single track and the robot to ensure that the device is stably and safely braked and stopped on the track; the walking balance device ensures the stability of the robot when walking on the single rail, thereby ensuring that the pruning does not damage tea trees and tea leaves; prune tealeaves and blow into under the exhaust device effect through trimming means and collect and storage device and then collect, guarantee the high efficiency of collecting, simultaneously, can trigger device stop advancing in order to collect tealeaves when collecting and storage device reach certain stock.
Drawings
FIG. 1: control system diagram of the invention;
FIG. 2: the invention has a structure schematic diagram;
FIG. 3: a schematic structural diagram of the walking device;
FIG. 4: another structure schematic diagram of the walking device;
FIG. 5: the structural schematic diagram of the track device;
FIG. 6: a partial structure schematic diagram of the track device;
FIG. 7: the structure schematic diagram of the anti-impact device;
FIG. 8: a circuit connection diagram of the motor;
FIG. 9: the photoelectric rotary encoder is connected with a circuit of the control box;
FIG. 10: a partial structure schematic diagram of the walking balance device;
FIG. 11: another partial structure schematic diagram of the walking balance device;
FIG. 12: the structure schematic diagram of the collecting and storing device;
FIG. 13: a partial structure schematic diagram of a collection and storage device;
FIG. 14: collecting a schematic diagram of circuit connection with a storage device;
FIG. 15: the structure schematic diagram of the trimming device;
FIG. 16: a partial structure schematic diagram of the trimming device;
FIG. 17: a schematic view of a blade of the trimming device;
in the figure: 1-a control box; 11-a wireless remote control receiver; 2-a walking device; 21-first underframe; 22-a travelling wheel hanger plate; 23-a travelling wheel connecting shaft; 24-road wheels; 25-track; 26-a stiff spring; 27-tea opening frame; 28-pressing tea roller hanging plate; 29-pressing the tea roller; 210-a truss; 211-a pulley; 212-a motor; 213-a frame; 214-pulley two; 215-battery box; 216-bearing seat two; 217-small wheel connecting shaft; 218-a small wheel; 219-wheel attachment plate; 220-chassis two; 221-driving wheel connecting shaft; 222-a drive wheel; 223-belt II; 224-a belt transition shaft; 225-bearing seat I; 226-belt one; 227-undercarriage coupling axis; 228-rigid spring connection posts; 229-a connecting shaft of the travelling wheel hanging plate; 3-a rail device; 31-square tube; 32-a rack; 33-square tube connecting piece; 34-a bolt; 35-a sleeve; 36-link ring one; 37-link ring two; 38-support bar one; 39-support seat one of the rod; 310-support bar two; 311-support base two of the pole; 312-a stem cap; 4-anti-impact device; 41-limit switch; 42-photoelectric rotary encoder; 43-upper baffle; 44-baffle rack; 45-lower baffle; 5-a walking balancing device; 51-load cam; 52-a first motor; 53-distance detector; 54-a pressure switch; 55-drive the vial 55; 56-electromagnetic valve; 57-high pressure line; 58-a first catch; 581-groove; 59-a second button block; 591-a bump; 510-a cantilever beam; 511-a return spring; 512-pressure relief valve; 513-low-leakage high-sealing valve; 6-collection and storage means; 61-a storage tank; 62-a support beam; 63-storage box upper shell; 64-tea outlet; 65-an outlet baffle; 66-a hinge; 67-support bar; 68-a second motor; 69-wind box; 610-tea weighing module; 611-a support plate; 612-a first air guide pipe; 613-storage tank bottom plate; 614-a second air guide pipe; 615-a first air duct valve; 616-duct valve two; 7-a trimming device; 71-a control box; 72-a drive motor; 73-a belt arrangement; 731-belt unit housing; 74-Pulley I; 75-Pulley II; 76-a belt; 77-eccentric shaft; 78-eccentric cam one; 79-eccentric cam two; 710-blade one; 711-blade two 711; 712-elliptical holes; 713-louvers; 714-connecting groove.
Detailed Description
A specific embodiment of the present invention will be described in detail with reference to the accompanying drawings.
A control system of a tea garden picking robot comprises a control box 1, a traveling device 2, a rail device 3, an anti-impact device 4, a traveling balancing device 5, a collecting and storing device 6, a trimming device 7 and an exhaust device 7; the control box 1 is connected with a wireless remote control receiver 11 arranged on the top of the control box 1.
The traveling device 2 comprises a first underframe 21, a control box 1 is arranged on the first underframe 21, a motor 212 and a first bearing seat 225 are arranged on a second underframe 220 and are positioned below a frame 213, a belt conversion shaft 224 is arranged on the first bearing seat 225 and is connected with the middle part of the second belt pulley 214, one end of a first belt 226 is connected with a belt pulley 211 arranged on an output shaft of the motor 212, the other end of the first belt is connected with the second belt pulley 214, one end of a second belt 223 is connected with the belt conversion shaft 224, the other end of the second belt is connected with a driving wheel connecting shaft 221, a driving wheel 22 is connected with the second underframe 220 through the driving wheel connecting shaft 221, a traveling wheel hanging plate 22 is connected with the first underframe 21 through a traveling wheel hanging plate connecting shaft 229 and the second bearing seat 216, a traveling wheel 24 is connected with the traveling wheel hanging plate 22 through a traveling wheel 23, a small wheel 218 is connected with a wheel, the trusses 210 are respectively fixed at the front end and the rear end of the second underframe 220, the left end and the right end of the trusses 210 are respectively connected with the tea pressing rollers 29 through the tea pressing roller hanging plates 28, the first underframe 21 is hinged with the second underframe 220, two pairs of rigid spring connecting columns 228 are arranged on the first underframe 21 and the second underframe 220, the two pairs of corresponding rigid spring connecting columns 228 are respectively connected with the two rigid springs 26, the two tea leaf unfolding frames 27 are respectively connected with the first underframe 21 and the second underframe 220, the driving wheels 22, the walking wheels 24 and the small wheels 218 are contained, tea tree branches and tea leaves are unfolded during walking, and the interference on the movement of the driving wheels 22, the walking wheels 24 and the small wheels 218 is prevented; the driving wheels 22 and the walking wheels 24 are respectively engaged with the track device 3 through the stainless steel columns 32 on the upper surfaces of the driving wheels and the walking wheels, and are respectively correspondingly arranged on the small wheels 218 close to the lower plane of the track so as to tightly hold the track device 3, so that the walking of the whole system is realized.
Track device 3, rack 32 welds the middle part at the upside of square pipe 31, square pipe connecting piece 33 overlaps respectively inside the both ends of square pipe 31, and through bolt 34 and square union coupling, sleeve 35 passes through bolt and square union coupling, the through-hole that square pipe was equipped with has set up bracing piece one 38, bracing piece one meshes the fastening on square pipe 31 through the aperture that the bolt was equipped with from sleeve 35 side, bracing piece one 38 is connected with link ring one 36, bracing piece two 310 is connected with link ring two 37, link ring one 36 is connected with link ring two 37 through the bolt, bracing piece one 38 and bracing piece two 310 set up subaerial through the supporting seat one 39 of pole and the supporting seat two 311 of pole respectively, bracing piece one 38 and bracing piece two 310 extrude fixedly through screw and the supporting seat one 39 of pole and the supporting seat two 311 of pole respectively.
Scour protection is from device 4, including limit switch 41 and photoelectric type rotary encoder 42, limit switch 41 and photoelectric type rotary encoder 42 pass through the serial ports and are connected with control box 1, photoelectric type rotary encoder 42 passes through the keyway with drive wheel connecting axle 221 and is connected, limit switch 41 sets up the front end that faces upward baffle 43 at chassis one 21, baffle rack 44 welds the downside at last baffle 43, go up baffle 43 and square pipe 31 through baffle rack 44 and go up the rack toothing who has welded and set up on square pipe, baffle 45 is through four bolts down, four spring washers and four nuts are connected with last baffle 43 and sticiss on square pipe 31.
The walking balancing device 5 comprises a load cam 51 arranged on the first base frame 21 and a first motor 52 arranged on the load cam, wherein the first motor 52 is connected with a distance detector 53 which is arranged on one side of the track and fixedly connected with the first base frame 21, and two pressure switches 54 are respectively arranged on the first base frame 21 and positioned on two sides of the load cam 51; the device further comprises a driving bottle 55 arranged on the first chassis 21, an electromagnetic valve 56 electrically connected with the pressure switch 54 is arranged on the driving bottle 55, the driving bottle 55 is connected with a first buckling block 58 and a second buckling block 59 through a high-pressure pipeline 57, the first buckling block 58 and the second buckling block 59 are arranged below the first chassis 21 through a suspension beam 510, the first buckling block 58 and the second buckling block 59 are connected with the first chassis 21 through a return spring 511, the first buckling block 58 and the second buckling block 59 are arranged on two sides of a track and are in clearance fit with each other, a pressure relief valve 512 is arranged on the high-pressure pipeline 57, a groove 581 is arranged on one side, facing the second buckling block 59, of the first buckling block 58, a convex block 591 is arranged on one side, facing the first buckling block 58, of the second buckling block 59, and a low-pressure-relief high-sealing valve 513 is arranged on the high.
The collecting and storing device 6 comprises a storage box 61, the storage box 61 is connected with a support beam 62 through bolts, the support beam 62 is arranged on a support rod 67, an upper shell 63 of the storage box is arranged above the storage box 61, tea leaf outlets 64 are respectively arranged at two sides of the storage box 61, outlet baffles 65 are respectively arranged on the tea leaf outlets 64 and are connected with the storage box 61 through hinges 66; a support plate 611 is arranged outside the storage box 61, and a bellows 69 connected with the second motor 68 and a tea weighing module 610 are arranged on the support plate 611; one end of the first air guide pipe 612 is connected with the air box 69, the other end of the first air guide pipe is arranged above the bottom plate 613 of the storage box, and the bottom plate 613 is an arc-shaped plate imitating the shape of a tea tree; one end of the second air guide pipe 614 is connected with the air box 69, and the other end of the second air guide pipe 614 is arranged inside the storage box 61; the first duct valve 615 and the second duct valve 616 are disposed on the first duct 612 and the second duct 614, respectively.
The trimming device 7 comprises a control box 71 which is arranged on the storage box 61 and connected with the control box 1, a driving motor 72 connected with the control box 71 is arranged on the upper side of the support beam 62, a belt device 73 is arranged on the lower side of the support beam 62 through a belt device shell 731, the driving motor 72 is connected with a belt pulley I74, the belt pulley I74 is connected with a belt pulley II 75 through a belt 76, an eccentric shaft 77 arranged in the middle of the belt pulley II 75 penetrates through an eccentric cam I78 and an eccentric cam II 79 to be connected to a bottom plate 613, the eccentric cam I78 is connected with a blade I710, the eccentric cam II 79 is connected with a blade II 711, elliptical holes 712 and heat dissipation holes 713 which are identical in distribution rule are arranged on the blade I710 and the blade II 711, and the elliptical holes 712 and the heat; the knife teeth arranged on the first blade 710 and the second blade 711 are uniformly distributed, the first blade 710 and the second blade 711 complete the connection between the first blade 710 and the second blade 711 through the respective waist-shaped connecting grooves 714, the first blade 710 and the second blade 711 complete the left-right cutting action through the connecting grooves 714, the first blade 710 is arranged on the upper side of the bottom plate 613, and the second blade 711 is arranged on the lower side of the bottom plate 613.
A tea garden picking robot control method comprises the following steps:
s1, the robot walks on the track device 3;
s11, keeping balance through the walking balance device 5;
s12, in an emergency, the balancing device 5 acts, and the robot is locked on the track device 3;
s2, the tea leaves are trimmed by the action of the trimming device 7;
s3, collecting and storing the tea leaves separated after trimming by the collecting and storing device 6;
s4, when the robot reaches the tail end of the track, the anti-impact device 4 acts, and the robot is stably braked and stopped;
s41, in an emergency, the robot is forced to stop on the track by the anti-collision device 4.
Wherein,
for step S1, the robot is started, and the control box 1 switches on the battery box 215 to make the motor 212 drive the pulley 212 to rotate, and then drives the pulley two 214 to rotate through the belt one 226, and then drives the belt two 223 to rotate through the belt switching shaft 224, and then drives the driving wheel connecting shaft 221 to rotate, and then the driving wheel 222 rotates to drive the robot to mesh with the track to advance;
for step S11, ensuring the stability of the robot moving forward, wherein the robot is an initial position when it is horizontal, the center of gravity of the robot is located at the center of the track, the distance between the distance detector 53 and the track is an initial value, and the electrical signal is zero; if the robot inclines to the left or turns over to the right, the distance between the distance detector 53 and the track is increased, a positive-phase output electric signal is generated, and the first motor 52 drives the loading cam 51 to rotate clockwise, so that the center of gravity of the whole harvesting robot is positioned on the right side of the track; if the harvesting robot inclines rightwards or turns leftwards, the distance between the distance detector 53 and the track is reduced, a negative-phase output electric signal is generated, and the first motor 52 drives the loading cam 51 to rotate anticlockwise, so that the center of gravity of the whole harvesting robot is located on the left side of the track; through continuous detection and correction, the robot is enabled to advance within the set inclination range.
In step S12, when the rollover risk occurs, the load cam 51 triggers the pressure switch 54, the pressure switch 54 triggers the electromagnetic valve 56 on the driving bottle 55 to open, the high-pressure gas pushes the first and second blocks 58 and 59 to act on the rail by the high-pressure pipeline 57, the first and second blocks 58 and 59 are tightly connected at high pressure by the groove 581 and the bump 591 and are locked on the rail, and the braking is completed to prevent the rollover action.
In step S2, after the tea picking robot is started, the tea picking robot enters a trimming speed selection state, the trimming speed of the robot is determined manually according to the working condition, the speed of the driving motor 72 is controlled by the control box 71, the output of the driving motor 72 drives the belt pulley i 74 to rotate, the belt pulley i 74 drives the belt pulley ii 76 to rotate through the belt 75, and the belt pulley ii 76 enables the eccentric cam i 78 and the eccentric cam ii 79 to rotate through the eccentric shaft 77, so that the blade i 710 and the blade ii 711 move to complete the trimming movement; after receiving the fast/low-speed running signal, the robot sends a signal to control the driving motor 72 to run fast/low-speed: when thick tea trees are pruned, the control box 71 outputs a signal to increase the rotating speed of the motor 4, the rotating speeds of the first eccentric cam 78 and the second eccentric cam 70 are increased, the reciprocating action frequency of the first blade 71 and the second blade 712 is increased, and the missing pruning rate is reduced; when the robot receives the stop signal, the control box 71 sends a signal to turn off the power supply, the motor 72 is driven to output the signal, and the robot stops the tea picking operation.
For step S3, the second motor 68 rotates to wind the wind box 69, the first air guide pipe 612 blows the tea leaves collected by the cutter into the storage box 61, when the tea leaf weighing module 610 detects the weight of the storage box 61 and sends a signal to the control box, the robot processor collects the weight signal and judges whether the weight signal reaches a set value, and if the weight signal reaches the set value, the robot processor sends a signal to disconnect the power supply of the motor; after the power supply of the motor is cut off, the tea picking robot stops tea picking operation, at the moment, manual tea leaf collecting work can be carried out, the outlet baffles 65 on the two sides of the storage box 61 are manually turned over, tea leaf collecting bags are sleeved on the outlet, then, the first air guide pipe valve 615 is closed, the second air guide pipe valve 616 is opened, the second motor 68 is started at the moment, the second air guide pipe 614 blows out tea leaves from the storage box 61, and collection and storage of the tea leaves of the tea picking robot are completed.
For step S4, the anti-collision device 4 collects the rotation speed information of the driving wheel 222 through the photoelectric rotary encoder 42 arranged on the driving wheel connecting shaft 221, generates a pulse signal and transmits the pulse signal to the control box 1, and the control box 1 processes the number and phase of the received pulses and calculates and confirms the movement distance and direction of the robot when the robot works on the track; when the travel distance reaches a preset value, the control box 2 outputs a signal to stop the operation of the motor 14 and transmits a job completion message to the user through the wireless remote control receiver 11.
For step S41, the anti-collision device 4 further includes a trigger control mode of a limit switch: if the robot does not stop and continues to move due to system errors, too much inertia or other reasons, the limit switch 41 arranged at the front end of the robot frame 213 will contact with the track baffle arranged at the tail end of the track to trigger the limit switch 41 to operate and simultaneously disconnect the power supply of the motor 212, so that the robot stops at the tail end of the track.
The device of the invention advances on the monorail, saves a large amount of land resources, and the monorail and the robot are provided with the anti-impact device to ensure that the device can be stably and safely braked and stopped on the monorail; the walking balance device ensures the stability of the robot when walking on the single rail, thereby ensuring that the pruning does not damage tea trees and tea leaves; prune tealeaves and blow into under the exhaust device effect through trimming means and collect and storage device and then collect, guarantee the high efficiency of collecting, simultaneously, can trigger device stop advancing in order to collect tealeaves when collecting and storage device reach certain stock.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A control system of a tea garden picking robot is characterized by comprising a control box, a traveling device, a rail device, an anti-impact device, a traveling balancing device, a collecting and storing device and a trimming device; the control box, the anti-impact device, the walking balancing device, the collecting and storing device and the trimming device are located on the walking device, the control box is connected with the wireless remote control receiver arranged at the top of the control box, and the walking device is arranged on the rail device.
2. The control system of a tea garden picking robot as claimed in claim 1, wherein: the walking device comprises a first underframe, a control box is arranged on the first underframe, a motor and a first bearing seat are arranged on a second underframe and are positioned below a frame, a belt conversion shaft is arranged on the first bearing seat and is connected with the middle part of the second belt pulley, one end of the first belt is connected with a belt pulley arranged on an output shaft of the motor, the other end of the first belt is connected with the second belt pulley, one end of the second belt is connected with the belt conversion shaft, the other end of the second belt is connected with a driving wheel connecting shaft, the driving wheel is connected with the second underframe through the driving wheel connecting shaft, a walking wheel hanging plate is connected with the first underframe through a walking wheel hanging plate connecting shaft and the second bearing seat, a walking wheel is connected with a walking wheel hanging plate through a walking wheel connecting shaft, a small wheel is connected with a wheel connecting plate through a small wheel connecting shaft, the driving wheel and the walking wheel are, the first underframe is hinged with the second underframe, two pairs of rigid spring connecting columns are arranged on the first underframe and the second underframe, the two pairs of corresponding rigid spring connecting columns are respectively connected with the two rigid springs, and the two tea leaf spreading frames are respectively connected with the first underframe and the second underframe, so that driving wheels, walking wheels and small wheels are included, tea tree branches and tea leaves are spread during walking, and the interference on the movement of the driving wheels, the walking wheels and the small wheels is prevented; the driving wheels and the walking wheels are respectively meshed with the track device through stainless steel columns on the driving wheels and the walking wheels, and the driving wheels and the walking wheels are respectively correspondingly arranged on small wheels which are tightly attached to the lower plane of the track so as to tightly hold the track device, so that the walking of the whole system is realized.
3. The control system of a tea garden picking robot as claimed in claim 1, wherein: track set, the rack welding is at the middle part of side pipe upside, square union piece overlaps respectively inside the both ends of square pipe, and through bolt and square union coupling, the sleeve passes through bolt and square union coupling, the downthehole that square pipe was equipped with has set up bracing piece one, bracing piece one is fastened square pipe through the aperture meshing that the bolt was equipped with from the sleeve side, bracing piece one is connected with link ring one, bracing piece two is connected with link ring two, link ring one is connected with link ring two through the bolt, bracing piece one and bracing piece two set up subaerial through the supporting seat one of pole and the supporting seat two of pole respectively, bracing piece one and bracing piece two extrude fixedly through the supporting seat one of screw and pole and the supporting seat two of pole respectively.
4. The control system of a tea garden picking robot as claimed in claim 1, wherein: scour protection is from device, including limit switch and photoelectric type rotary encoder, limit switch and photoelectric type rotary encoder pass through the serial ports and are connected with the control box, photoelectric type rotary encoder passes through the keyway with the drive wheel connecting axle and is connected, limit switch sets up the front end at chassis one side overhead gage, the baffle rack welds the downside at the overhead gage, the overhead gage passes through the baffle rack and manages the rack toothing that has welded on the side and set up on square pipe, the baffle is through four bolts down, four spring washers and four nuts are connected and sticis on square pipe with the overhead gage.
5. The control system of a tea garden picking robot as claimed in claim 1, wherein: the walking balancing device comprises a load cam arranged on the first underframe and a first motor arranged on the load cam, the first motor is connected with a distance detector which is arranged on one side of the track and is fixedly connected with the first underframe, and two pressure switches are respectively arranged on the first underframe and positioned on two sides of the load cam; still including setting up the drive bottle on chassis one, be equipped with the solenoid valve with pressure switch electric connection on the drive bottle, the drive bottle passes through high-pressure line and connects first knot piece and the second and detain the piece, first knot piece and second are detained the piece and are passed through the hanging beam and set up in chassis one's below, and first knot piece and second are detained the piece and are passed through reset spring and connect chassis one, first knot piece and second are detained the piece and are set up in orbital both sides and clearance fit between, the last relief valve that is equipped with of high-pressure line, first knot piece is equipped with the recess towards one side that the piece was detained to the second, the second is detained one side that the piece was equipped with the lug towards first knot piece, be equipped with low high sealing valve that leaks.
6. The control system of a tea garden picking robot as claimed in claim 1, wherein: the collecting and storing device comprises a storage box, the storage box is connected with a supporting beam through bolts, the supporting beam is arranged on a supporting rod, an upper shell of the storage box is arranged above the storage box, tea leaves are respectively arranged at two sides of the storage box, and outlet baffles are respectively arranged on the tea leaves and connected with the storage box through hinges; the supporting plate is arranged on the outer side of the storage box, and the air box and the tea weighing module which are connected with the second motor are arranged on the supporting plate; one end of the first air guide pipe is connected with the air box, the other end of the first air guide pipe is arranged above a bottom plate of the storage box, and the bottom plate is an arc-shaped plate imitating the shape of a tea tree bundle; one end of the second air guide pipe is connected with the air box, and the other end of the second air guide pipe is arranged in the storage box; the first air guide pipe valve and the second air guide pipe valve are respectively arranged on the first air guide pipe and the second air guide pipe.
7. The control system of a tea garden picking robot as claimed in claim 1, wherein: the trimming device comprises a control box which is arranged on a storage box and connected with the control box, a driving motor connected with the control box is arranged on the upper side of a support beam, a belt device is arranged on the lower side of the support beam through a belt device shell, the driving motor is connected with a belt pulley I, the belt pulley I is connected with a belt pulley II through a belt, an eccentric shaft arranged in the middle of the belt pulley II penetrates through an eccentric cam I and an eccentric cam II to be connected to a bottom plate, the eccentric cam I is connected with a blade I, the eccentric cam II is connected with a blade II, elliptical holes and heat dissipation holes which are identical in distribution rule are formed in the blade I and the blade II, and the elliptical holes and the; the first blade and the second blade are connected through waist-shaped connecting grooves respectively, left and right cutting actions are completed through the connecting grooves, the first blade is arranged on the upper side of the bottom plate, and the second blade is arranged on the lower side of the bottom plate.
8. A tea garden picking robot control method is characterized by comprising the following steps:
s1, the robot walks on the rail device;
s11, keeping balance through a walking balance device;
s2, the tea leaves are trimmed by the action of the trimming device;
s3, collecting and storing the tea leaves separated after trimming by the collecting and storing device;
and S4, when the robot reaches the tail end of the track, the anti-impact device acts, and the robot is stably braked and stopped.
9. The method of claim 8, wherein: the step S1 further includes a step S12, in case of emergency, the balancing device is operated, and the robot locks on the rail device.
10. The method of claim 8, wherein: said step S4 further comprises a step S41, in case of emergency, the robot is forced to stop on the track by the anti-impact device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088903.4A CN109121702B (en) | 2018-09-18 | 2018-09-18 | Control system and control method for tea garden picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088903.4A CN109121702B (en) | 2018-09-18 | 2018-09-18 | Control system and control method for tea garden picking robot |
Publications (2)
| Publication Number | Publication Date |
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| CN109121702A true CN109121702A (en) | 2019-01-04 |
| CN109121702B CN109121702B (en) | 2023-04-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811088903.4A Expired - Fee Related CN109121702B (en) | 2018-09-18 | 2018-09-18 | Control system and control method for tea garden picking robot |
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| CN (1) | CN109121702B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393087A (en) * | 2019-09-02 | 2019-11-01 | 四川省农业机械研究设计院 | Tea garden young leaves profiling picking device |
| CN111300488A (en) * | 2020-04-26 | 2020-06-19 | 太原科技大学 | Chassis structure of sliding block type wheel set track robot |
| CN117206776A (en) * | 2023-11-08 | 2023-12-12 | 中铁三局集团有限公司 | A three-dimensional guide rail portable robot mobile chassis |
| CN118556538A (en) * | 2024-08-01 | 2024-08-30 | 美兰德农业科技(内蒙古)有限公司 | A micro potato breeding and cultivation device |
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| JPH07184450A (en) * | 1993-12-24 | 1995-07-25 | Ochiai Hamono Kogyo Kk | Trackway type self-propelled tea leaf plucker |
| JPH1080223A (en) * | 1996-09-06 | 1998-03-31 | Kawasaki Giken Kk | Tea garden maintenance system of rail traveling type equipped with buffer stop structure |
| JP2000300041A (en) * | 1999-04-15 | 2000-10-31 | Ochiai Cutlery Mfg Co Ltd | Mobile type tea-plucking machine |
| CN103766076A (en) * | 2014-01-23 | 2014-05-07 | 永康市威力园林机械有限公司 | Tea picking machine with multi-wheel bump-proof walking mechanism |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07184450A (en) * | 1993-12-24 | 1995-07-25 | Ochiai Hamono Kogyo Kk | Trackway type self-propelled tea leaf plucker |
| JPH1080223A (en) * | 1996-09-06 | 1998-03-31 | Kawasaki Giken Kk | Tea garden maintenance system of rail traveling type equipped with buffer stop structure |
| JP2000300041A (en) * | 1999-04-15 | 2000-10-31 | Ochiai Cutlery Mfg Co Ltd | Mobile type tea-plucking machine |
| CN103766076A (en) * | 2014-01-23 | 2014-05-07 | 永康市威力园林机械有限公司 | Tea picking machine with multi-wheel bump-proof walking mechanism |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393087A (en) * | 2019-09-02 | 2019-11-01 | 四川省农业机械研究设计院 | Tea garden young leaves profiling picking device |
| CN111300488A (en) * | 2020-04-26 | 2020-06-19 | 太原科技大学 | Chassis structure of sliding block type wheel set track robot |
| CN117206776A (en) * | 2023-11-08 | 2023-12-12 | 中铁三局集团有限公司 | A three-dimensional guide rail portable robot mobile chassis |
| CN117206776B (en) * | 2023-11-08 | 2024-02-20 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
| CN118556538A (en) * | 2024-08-01 | 2024-08-30 | 美兰德农业科技(内蒙古)有限公司 | A micro potato breeding and cultivation device |
| CN118556538B (en) * | 2024-08-01 | 2024-11-15 | 美兰德农业科技(内蒙古)有限公司 | Miniature potato breeds cultivation device |
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|---|---|
| CN109121702B (en) | 2023-04-25 |
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