本文设计的名优茶采摘机主要由图像识别系统、行走装置、机械采摘装置、茶叶

The famous tea picking machine designed in this paper is mainly composed of image recognition system, walking device, mechanical picking device, tea collecting device, picking strategy and other parts. <br>The image recognition device is composed of an industrial camera and a raster projector, and is fixed on a bracket located directly above the manipulator. Through image processing, the position coordinates of fresh leaves can be recognized and obtained. Most of the tea gardens are slopes and hills. In order to adapt to the terrain of most tea gardens, the walking device uses a high-gap power chassis to provide sufficient power for the picking device. The high-gap power chassis rides on the tea tent during work, its ground gap and wheels The distance can be adjusted, and the full width of the tea canopy is the picking area. In order to improve the picking efficiency, two picking manipulators are arranged to work at the same time, and the picking device is fixed on the high-gap power chassis. The control system allocates the picking area to the two manipulators according to the obtained fresh leaf position coordinates and the principle of equal number of fresh leaves, and controls the two picking manipulators to pick at the same time;

The famous tea picker designed in this paper is mainly composed of image recognition system, walking device, mechanical picking device, tea collection device, picking strategy and so on.<br>The image recognition device consists of an industrial camera and a grating projector, fixed to a bracket located directly above the robot, and can be identified and obtained by image processing. Tea garden is mostly sloped, hilly area, in order to adapt to most of the tea garden terrain, walking device selection of highland gap power chassis, for the picking device to provide sufficient power, work highland gap power chassis riding across the tea can be adjusted, the full width of the tea can be picked area. In order to improve the efficiency of picking, the arrangement of double-picking robots work at the same time, the picking device is fixed on the highland gap power chassis. According to the location coordinates of the fresh leaves obtained, the control system allocates the picking area to two robots according to the principle of equal number of fresh leaves, and controls the two picking robots to pick at the same time.

The famous tea picker designed in this paper is mainly composed of image recognition system, walking device, mechanical picking device, tea collecting device, picking strategy and other parts.<br>The image recognition device is composed of industrial camera and grating projector, which is fixed on the bracket directly above the manipulator. Through image processing, the position coordinates of fresh leaves can be recognized and obtained. Most of the tea plantations are sloping and hilly areas. In order to adapt to the terrain of most of the tea plantations, the high gap power chassis is selected as the walking device to provide sufficient power for the picking device. When working, the high gap power chassis rides on the tea canopy, and its ground gap and wheelbase can be adjusted. The whole width of the tea canopy is the picking area. In order to improve the picking efficiency, a double picking manipulator is arranged for simultaneous operation, and the picking device is fixed on the high clearance power chassis. According to the position coordinates of the fresh leaves, the control system allocates the picking area to two robots according to the principle of equal number of fresh leaves, and controls two picking robots to pick at the same time;<br>