Research On The Picking Manipulator Of Famous Tea And Picking Strategy

Famous tea has a high practicality and economic value.Andit's industry value accounted for the proportion of the tea industry increased gradually.Famous tea requirements uniform,and it's still artificial picking.Now,picking machine on the market without selectivity use the way of one-size-fits-all,it can't guarantee the quality of famous tea.Economic transformation and the lack of labor led to the famous tea picking is not timely,resulting in a huge waste.Famous tea picking has become a bottleneck in the development of famous tea industry.Difficulties of the famous tea mechanization picking basically has two,one is the tea recognition,another is efficient.In this paper,the famous tea picking machine can be based on image recognition technology for selective picking.The research emphasis of this paper is picking system of the manipulator.To improve the picking rate,it is arranged with double picking robots.In this paper,the ant colony algorithm is used to plan the picking path of the two manipulators.The main research contents are as follows:1)This paper describes the working principle of famous tea picking machine.And it introduces the construction of intelligent system of famous tea picking machine,which mainly includes: walking device,picking manipulator,and image recognition system and control system,etc.2)One of the measures to improve the efficiency of tea picking is the use of double picking manipulators.To improve the picking rate,the double picking robot is arranged to work simultaneously.The manipulator can be moved independently and is driven by a stepper motor.In order to improve the stability,the picking device uses the double guide rail,the manipulator adopts the double circular shaft direction.The end of the manipulator uses a crank slider mechanism.The structure of the tea cut parts is cylindrical.The blade is opened and closed by a small cylinder.The two ends of the inner barrel are connected with plastic hoses to collect the fresh leaves that have been picked up by means of air blowing and suction.3)Another measure to improve the efficiency of tea picking is to minimize the movement distance of the manipulator.Ant colony algorithm has a unique advantage in solving traveler problems(TSP).The picking path of tea is similar to solving the traveling salesman problem.This paper combines the ant colony algorithm with the tea picking technique.According to the working methods of famous tea picking machine,this paper puts forward some improvement measures.In this paper,the basic ant colony algorithm and the optimized ant colony algorithm were used to simulate the picking path of tea.The study on the tea area was carried out in two,four and six districts.The simulation results show that the picking effect is good in four areas.In this paper,the distribution of tea is uniform,extremely uneven,more and less cases were studied,the results show that the picking strategy of this paper is better adaptability.The innovation of this paper is to design two picking robots,both working and overlapping working areas.It uses the ant colony algorithm to plan the tea picking path,combined with the characteristics of tea picking to improve the measures.In this paper,the famous tea picking machine has the advantages of selectivity,improved picking efficiency and tea collection rate.