Intelligent tobacco leaf picking manipulator and picking method thereof

Abstract

The invention discloses an intelligent tobacco leaf picking manipulator and a picking method.The manipulator comprises a mechanical arm, the tail end of the mechanical arm is provided with a binocular camera and an end effector, the end effector comprises a driving motor, a connecting module, a tobacco leaf cutting mechanical claw and an anti-scraping ball mechanical claw, and the two sets of mechanical claws are arranged in parallel up and down; the tobacco cutting mechanical grippers are arranged in parallel, are connected with an output shaft of the driving motor through a connecting module and are driven by the driving motor to perform opening and closing actions, two concentric circles surrounding a tobacco rod can be formed when the tobacco cutting mechanical grippers are closed, a cutting circle formed by the upper tobacco cutting mechanical grippers is larger than the periphery of the tobacco rod, and an anti-scraping circle formed by the lower anti-scraping ball mechanical grippers makes contact with the periphery of the tobacco rod. During working, the binocular camera positions the position of a tobacco stem and transmits the tobacco stem to the upper computer, the mechanical arm moves the end effector to the positioning position according to position information, the closed mechanical claw surrounds the tobacco stem, and when the anti-scraping ball mechanical claw moves upwards, the tobacco cutting mechanical claw cuts tobacco from bottom to top. The device has the advantages of high picking efficiency, low breakage rate, high adaptability and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of tobacco leaf picking, and in particular to an intelligent tobacco leaf picking robot and a picking method thereof. Background Art

[0002] Tobacco is an important cash crop in my country, with a planting area of ​​over 1 million hectares, mainly distributed in hilly areas such as Yunnan, Guizhou, and Hunan. The tobacco leaf harvesting process includes three links: harvesting, baking, and post-harvest processing. The quality of the harvesting directly affects the quality of the tobacco leaves during post-harvest grading. Therefore, advanced tobacco leaf harvesting machinery is the key to ensuring the quality of tobacco leaves. The mechanization of tobacco harvesting in my country is relatively backward, and tobacco leaf harvesting has always been in the manual operation stage, which is mainly related to my country's tobacco leaf planting model, tobacco planting agronomic requirements, tobacco planting area distribution, and flue-cured tobacco requirements. At present, tobacco leaf harvesting is mainly manual, with extremely high labor intensity. Existing tobacco leaf harvesting equipment has problems such as high breakage rate and poor adaptability. The mechanized harvesting of tobacco leaves is in a state of inorganic availability and inorganic applicability, which restricts the healthy and stable development of the tobacco industry.

[0003] At present, mechanized tobacco leaf picking methods are mainly divided into the following types: ① Flexible mechanical beating type, such as the patent document with publication number CN117678421: it uses a rotating flexible blade to beat the tobacco leaves to make them fall off, can operate continuously, and has high picking efficiency, but the disadvantage is that the breakage rate is extremely high; ② Clamping combing type, such as the patent document with publication number CN116235697: it uses symmetrically arranged clamps to surround the tobacco plant stems, and the combing device at the upper end moves from bottom to top to comb the tobacco leaves off. This method has a low breakage rate, but low operating efficiency; ③ Tobacco leaf picking robot, such as the patent document with publication number CN221127986: it uses a crawler chassis as a driving base to operate across a single ridge, and uses an industrial robot as an execution device to accurately pick mature tobacco leaves in a single time. This picking method has an extremely low breakage rate, but the picking efficiency is also extremely low.

[0004] Therefore, in view of the high labor intensity of manual picking and the high breakage rate, poor adaptability and low efficiency of existing mechanical equipment, the development of a new tobacco picking device and picking method is of great significance to improving tobacco production efficiency and promoting the modernization of the tobacco industry. Summary of the invention

[0005] In view of the above problems existing in the prior art, the purpose of the present invention is to provide an intelligent tobacco leaf picking robot with high picking efficiency, low breakage rate and strong adaptability, and also to provide a method for picking tobacco leaves using the above robot.

[0006] In order to solve the deficiencies of the prior art, the present invention adopts the following technical solutions: An intelligent tobacco leaf picking manipulator comprises a manipulator arm mounted on a mobile carrier, a binocular camera and an end effector are mounted at the end of the manipulator arm, the manipulator arm is controlled by a host computer, and can intelligently control the binocular camera to perform path planning through programming, and cooperate with the opening and closing of the end effector to perform reciprocating motion of the operation path, the end effector comprises a driving motor, a connecting module, a tobacco leaf cutting mechanical claw and an anti-scratch ball mechanical claw, the tobacco leaf cutting mechanical claw and the anti-scratch ball mechanical claw are arranged in parallel up and down, and are both connected to the output shaft of the driving motor through the connecting module and driven by the driving motor to perform opening and closing actions at the same time, and the two groups of mechanical claws can form two concentric circles surrounding the tobacco rod when working in a closed manner, the cutting circle formed by the upper tobacco leaf cutting mechanical claw is larger than the outer circumference of the tobacco rod, and the anti-scratch circle formed by the lower anti-scratch ball mechanical claw can always be in contact with the outer circumference of the tobacco rod; During operation, the binocular camera accurately locates the position of the cigarette rod and transmits the position information to the host computer. The robotic arm accurately moves the end effector to the positioning position according to the position information, and closes the two sets of mechanical claws to embrace the cigarette rod in the concentric circles. When the robotic arm drives the anti-scratch ball mechanical claw to move upward, the tobacco leaf cutting mechanical claw cuts the tobacco leaves from bottom to top.

[0007] As a further improvement of the above technical solution: The driving motor is connected to the end interface of the mechanical arm through a flange, the binocular camera is placed above the cylinder body of the driving motor and is tightly connected to the flange, and the side of the binocular camera equipped with the camera faces the tobacco leaf cutting mechanical claw.

[0008] The tobacco leaf cutting mechanical claw comprises two groups of semicircular cutting knife modules arranged opposite to each other, the semicircular cutting knife module comprises a semicircular cutting knife and a knife seat provided with a semicircular mounting surface, the cutting knife is fittedly mounted on the semicircular mounting surface of the knife seat by means of a plurality of cutting knife fixing screws, the upward end of the cutting knife is sharpened, and when the tobacco leaf cutting mechanical claw is closed for operation, the two groups of semicircular cutting knives enclose the cutting circle, and the cutting knife never contacts the outer periphery of the tobacco rod.

[0009] The anti-scratch ball mechanical claw includes two groups of semicircular ball modules arranged opposite to each other, and the semicircular ball module includes a ball seat with a semicircular mounting groove and multiple balls. The multiple balls are connected in series through a telescopic spring and installed in the semicircular mounting groove of the ball seat. The two ends of the telescopic spring are respectively installed at the two ends of the semicircular mounting groove through a ball fixing bolt. When the anti-scratch ball mechanical claw is closed, the balls on the two groups of telescopic springs form an automatically retractable ball ring, and the inner side of the ball ring forms the anti-scratch circle, so that each ball always keeps in contact with the outer periphery of the cigarette rod.

[0010] The connecting module includes a fixed bracket and a movable bracket, and the fixed bracket includes two U-shaped frames which are parallel to each other and arranged at intervals. The bottom plate of the U-shaped frame is fixedly mounted on the end of the cylinder body of the driving motor on the output shaft side, and the two side plates of the upper U-shaped frame and the two side plates of the lower U-shaped frame are respectively movably hinged with a connecting ear piece, and the other ends of the two connecting ears of the upper layer are respectively mounted on the corresponding knife seats through two connecting bolts, and the other ends of the two connecting ears of the lower layer are respectively mounted on the corresponding ball seats through two connecting bolts.

[0011] The movable bracket includes an I-shaped connecting disk, which is sleeved on the output shaft of the driving motor through a threaded hole set in the center and is located in the space of the U-shaped fixed bracket. A movable connecting rod is hinged at both ends of the top and the bottom of the connecting disk. The movable connecting rod at the top is rotatably hinged to the connecting ear on the corresponding knife seat, and the movable connecting rod at the bottom is rotatably hinged to the connecting ear on the corresponding ball seat. The connecting disk can be driven forward or backward by controlling the forward and reverse rotation of the output shaft of the driving motor, so as to drive the connecting ear to rotate around the hinge point between the movable connecting rod and the side plate of the U-shaped frame, so that the two groups of mechanical claws are opened or closed at the same time; a limit block is installed on the output shaft of the driving motor between its end and the connecting disk, and the opening and closing angles of the two groups of mechanical claws can be adjusted by adjusting the relative position of the limit block on the output shaft.

[0012] The top and bottom of the knife seat and the ball seat are each provided with a connecting ear piece, and two through holes are provided on the knife seat and the ball seat, and two through holes are also provided at corresponding positions on the connecting ear piece, and the two connecting ears are fastened and connected by the connecting bolts passing through the through holes, and the side plate ends of the movable connecting rod and the U-shaped frame are respectively clamped between the corresponding two connecting ears and hingedly connected.

[0013] The width of the semicircular mounting groove is greater than the diameter of the ball, and the depth is less than the diameter of the ball. When the telescopic spring is extended or retracted, the ball can move in the semicircular mounting groove, and the range of movement is the diameter difference between the boundary large circle and the boundary small circle. The boundary large circle is a circle formed by being tangent to the inner side of each ball when each ball is located at the bottom of the semicircular mounting groove. At this time, the telescopic spring is in a stretched state, and adjacent balls are far away from each other; the boundary small circle is a circle formed by being tangent to the inner side of each ball when each ball is close to the opening of the semicircular mounting groove. At this time, the telescopic spring is in a contracted state, and adjacent balls are close to each other.

[0014] The bottom plates of the upper and lower U-shaped frames are in an integrated connecting plate structure, and a avoidance hole is provided in the middle of the integrated connecting plate for passing the output shaft of the driving motor.

[0015] As a general technical concept, the present invention also provides a picking method of the above-mentioned intelligent tobacco leaf picking robot, which specifically includes the following steps: Initial position: It is in the shutdown state, and the intelligent tobacco leaf picking robot is in the retracted state; Path planning and position recognition process: This is the first stage of the operation. The robot arm uses the binocular camera to accurately identify and autonomously plan a path to avoid damaging the tobacco leaves during the process. Mechanical claw closing process: This is the grasping process. After the two sets of mechanical claws reach the designated position through planning, they quickly close together to complete the embrace of the cigarette rod; Execute the picking process: the intelligent tobacco leaf picking robot moves vertically from bottom to top. The height of the displacement is determined by the number of mature tobacco leaves provided by the binocular camera. The two sets of mechanical claws stop moving and open after reaching the specified height. Reset process: After completing the picking process, the intelligent tobacco leaf picking robot returns to the initial position and waits for the next picking process to be performed.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, the end effector adopts two sets of openable mechanical claws and is driven by a self-contained driving motor. The opening and closing angles and speeds are adjustable, and can adapt to the picking of different varieties of tobacco leaves. The tobacco leaf cutting mechanical claws and the anti-scratch ball mechanical claws are arranged in parallel up and down, and the two are driven to open and close by the driving motor. When the two sets of mechanical claws are closed, they can form two concentric circles that embrace the tobacco rod (i.e., in the vertical direction). The cutting circle formed by the upper tobacco leaf cutting mechanical claw is larger than the outer circumference of the tobacco rod, and the anti-scratch circle formed by the lower anti-scratch ball mechanical claw can always contact the outer circumference of the tobacco rod. When the anti-scratch ball mechanical claw embraces the tobacco rod and moves along the tobacco rod from bottom to top, the cutting mechanical claw can cut the tobacco leaves within the range from bottom to top. The picking mechanism conforms to the tobacco leaf maturation mechanism, which can avoid picking immature tobacco leaves, reduce direct or indirect contact with tobacco leaves, and greatly reduce the breakage rate of tobacco leaves during the picking process.

[0017] 2. The present invention uses an advanced and intelligent mechanical arm as the execution carrier, which has the advantages of high efficiency and intelligence, fast response speed, intelligent and controllable picking path, and no damage to tobacco leaves during the operation process. It also uses a binocular camera as the recognition and positioning system, which has the advantages of high precision and high reliability, and can realize the recognition of the maturity of the target tobacco leaves and the precise positioning of the tobacco stems.

[0018] 3. The present invention adopts a split encircling cutter as a picking component, which can realize 360° encircling the tobacco rod to cut tobacco leaves, with high picking efficiency and no missed picking; and multiple balls are connected in series through springs to form an adaptively retractable ball ring, and the inner side of the ball ring can always be in direct contact with the tobacco rod, which can prevent the cutter from accidentally damaging the tobacco rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall assembly three-dimensional structure of the intelligent tobacco leaf picking manipulator of the present invention.

[0020] Figure 2 It is a schematic diagram of the overall assembly three-dimensional structure of the end effector in the present invention.

[0021] Figure 3 It is a diagram showing the opening effect of the end effector in the present invention.

[0022] Figure 4 It is a closing effect diagram of the end effector in the present invention.

[0023] Figure 5 The figure is a schematic diagram of the assembly structure of the semicircular cutting knife module and the semicircular ball module in the present invention.

[0024] Figure 6 It is a schematic diagram of the exploded structure of the semicircular cutting knife module and the semicircular ball module in the present invention.

[0025] Figure 7 It is a schematic diagram of the operation of the end effector embracing the cigarette rod in the present invention.

[0026] Figure 8 It is a schematic diagram of the principle of the anti-scratch ball of the end effector in the present invention.

[0027] Fig. 9 It is a schematic diagram of the operation of the intelligent tobacco leaf picking robot in the present invention.

[0028] Figure 10a-Figure 10e It is a schematic flow diagram of the picking method of the present invention.

[0029] Legend: 1. Binocular camera; 2. End effector; 3. Robotic arm; 4. Tobacco rod; 5. Robotic hand; 6. Mobile carrier; 7. Single-ridge tobacco planting model; 2-1. Driving motor; 2-2. Connection module; 2-2-1. Fixed bracket; 2-2-2. Connecting plate; 2-2-3. Limit block; 2-2-4. Movable connecting rod; 2-2-5. Connecting ear piece; 2-2-6. Connecting bolt; 2-3. Tobacco leaf cutting mechanical claw; 2-3-1. Cutting knife; 2-3-2. Cutting knife fixing screw; 2-3-3. Knife seat; 2-4. Anti-scratch ball mechanical claw; 2-4-1. Ball seat; 2-4-2. Ball; 2-4-3. Telescopic spring; 2-4-4. Ball fixing bolt; 2-5. Flange. DETAILED DESCRIPTION

[0030] like Figure 1-Figure 9As shown, an intelligent tobacco leaf picking robot of the present invention includes a robot arm 3 as an execution carrier, which is controlled by a host computer, and one end of the base is usually connected to a mobile carrier. A binocular camera 1 and an end effector 2 are installed at the end of the robot arm 3. The robot arm 3 can intelligently control the binocular camera 1 through programming to perform path planning, realize autonomous obstacle avoidance, and cooperate with the opening and closing of the end effector 2 to perform reciprocating motions of the operation path, realizing precise and efficient operation. Among them, the end effector 2 includes a driving motor 2-1, a connecting module 2-2, a tobacco leaf cutting mechanical claw 2-3 and an anti-scratch ball mechanical claw 2-4. The tobacco leaf cutting mechanical claw 2-3 and the anti-scratch ball mechanical claw 2-4 are arranged in parallel up and down, and are both connected to the output shaft of the driving motor 2-1 through the connecting module 2-2, and are driven by it to perform opening and closing actions at the same time. When the two groups of mechanical claws are closed, they can form two concentric circles surrounding the cigarette rod 4 (i.e., in the vertical direction). The cutting circle formed by the upper tobacco leaf cutting mechanical claw 2-3 is larger than the outer circumference of the cigarette rod 4, and the anti-scratch circle formed by the lower anti-scratch ball mechanical claw 2-4 can always be in contact with the outer circumference of the cigarette rod 4. When working, the binocular camera 1 accurately locates the position of the cigarette rod 4 (such as Figure 7 The position information is transmitted to the upper computer. The robot arm 3 accurately moves the end effector 2 to the positioning position according to the position information, and closes the two sets of mechanical claws to surround the tobacco rod 4 in two concentric circles. When the robot arm 3 drives the anti-scratch ball mechanical claw 2-4 to move upward, the tobacco leaf cutting mechanical claw 2-3 moves from bottom to top ( Figure 7 The tobacco leaves are cut in the direction of the arrow in the figure. The end effector in the present invention adopts two sets of openable and closable mechanical claws, and is driven by its own drive motor. The opening and closing angles and speeds are adjustable, and can adapt to the picking operations of different varieties of tobacco leaves. The tobacco leaf picking method is adopted from bottom to top, and the cutter moves along the tobacco stem from bottom to top, cutting the tobacco leaves within the range. The picking mechanism conforms to the tobacco leaf maturation mechanism, which can avoid picking immature tobacco leaves, reduce direct or indirect contact with tobacco leaves, and greatly reduce the breakage rate of tobacco leaves during the picking process. Advanced and intelligent mechanical arms are used as execution carriers, which have the advantages of high efficiency and intelligence, fast response speed, intelligent and controllable picking path, and no damage to tobacco leaves during the execution process. A binocular camera is used as the identification and positioning system of the picking device, which has the advantages of high precision and high reliability, and can realize the maturity identification of the target tobacco leaves and the precise positioning of the tobacco stem position.

[0031] In this embodiment, the driving motor 2-1 is connected to the end interface of the mechanical arm 3 by bolt connection through the flange 2-5, the binocular camera 1 is placed above the cylinder of the driving motor 2-1 and is fastened to the flange 2-5 by bolts, and the side of the binocular camera 1 with the camera faces the tobacco leaf cutting mechanical claw 2-3. This structure can make the binocular camera, the driving motor and the mechanical arm firmly fixed and form a whole.

[0032] In this embodiment, the tobacco leaf cutting mechanical claw 2-3 includes two groups of semicircular cutting knife modules arranged opposite to each other, the semicircular cutting knife module includes a semicircular cutting knife 2-3-1 and a knife holder 2-3-3 with a semicircular mounting surface, the upper end of the semicircular cutting knife 2-3-1 is sharpened to make it sharp, which is conducive to cutting tobacco leaves, and the lower end of the cutting knife 2-3-1 is evenly opened, and is fitted on the semicircular mounting surface of the knife holder 2-3-3 through a plurality of cutting knife fixing screws 2-3-2. When the tobacco leaf cutting mechanical claw 2-3 is closed and working, the two groups of semicircular cutting knives 2-3-1 form a closed cutting circle, so that the cutting knife 2-3-1 never contacts the outer periphery of the tobacco rod 4, which can effectively prevent the cutting knife from damaging the tobacco rod.

[0033] In this embodiment, the anti-scratch ball mechanical claw 2-4 includes two groups of semicircular ball modules arranged opposite to each other, the semicircular ball module includes a ball seat 2-4-1 with a semicircular mounting groove and a plurality of balls 2-4-2, the plurality of balls 2-4-2 are connected in series through a telescopic spring 2-4-3 and installed in the semicircular mounting groove of the ball seat 2-4-1, and the two ends of the telescopic spring 2-4-3 are respectively installed at the two ends of the semicircular mounting groove through a ball fixing bolt 2-4-4, which can realize rolling and have a certain telescopic ability. When the anti-scratch ball mechanical claw 2-4 is closed, the inner sides of the balls 2-4-2 on the two groups of telescopic springs 2-4-3 are enclosed to form a ball ring that can automatically retract, and the inner side of the ball ring forms an anti-scratch circle, so that each ball 2-4-2 can always keep in contact with the outer periphery of the cigarette rod 4. This further avoids the cutting knife from accidentally damaging the cigarette rod.

[0034] In this embodiment, the connecting module 2-2 includes a fixed bracket 2-2-1 and a movable bracket. The fixed bracket 2-2-1 includes two U-shaped frames which are parallel to each other and arranged at intervals. The bottom plate of the U-shaped frame is fixedly mounted on the end of the cylinder body of the driving motor 2-1 on the output shaft side. The two side plates of the upper U-shaped frame and the two side plates of the lower U-shaped frame are respectively hinged with a connecting ear 2-2-5 through a pin shaft. The other ends of the two connecting ears 2-2-5 of the upper layer are respectively mounted on the corresponding knife seat 2-3-3 through two connecting bolts 2-2-6, and the other ends of the two connecting ears 2-2-5 of the lower layer are respectively mounted on the corresponding ball seat 2-4-1 through two connecting bolts 2-2-6.

[0035] In this embodiment, the movable bracket includes an I-shaped connecting plate 2-2-2, which is sleeved on the output shaft of the driving motor 2-1 through a threaded hole set in the center and is located in the space of the U-shaped fixed bracket 2-2-1. Both ends of the top and bottom of the connecting plate 2-2-2 are hinged with a movable connecting rod 2-2-4. The top movable connecting rod 2-2-4 and the corresponding connecting ear 2-2-5 on the knife seat 2-3-3 are rotatably hinged through a pin shaft. The bottom movable connecting rod 2-2-4 and the corresponding connecting ear 2-2-5 on the ball seat 2-4-1 are hinged. 2-5 is rotatably hinged by a pin shaft, and the connecting plate 2-2-2 can be driven forward or backward by controlling the output shaft of the driving motor 2-1 to rotate forward and reverse, so as to drive the connecting ear piece 2-2-5 to rotate around the hinge point between the movable connecting rod 2-2-4 and the U-shaped frame side plate, so that the two sets of mechanical claws are opened or closed at the same time; a limit block 2-2-3 is installed on the output shaft of the driving motor 2-1 between its end and the connecting plate 2-2-2, and the opening and closing angles of the two sets of mechanical claws can be adjusted by adjusting the relative position of the limit block 2-2-3 on the output shaft. Figure 3 As shown, by rotating the output shaft of the driving motor, the flange 2-2-2 is located at the end of the output shaft of the driving motor 2-1. At this time, the mechanical claw is in an open state, and the feeding amount at the opening L Maximum, convenient for feeding the tobacco rod 4 during operation. Figure 4 As shown, by rotating the output shaft of the drive motor, the flange 2-2-2 is located at the end of the output shaft close to the cylinder body. At this time, the mechanical claw is in a closed state, forming a closed concentric hole. The dotted line part represents the minimum contact surface of the concentric hole, so that the part of the mechanical claw that contacts the cigarette rod during operation is always the ball rather than the cutter, which can effectively prevent the cutter from damaging the cigarette rod.

[0036] In this embodiment, a connecting ear 2-2-5 is provided on the top and bottom of the knife seat 2-3-3 and the ball seat 2-4-1. Two through holes are provided on the knife seat 2-3-3 and the ball seat 2-4-1, and two through holes are provided at corresponding positions on the connecting ear 2-2-5. The two connecting ears 2-2-5 are fastened and connected by connecting bolts 2-2-6 passing through the through holes. The movable connecting rod 2-2-4 and the side plate ends of the U-shaped frame are respectively clamped between the corresponding two connecting ears 2-2-5 and hingedly connected.

[0037] In this embodiment, the width of the semicircular installation groove is greater than the diameter of the ball 2-4-2, and the depth is less than the diameter of the ball 2-4-2. When the telescopic spring 2-4-3 is extended or retracted, the ball 2-4-2 can move in the semicircular installation groove, and the range of movement is the diameter difference between the boundary large circle A and the boundary small circle B. Figure 8 As shown in the figure, the boundary circle A is the bottom of each ball 2-4-2 located in the semicircular installation groove (relative to the center of the circle). Ois located at the outermost side of the semicircular mounting groove), and the inner side of each ball 2-4-2 (relative to the center of the circle) O ) tangent to the circle, the telescopic spring 2-4-3 is in a stretched state, and the adjacent balls 2-4-2 move away from each other (i.e., toward Figure 8 The small circle B is the opening of the semicircular mounting groove near the ball bearings 2-4-2 (relative to the center of the circle). O is located at the innermost side of the semicircular mounting groove), and the inner side of each ball 2-4-2 (relative to the center of the circle) O ) is tangent to the circle formed by the expansion spring 2-4-3, at this time, the expansion spring 2-4-3 is in a contracted state, and the adjacent balls 2-4-2 are close to each other (i.e., they contract in the opposite direction indicated by the arrow in the figure).

[0038] In this embodiment, the bottom plates of the upper and lower U-shaped frames are in an integrated connecting plate structure, and a clearance hole is provided in the middle of the integrated connecting plate for passing the output shaft of the driving motor 2-1. This structure makes the installation of the fixed bracket very convenient and quick.

[0039] In this embodiment, the intelligent tobacco leaf picking robot 5 is a complete execution module, which can realize the collaborative operation of multiple robots. A single robot can pick one tobacco plant at a time. In order to improve the operation efficiency of this picking method, multiple robots can be operated simultaneously according to the planting agronomy in different regions and the structural size of the mobile carrier 6. Fig. 9 As shown, in the single-row tobacco planting model 7, three arms are used for collaborative operation, which can pick three tobacco plants at a time, effectively improving the operation efficiency.

[0040] The picking method of an intelligent tobacco leaf picking robot of the present invention uses an intelligent tobacco leaf picking robot 5 as an execution device. Through path planning and position recognition, the robot can embrace the tobacco stem 4 from bottom to top and move vertically upward to cut the mature tobacco leaves within the range, thereby achieving precise layered picking. The picking process does not damage the unpicked tobacco leaves on the upper part, and the tobacco leaf breakage rate can be reduced.

[0041] like Figure 10a-Figure 10e As shown, a single picking process includes the following steps: Fig.10a The initial position shown is a shutdown state, and the intelligent tobacco leaf picking manipulator 5 is in a folded state. The lateral width can be reduced as much as possible to prevent the manipulator from accidentally touching and damaging the tobacco leaves growing staggered between ridges during the operation of the mobile carrier 6.

[0042] Fig.10b The path planning and position recognition process shown is as follows: in the first stage of executing the operation, the robot arm 3 autonomously plans a travel path through accurate recognition by the binocular camera 1 to avoid damaging the tobacco leaves during the travel process.

[0043] Fig.10cThe mechanical claw closing process shown is the grasping link. After the two sets of mechanical claws reach the designated position through planning, they quickly close to complete the embrace of the cigarette rod 4.

[0044] Fig.10d The picking process shown is the process of vertical displacement of the intelligent tobacco leaf picking robot 5 from bottom to top. The displacement height is determined by the number of mature tobacco leaves provided by the binocular camera 1. The two sets of mechanical claws stop moving and open after reaching the specified height.

[0045] Fig.10e The reset process shown: after completing the picking process, the intelligent tobacco leaf picking robot 5 returns to the initial position and waits for the next picking process to be performed.

[0046] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiment. Improvements and changes obtained without departing from the technical concept of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent tobacco leaf picking robot, comprising a robot arm (3) mounted on a mobile carrier (6), a binocular camera (1) and an end effector (2) mounted at the end of the robot arm (3), the robot arm (3) being controlled by a host computer and being able to intelligently control the binocular camera (1) through programming to perform path planning, and cooperating with the opening and closing of the end effector (2) to perform reciprocating motion of an operation path, characterized in that: The end effector (2) comprises a drive motor (2-1), a connection module (2-2), a tobacco leaf cutting mechanical claw (2-3) and an anti-scratch ball mechanical claw (2-4); the tobacco leaf cutting mechanical claw (2-3) and the anti-scratch ball mechanical claw (2-4) are arranged in parallel up and down, and are both connected to the output shaft of the drive motor (2-1) through the connection module (2-2) and driven by the drive motor (2-1) to perform opening and closing actions simultaneously; when the two sets of mechanical claws are closed, they can form two concentric circles surrounding the cigarette rod (4); the cutting circle formed by the upper tobacco leaf cutting mechanical claw (2-3) is larger than the outer circumference of the cigarette rod (4), and the anti-scratch circle formed by the lower anti-scratch ball mechanical claw (2-4) can always be in contact with the outer circumference of the cigarette rod (4); When working, the binocular camera (1) accurately locates the position of the tobacco rod (4) and transmits the position information to the host computer. The mechanical arm (3) accurately moves the end effector (2) to the positioning position according to the position information, and closes the two sets of mechanical claws to embrace the tobacco rod (4) within the concentric circle. When the mechanical arm (3) drives the anti-scratch ball mechanical claw (2-4) to move upward, the tobacco leaf cutting mechanical claw (2-3) cuts the tobacco leaves from bottom to top.

2. The intelligent tobacco leaf picking robot according to claim 1 is characterized in that: The driving motor (2-1) is connected to the end interface of the mechanical arm (3) via a flange (2-5); the binocular camera (1) is placed above the cylinder of the driving motor (2-1) and is tightly connected to the flange (2-5); the side of the binocular camera (1) on which the camera is mounted faces the tobacco leaf cutting mechanical claw (2-3).

3. The intelligent tobacco leaf picking robot according to claim 2 is characterized in that: The tobacco leaf cutting mechanical claw (2-3) comprises two groups of semicircular cutting knife modules arranged opposite to each other, the semicircular cutting knife module comprising a semicircular cutting knife (2-3-1) and a knife seat (2-3-3) provided with a semicircular mounting surface, the cutting knife (2-3-1) being fitted and mounted on the semicircular mounting surface of the knife seat (2-3-3) via a plurality of cutting knife fixing screws (2-3-2), the cutting knife (2-3-1) having an upward end being sharpened, and when the tobacco leaf cutting mechanical claw (2-3) is closed for operation, the two groups of semicircular cutting knives (2-3-1) enclose the cutting circle, and the cutting knife (2-3-1) never contacts the outer periphery of the tobacco rod (4).

4. The intelligent tobacco leaf picking robot according to claim 3 is characterized in that: The anti-scratch ball mechanical claw (2-4) comprises two groups of semicircular ball modules arranged opposite to each other, the semicircular ball module comprising a ball seat (2-4-1) provided with a semicircular mounting groove and a plurality of balls (2-4-2), the plurality of balls (2-4-2) being connected in series through a telescopic spring (2-4-3) and mounted in the semicircular mounting groove of the ball seat (2-4-1), the two ends of the telescopic spring (2-4-3) being respectively mounted on the two ends of the semicircular mounting groove through a ball fixing bolt (2-4-4), when the anti-scratch ball mechanical claw (2-4) is closed, the balls (2-4-2) on the two groups of telescopic springs (2-4-3) enclose a ball ring that can be automatically retracted, the inner side of the ball ring forms the anti-scratch circle, so that each ball (2-4-2) always keeps in contact with the outer periphery of the cigarette rod (4).

5. The intelligent tobacco leaf picking robot according to claim 4 is characterized in that: The connection module (2-2) comprises a fixed bracket (2-2-1) and a movable bracket, wherein the fixed bracket (2-2-1) comprises two U-shaped brackets which are parallel to each other and arranged at intervals, wherein the bottom plate of the U-shaped bracket is fixedly mounted on the end of the cylinder body of the drive motor (2-1) on the output shaft side, and the two side plates of the upper U-shaped bracket and the two side plates of the lower U-shaped bracket are respectively movably hinged to a connecting ear piece (2-2-5), and the other ends of the two connecting ear pieces (2-2-5) of the upper layer are respectively mounted on the corresponding knife seats (2-3-3) through two connecting bolts (2-2-6), and the other ends of the two connecting ear pieces (2-2-5) of the lower layer are respectively mounted on the corresponding ball seats (2-4-1) through two connecting bolts (2-2-6).

6. The intelligent tobacco leaf picking robot according to claim 5 is characterized in that: The movable bracket comprises an I-shaped connecting plate (2-2-2), which is sleeved on the output shaft of the driving motor (2-1) through a threaded hole arranged at the center and is located in the space of the U-shaped fixed bracket (2-2-1). Both ends of the top and bottom of the connecting plate (2-2-2) are hingedly connected to a movable connecting rod (2-2-4). The top movable connecting rod (2-2-4) and the connecting ear piece (2-2-5) on the corresponding knife seat (2-3-3) are rotatably hinged. The bottom movable connecting rod (2-2-4) and the connecting ear piece (2-2-5) on the corresponding ball seat (2-4-1) are hingedly connected. -2-5) can be rotatably hinged, and the output shaft of the driving motor (2-1) can be controlled to rotate forward and reverse to drive the connecting disk (2-2-2) forward or backward, so as to drive the connecting ear piece (2-2-5) to rotate around the hinge point between the movable connecting rod (2-2-4) and the U-shaped frame side plate, so that the two sets of mechanical claws are opened or closed at the same time; a limit block (2-2-3) is installed on the output shaft of the driving motor (2-1) between its end and the connecting disk (2-2-2), and the opening and closing angles of the two sets of mechanical claws can be adjusted by adjusting the relative position of the limit block (2-2-3) on the output shaft.

7. The intelligent tobacco leaf picking robot according to claim 6 is characterized in that: The top and bottom of the knife seat (2-3-3) and the ball seat (2-4-1) are each provided with a connecting ear piece (2-2-5); the knife seat (2-3-3) and the ball seat (2-4-1) are each provided with two through holes extending vertically therethrough; two through holes are also provided at corresponding positions on the connecting ear piece (2-2-5); the two connecting ear pieces (2-2-5) are fastened and connected by connecting bolts (2-2-6) passing through the through holes; the movable connecting rod (2-2-4) and the side plate ends of the U-shaped frame are respectively clamped between the two corresponding connecting ear pieces (2-2-5) and are hingedly connected.

8. The intelligent tobacco leaf picking robot according to claim 7 is characterized in that: The width of the semicircular installation groove is greater than the diameter of the ball (2-4-2), and the depth is less than the diameter of the ball (2-4-2). When the telescopic spring (2-4-3) is extended or retracted, the ball (2-4-2) can move in the semicircular installation groove, and the range of movement is the diameter difference between the boundary large circle (A) and the boundary small circle (B). The boundary large circle (A) is a circle tangent to the inner side of each ball (2-4-2) when each ball (2-4-2) is located at the bottom of the semicircular installation groove. At this time, the telescopic spring (2-4-3) is in a stretched state, and adjacent balls (2-4-2) are separated from each other. The boundary small circle (B) is a circle tangent to the inner side of each ball (2-4-2) when each ball (2-4-2) is close to the opening of the semicircular installation groove. At this time, the telescopic spring (2-4-3) is in a contracted state, and adjacent balls (2-4-2) are close to each other.

9. The intelligent tobacco leaf picking robot according to claim 8, characterized in that: The bottom plates of the upper and lower U-shaped frames are in an integrated connecting plate structure, and a avoidance hole is provided in the middle of the integrated connecting plate for passing the output shaft of the driving motor (2-1).

10. A picking method using the intelligent tobacco leaf picking robot according to any one of claims 1 to 9, characterized in that: The specific steps include: Initial position: the machine is in a stopped state, and the intelligent tobacco leaf picking robot (5) is in a retracted state; Path planning and position recognition process: This is the first stage of executing the operation. The robot arm (3) autonomously plans a path through accurate recognition by the binocular camera (1) to avoid damaging the tobacco leaves during the movement. Mechanical claw closing process: This is the grasping process. After the two sets of mechanical claws reach the designated position through planning, they quickly close together to complete the embrace of the cigarette rod (4); Executing the picking process: the intelligent tobacco leaf picking robot (5) moves vertically from bottom to top, the height of the displacement being determined by the number of mature tobacco leaves provided by the binocular camera (1), and the two sets of mechanical claws stop moving and open after reaching the specified height; Reset process: After completing the picking process, the intelligent tobacco leaf picking robot (5) returns to the initial position and waits for the next picking process to be performed.

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