A method and system for detecting moisture in a tobacco production line based on an automated guided vehicle

Abstract

The present application discloses a method and system for detecting moisture in a tobacco production line based on an automated guided vehicle (AGV). The method comprises: obtaining the position information of a first tobacco production line, and determining a target AGV from at least two AGVs based on the position information; controlling the target AGV to move along the first tobacco production line, and sequentially collecting moisture data corresponding to each moisture detection point using a near-infrared moisture meter; determining the position information of the moisture detection point when the difference between the moisture data and the preset calibration data is within a preset first interval, and sending an early warning message corresponding to the position information of the moisture detection point. By mounting the near-infrared moisture meter on an AGV and controlling the AGV to automatically detect different process sections, only a small number of moisture meters are required to meet the moisture detection requirements of the entire tobacco production line, greatly reducing the workload of calibration, calibration, and maintenance, and also enabling an unmanned production line control process.

Description

Technical Field

[0001] The present application belongs to the technical field of tobacco moisture detection equipment, and in particular relates to a tobacco production line moisture detection method and system based on an automatic guided vehicle. Background Art

[0002] During the tobacco production process, moisture content affects the whole tobacco yield, broken tobacco fraction, filler content, and the quality and hardness of the tobacco bales. These factors directly impact the quality of the finished product, making the measurement and control of tobacco moisture crucial. Online near-infrared moisture meters offer advantages such as fast measurement speed, high accuracy, and real-time online detection. They are currently widely used for moisture detection in various stages of the tobacco production process.

[0003] The typical cigarette silk production process is long and complex. If moisture meters were installed at every stage, the entire process would involve over 30 meters. However, near-infrared moisture meters are expensive and complex to maintain. If moisture meters were installed throughout the entire cigarette silk production line, there would be a significant waste of resources when only moisture values ​​from a few stages of the production line are needed. Furthermore, the workload of calibrating, calibrating, and maintaining the near-infrared moisture meters would increase. Summary of the Invention

[0004] This application aims to solve the aforementioned technical problems of installing moisture meters throughout the entire tobacco production line. First, there is the excessive waste of resources when only moisture values ​​are needed for a few production line steps; second, the workload of calibration, adjustment, and maintenance of near-infrared moisture meters increases simultaneously. Therefore, a moisture detection method and system for tobacco production lines based on automated guided vehicles is proposed. The technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a moisture detection method for a tobacco production line based on an automated guided vehicle, comprising:

[0006] Acquiring location information of a first tobacco production line, and determining a target automatic guided vehicle from at least two automatic guided vehicles based on the location information of the first tobacco production line; wherein the first tobacco production line includes at least two moisture detection points;

[0007] Controlling the target automated guided vehicle to move along the first cut tobacco production line, and sequentially collecting moisture data corresponding to each moisture detection point by a near-infrared moisture meter provided on the target automated guided vehicle;

[0008] When it is detected that the difference between the moisture data corresponding to the moisture detection point and the preset calibration data is in a preset first interval, the position information of the moisture detection point is determined, and an early warning message corresponding to the position information of the moisture detection point is sent; wherein the preset calibration data is obtained by collecting sample moisture data of sample tobacco processed in a laboratory oven.

[0009] In an optional solution of the first aspect, determining a target automated guided vehicle from at least two automated guided vehicles based on the position information of the first tobacco production line includes:

[0010] determining the starting point location information according to the transport direction of the first tobacco production line;

[0011] Obtaining position information of each of the at least two automated guided vehicles, and calculating a distance from each automated guided vehicle to the starting position based on the starting position information and the position information of each automated guided vehicle;

[0012] The automated guided vehicle with the shortest distance to the starting point is selected as the target automated guided vehicle.

[0013] In another optional solution of the first aspect, determining a target automated guided vehicle from at least two automated guided vehicles based on the position information of the first tobacco production line includes:

[0014] determining the starting position information and the ending position information according to the transport direction of the first tobacco production line;

[0015] Obtaining position information of each of the at least two automated guided vehicles, and calculating a vertical distance from each automated guided vehicle to the first tobacco production line based on the starting position information, the ending position information, and the position information of each automated guided vehicle;

[0016] The automated guided vehicle with the shortest vertical distance to the first tobacco production line is selected as the target automated guided vehicle.

[0017] In another optional solution of the first aspect, controlling the target automated guided vehicle to move along the first tobacco production line, and sequentially collecting moisture data corresponding to each moisture detection point by a near-infrared moisture meter provided on the target automated guided vehicle, includes:

[0018] Determine the location information of each moisture detection point on the first tobacco production line;

[0019] Determine whether the starting point, the end point, and each moisture detection point on the first tobacco production line are in the same straight line based on the starting point position information, the end point position information, and the position information of each moisture detection point;

[0020] When it is detected that the starting point, the end point, and each moisture detection point on the first tobacco production line are in the same straight line, a first moving position of the target automated guided vehicle is determined based on the starting point position information; wherein a line connecting the first moving position of the target automated guided vehicle and the starting point is perpendicular to the first tobacco production line, and the distance between the first moving position of the target automated guided vehicle and the starting point is a preset distance;

[0021] Determining a second moving position of the target automated guided vehicle based on the endpoint position information, and generating a moving path based on the first moving position of the target automated guided vehicle and the second moving position of the target automated guided vehicle; wherein the moving path includes a detection position corresponding to the position information of each moisture detection point;

[0022] The target automatic guided vehicle is controlled to move along the moving path, and when the target automatic guided vehicle reaches a detection position corresponding to the position information of each moisture detection point, the near-infrared moisture meter set on the target automatic guided vehicle is controlled to collect moisture data corresponding to each moisture detection point.

[0023] In yet another optional solution of the first aspect, after controlling the target automatic guided vehicle to move along the movement path, the method further includes:

[0024] When receiving a moisture detection instruction from the second tobacco production line, the distance between the target automatic guided vehicle and two adjacent detection positions is calculated;

[0025] When it is determined that the distance between the target automated guided vehicle and the previous detection position is less than the distance between the target automated guided vehicle and the next detection position, marking the previous detection position;

[0026] Acquiring position information of the second tobacco production line, and controlling the target automatic guided vehicle to move along the second tobacco production line based on the position information of the second tobacco production line;

[0027] When it is determined that the distance between the target automated guided vehicle and the previous detection position is greater than the distance between the target automated guided vehicle and the next detection position, the target automated guided vehicle is controlled to move to the next detection position, and the near-infrared moisture meter provided on the target automated guided vehicle is controlled to collect moisture data corresponding to the next detection position;

[0028] The latter detected position is marked, and the position information of the second tobacco production line is obtained. Based on the position information of the second tobacco production line, the target automatic guided vehicle is controlled to move along the second tobacco production line.

[0029] In yet another alternative of the first aspect, the method further comprises:

[0030] When it is detected that the difference between the moisture data corresponding to the moisture detection point and the preset calibration data is within a preset second interval, obtaining position information of a third tobacco production line; wherein the third tobacco production line includes at least two moisture detection points;

[0031] When the distance between the first tobacco production line and the third tobacco production line is less than a preset distance threshold, the target automatic guided vehicle is controlled to move along the third tobacco production line, and the near-infrared moisture meter installed on the target automatic guided vehicle collects moisture data corresponding to each moisture detection point in turn.

[0032] In yet another alternative of the first aspect, the method further comprises:

[0033] When it is detected that the remaining power of the target automated guided vehicle is lower than a preset power threshold, a charging request is sent to the nearest charging pile based on the location information of the target automated guided vehicle;

[0034] After receiving the confirmation instruction of the charging request, the target automatic guided vehicle is controlled to move to the charging pile for charging.

[0035] In a second aspect, an embodiment of the present application provides a moisture detection system for a tobacco production line based on an automated guided vehicle, comprising:

[0036] a first processing module configured to obtain location information of a first tobacco production line and determine a target automated guided vehicle from among at least two automated guided vehicles based on the location information of the first tobacco production line; wherein the first tobacco production line includes at least two moisture detection points;

[0037] a data acquisition module, configured to control the target automated guided vehicle to move along the first tobacco production line, and to sequentially acquire moisture data corresponding to each moisture detection point using a near-infrared moisture meter disposed on the target automated guided vehicle;

[0038] The second processing module is used to determine the position information of the moisture detection point and send early warning information corresponding to the position information of the moisture detection point when it is detected that the difference between the moisture data corresponding to the moisture detection point and the preset calibration data is in a preset first interval; wherein the preset calibration data is obtained by collecting sample moisture data of sample tobacco processed in a laboratory oven.

[0039] In an optional solution of the second aspect, the first processing module includes:

[0040] a first determining unit, configured to determine starting point position information according to a transport direction of the first tobacco production line;

[0041] a first calculation unit, configured to obtain position information of each of the at least two automated guided vehicles, and calculate a distance from each automated guided vehicle to the starting position based on the starting position information and the position information of each automated guided vehicle;

[0042] The first processing unit is configured to select an automated guided vehicle with the shortest distance to a starting position as a target automated guided vehicle.

[0043] In another optional solution of the second aspect, the first processing module includes:

[0044] a second determining unit, configured to determine the starting position information and the ending position information according to the transport direction of the first tobacco production line;

[0045] a second calculating unit, configured to obtain position information of each of the at least two automated guided vehicles, and calculate a vertical distance from each automated guided vehicle to the first tobacco production line based on the starting position information, the ending position information, and the position information of each automated guided vehicle;

[0046] The second processing unit is configured to select the automatic guided vehicle having the shortest vertical distance to the first tobacco production line as the target automatic guided vehicle.

[0047] In another optional solution of the second aspect, the data acquisition module includes:

[0048] an acquisition unit, configured to determine position information of each moisture detection point on the first tobacco production line;

[0049] a judgment unit, configured to judge whether the starting point, the end point, and each moisture detection point on the first tobacco production line are in the same straight line according to the starting point position information, the end point position information, and the position information of each moisture detection point;

[0050] a third determining unit for determining a first moving position of the target automated guided vehicle based on the starting point position information when detecting that the starting point, the end point, and each moisture detection point on the first tobacco production line are in the same straight line; wherein a line connecting the first moving position of the target automated guided vehicle and the starting point is perpendicular to the first tobacco production line, and a distance between the first moving position of the target automated guided vehicle and the starting point is a preset distance;

[0051] a generating unit, configured to determine a second moving position of the target automated guided vehicle based on the destination position information, and generate a moving path based on the first moving position of the target automated guided vehicle and the second moving position of the target automated guided vehicle; wherein the moving path includes a detection position corresponding to the position information of each moisture detection point;

[0052] The acquisition unit is used to control the target automatic guided vehicle to move along the moving path, and when the target automatic guided vehicle reaches the detection position corresponding to the position information of each moisture detection point, control the near-infrared moisture meter set on the target automatic guided vehicle to collect moisture data corresponding to each moisture detection point.

[0053] In yet another optional solution of the second aspect, the acquisition unit is further configured to:

[0054] When receiving a moisture detection instruction from the second tobacco production line, the distance between the target automatic guided vehicle and two adjacent detection positions is calculated;

[0055] When it is determined that the distance between the target automated guided vehicle and the previous detection position is less than the distance between the target automated guided vehicle and the next detection position, marking the previous detection position;

[0056] Acquiring position information of the second tobacco production line, and controlling the target automatic guided vehicle to move along the second tobacco production line based on the position information of the second tobacco production line;

[0057] When it is determined that the distance between the target automated guided vehicle and the previous detection position is greater than the distance between the target automated guided vehicle and the next detection position, the target automated guided vehicle is controlled to move to the next detection position, and the near-infrared moisture meter provided on the target automated guided vehicle is controlled to collect moisture data corresponding to the next detection position;

[0058] The latter detected position is marked, and the position information of the second tobacco production line is obtained. Based on the position information of the second tobacco production line, the target automatic guided vehicle is controlled to move along the second tobacco production line.

[0059] In yet another optional solution of the second aspect, the system further includes:

[0060] a data acquisition module, configured to acquire position information of a third tobacco production line when it is detected that the difference between moisture data corresponding to the moisture detection point and preset calibration data is within a preset second interval; wherein the third tobacco production line includes at least two moisture detection points;

[0061] The control module is used to control the target automatic guided vehicle to move along the third tobacco production line when the distance between the first tobacco production line and the third tobacco production line is less than a preset distance threshold, and the near-infrared moisture meter set on the target automatic guided vehicle to collect moisture data corresponding to each moisture detection point in sequence.

[0062] In yet another optional solution of the second aspect, the system further includes:

[0063] a sending module, configured to send a charging request to the nearest charging pile based on the location information of the target automated guided vehicle when it is detected that the remaining power of the target automated guided vehicle is lower than a preset power threshold;

[0064] The charging module is used to control the target automatic guided vehicle to move to the charging pile for charging after receiving the confirmation instruction of the charging request.

[0065] In a third aspect, an embodiment of the present application further provides a moisture detection system for a tobacco production line based on an automatic guided vehicle, comprising a processor and a memory;

[0066] The processor is connected to the memory;

[0067] a memory for storing executable program code;

[0068] The processor runs the program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the moisture detection method for a tobacco production line based on an automatic guided vehicle provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect.

[0069] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the moisture detection method for a tobacco production line based on an automatic guided vehicle provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect can be implemented.

[0070] In an embodiment of the present application, when performing moisture detection on a tobacco production line, the position information of the first tobacco production line can be obtained, and a target automatic guided vehicle can be determined from at least two automatic guided vehicles based on the position information of the first tobacco production line; the target automatic guided vehicle is controlled to move along the first tobacco production line, and the moisture data corresponding to each moisture detection point is sequentially collected by a near-infrared moisture meter provided on the target automatic guided vehicle; when it is detected that the difference between the moisture data corresponding to the moisture detection point and the preset calibration data is in a preset first interval, the position information of the moisture detection point is determined, and an early warning message corresponding to the position information of the moisture detection point is sent. Different from the traditional production line process in which moisture meters are installed in all process flows, by mounting the near-infrared moisture meter on an automatic guided vehicle and controlling the automatic guided vehicle to realize automatic detection of different process sections, not only is it possible to ensure the flexible movement of the moisture meter, but only a small number of moisture meters are needed to meet the moisture detection of the entire silk production line, which greatly reduces the workload of calibration, calibration, and maintenance, and also realizes an unmanned production line control process. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0072] Figure 1 A schematic diagram of the overall process of a moisture detection method for a tobacco production line based on an automatic guided vehicle provided in an embodiment of the present application;

[0073] Figure 2This is a layout diagram of automatic moisture detection for a tobacco production line provided in an embodiment of the present application;

[0074] Figure 3 A schematic diagram of the structure of a moisture detection system for a tobacco production line based on an automatic guided vehicle provided in an embodiment of the present application;

[0075] Figure 4 A schematic structural diagram of another moisture detection system for a tobacco production line based on an automatic guided vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0076] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0077] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application. Different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, even though the embodiment may not be clearly described in the following text.

[0078] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the elements described without departing from the scope of the present application. Various examples may appropriately omit, replace, or add various processes or components. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted, or combined. In addition, features described in some examples may be combined in other examples.

[0079] See also Figure 1 , Figure 1 The figure shows the overall process diagram of a moisture detection method for a tobacco production line based on an automatic guided vehicle provided in an embodiment of the present application.

[0080] like Figure 1 As shown, the moisture detection method for a tobacco production line based on an automatic guided vehicle may include at least the following steps:

[0081] Step 102: Acquire location information of a first tobacco production line, and determine a target automated guided vehicle from at least two automated guided vehicles based on the location information of the first tobacco production line.

[0082] In the embodiment of the present application, the moisture detection method for the tobacco production line based on the automatic guided vehicle can be applied to the robot integrated management and control platform system set up in the silk-making plant. In the silk-making plant, multiple tobacco production lines can also be arranged. Each tobacco production line can include, but is not limited to, processes for cutting, drying, and other processing methods for tobacco, and each tobacco production line is also provided with multiple moisture detection points, so that by performing moisture detection on the multiple moisture detection points, it can be determined whether the corresponding tobacco production line or the corresponding process has a fault. It should be noted that the positions of the multiple moisture detection points in each tobacco production line in the silk-making plant are generally fixed and unchanged.

[0083] Here, the robotic integrated control platform system may include at least two automated guided vehicles (AGVs), each of which may be composed of an AGV robot, an automatic lifting mechanism and an automatic telescoping structure provided on the AGV robot, and a near-infrared moisture meter for moisture detection. It is understood that the robotic integrated control platform system may control at least one of the AGVs to move to the vicinity of the tobacco production line based on, but not limited to, user-input instructions or instructions generated by automatic programming, to complete moisture detection at each moisture detection point in the tobacco production line, and may also provide timely warnings of relevant fault information if a fault is detected.

[0084] It should be noted that the detection height of the near-infrared moisture meter equipment installed on the AGV robot can be determined based on the height of the moisture detection point of the tobacco production line. For example, but not limited to, the robot integrated management and control platform system can first control any automatic guided vehicle to move to a certain moisture detection point of the tobacco production line, calculate the height of the certain moisture detection point through the ranging sensor, and automatically control the automatic lifting mechanism and automatic telescopic structure of the automatic guided vehicle to ensure that the height of the near-infrared moisture meter equipment installed on the AGV robot is consistent with the height of the certain moisture detection point.

[0085] Of course, in addition to controlling each automatic guided vehicle to complete moisture detection on the tobacco production line, the robot integrated management and control platform system can also control each automatic guided vehicle to achieve other functions such as clearing obstacles, but is not limited to this here.

[0086] Specifically, when performing moisture testing on a tobacco production line, the robotic integrated management and control platform system can first obtain the location information of the first tobacco production line and, based on the location of the first tobacco production line, select a target automated guided vehicle from a plurality of automated guided vehicles for performing moisture testing on the first tobacco production line. It is understood that, before obtaining the location information of the first tobacco production line, the robotic integrated management and control platform system can, but is not limited to, control any one or more automated guided vehicles to be in a stopped state or to continuously operate any one or more automated guided vehicles, and after obtaining the location information of the first tobacco production line, can control an automated guided vehicle that is relatively close to the target automated guided vehicle.

[0087] As an option of the embodiment of the present application, determining a target automated guided vehicle from at least two automated guided vehicles based on the position information of the first tobacco production line includes:

[0088] determining the starting point location information according to the transport direction of the first tobacco production line;

[0089] Obtaining position information of each of the at least two automated guided vehicles, and calculating a distance from each automated guided vehicle to the starting position based on the starting position information and the position information of each automated guided vehicle;

[0090] The automated guided vehicle with the shortest distance to the starting point is selected as the target automated guided vehicle.

[0091] Specifically, the robot integrated management and control platform system can determine the starting position information in the position information of the first tobacco production line based on the transportation direction of the first tobacco production line. The starting position information can be, but is not limited to, expressed as (X, Y). Then, the current position information of each automated guided vehicle can be obtained. The current position information of each automated guided vehicle can also be, but is not limited to, expressed as (X, Y), and the straight-line distance from each automated guided vehicle to the starting position can be calculated using the Euclidean distance calculation formula. It can be understood that the starting position information here can be the position information of the first process in the first tobacco production line, or it can also be the position information of a marked process in the first tobacco production line. The marked process here can be understood as having completed moisture testing at the moisture detection point before the process.

[0092] Furthermore, the AGV with the shortest straight-line distance from each AGV to the starting point can be used as the target AGV for moisture testing on the first tobacco production line. It is understood that when the target AGV is in a continuous working state, it can stop moisture testing on the current tobacco production line after completing moisture testing on the next moisture testing point, and move to the starting point of the first tobacco production line to subsequently complete moisture testing on each moisture testing point in the first tobacco production line.

[0093] As another optional embodiment of the present application, determining a target automated guided vehicle from at least two automated guided vehicles based on the position information of the first tobacco production line includes:

[0094] determining the starting position information and the ending position information according to the transport direction of the first tobacco production line;

[0095] Obtaining position information of each of the at least two automated guided vehicles, and calculating a vertical distance from each automated guided vehicle to the first tobacco production line based on the starting position information, the ending position information, and the position information of each automated guided vehicle;

[0096] The automated guided vehicle with the shortest vertical distance to the first tobacco production line is selected as the target automated guided vehicle.

[0097] Specifically, the robot integrated management and control platform system can determine the starting position information and the end position information in the position information of the first tobacco production line according to the transportation direction of the first tobacco production line. The starting position information and the end position information can be, but are not limited to, expressed as (X, Y). Then, the current position information of each automatic guided vehicle can be obtained. The current position information of each automatic guided vehicle can also be, but are not limited to, expressed as (X, Y). The linear expression corresponding to the first production line can be calculated by combining the starting position information and the end position information, and then the vertical distance from each automatic guided vehicle to the first tobacco production line can be calculated. It can be understood that the starting position information here can be the position information of the first process in the first tobacco production line, or it can be the position information of a marked process in the first tobacco production line. The marked process here can be understood as the moisture detection point before the process has completed the moisture detection.

[0098] Furthermore, the AGV with the shortest vertical distance from each AGV to the first tobacco production line can be used as the target AGV for moisture testing on the first tobacco production line. It is understood that when the target AGV is in a continuous working state, it can stop moisture testing on the current tobacco production line after completing moisture testing on the next moisture testing point, and move to the starting point of the first tobacco production line to subsequently complete moisture testing on each moisture testing point in the first tobacco production line.

[0099] Step 104: Control the target automated guided vehicle to move along the first tobacco production line, and use a near-infrared moisture meter installed on the target automated guided vehicle to collect moisture data corresponding to each moisture detection point in sequence.

[0100] Specifically, after determining the target automatic guided vehicle, the robot integrated management and control platform system can, but is not limited to, determine the position information of each moisture detection point based on the position information of the first tobacco production line, wherein the spacing between each moisture detection point remains consistent and the position on the first tobacco production line remains fixed, which can be determined by the starting position information and the end position information of the first tobacco production line, which will not be elaborated here.

[0101] Of course, in the embodiment of the present application, the robot integrated management and control platform system can also separately obtain the position information of each moisture detection point. For example, but not limited to, when the position information of the first tobacco production line only includes the starting position information and the end position information, and it is impossible to determine whether each moisture detection point in the first tobacco production line has been calibrated, the current position information of each moisture detection point can be determined by, but not limited to, a laser sensor. Here, after calibration, each moisture detection point can coincide with the straight line containing the starting position and the end position in the first tobacco production line.

[0102] Furthermore, after determining the position information of each moisture detection point, the linear expression of the first tobacco production line can be determined based on the starting position information and the end position information in the first tobacco production line, and the position information of each moisture detection point can be substituted into the linear expression of the first tobacco production line in turn to determine whether the starting point, the end point and each moisture detection point on the first tobacco production line are on the same straight line.

[0103] Possibly, when it is detected that the starting point, the end point and each moisture detection point on the first tobacco production line are in the same straight line, the first moving position of the target automatic guided vehicle can be determined based on the starting position of the first tobacco production line. The first moving position can be understood as the initial position where the target automatic guided vehicle starts to perform moisture detection on the first tobacco production line, and before the target automatic guided vehicle performs moisture detection on the first tobacco production line, the target automatic guided vehicle needs to be controlled to move from the current position to the first moving position. It is understandable that the distance between the first moving position and the starting position of the first tobacco production line can be a preset distance to ensure that the near-infrared moisture meter can collect more accurate moisture detection data. Among them, in order to ensure that the moving trajectory of the target automatic guided vehicle remains parallel to the first tobacco production line, the line between the first moving position of the target automatic guided vehicle and the starting position remains perpendicular to the first tobacco production line.

[0104] Furthermore, the end position of the first tobacco production line can be used as the second moving position of the target automatic guided vehicle, and a moving path can be generated based on the first moving position and the second moving position of the target automatic guided vehicle. The moving path remains parallel to the first tobacco production line, and the moving path is also marked with detection positions corresponding to each moisture detection point, so that the target automatic guided vehicle can perform moisture detection on the corresponding moisture detection point when it reaches the detection position.

[0105] Furthermore, after generating the movement path, the robot integrated control platform system can first control the target AGV to move from its current position to a first movement position, and then continue to move along the movement path. Each time it passes a detection position, the near-infrared moisture meter can perform moisture detection at the corresponding moisture detection point. To ensure the stability of the detection data, the target AGV can be controlled to maintain a constant speed while moving along the movement path.

[0106] It is possible that when it is detected that the starting point, the end point and each moisture detection point on the first tobacco production line are not in the same straight line, the moisture detection points that are not in the same straight line can be calibrated, and then it can be determined whether the calibrated moisture detection points are in the straight line where the starting point and the end point of the first tobacco production line are located.

[0107] It can be understood that if it is impossible to calibrate the moisture detection points that are not in the same straight line, multiple moving path segments can be generated, each of which is a straight line segment, and the intersection of each two adjacent moving path segments can be set as the detection position corresponding to each moisture detection point, so that the target automatic guided vehicle can perform moisture detection on the corresponding moisture detection point when it reaches the detection position.

[0108] As another optional embodiment of the present application, after controlling the target automated guided vehicle to move along the moving path, the method further includes:

[0109] When receiving a moisture detection instruction from the second tobacco production line, the distance between the target automatic guided vehicle and two adjacent detection positions is calculated;

[0110] When it is determined that the distance between the target automated guided vehicle and the previous detection position is less than the distance between the target automated guided vehicle and the next detection position, marking the previous detection position;

[0111] Acquiring position information of the second tobacco production line, and controlling the target automatic guided vehicle to move along the second tobacco production line based on the position information of the second tobacco production line;

[0112] When it is determined that the distance between the target automated guided vehicle and the previous detection position is greater than the distance between the target automated guided vehicle and the next detection position, the target automated guided vehicle is controlled to move to the next detection position, and the near-infrared moisture meter provided on the target automated guided vehicle is controlled to collect moisture data corresponding to the next detection position;

[0113] The latter detected position is marked, and the position information of the second tobacco production line is obtained. Based on the position information of the second tobacco production line, the target automatic guided vehicle is controlled to move along the second tobacco production line.

[0114] Specifically, when controlling the target automatic guided vehicle to perform moisture detection along the moving path, after receiving the instruction to perform moisture detection on the second tobacco production line, the robot integrated management and control platform system can calculate the distance between the target automatic guided vehicle and the two adjacent detection positions based on the current position of the target automatic guided vehicle.

[0115] It is possible that when it is determined that the distance between the target automated guided vehicle and the previous detection position is less than the distance between the target automated guided vehicle and the next detection position, it indicates that the target automated guided vehicle is far away from the next detection position. The previous detection position can be marked to indicate that the first tobacco production line has currently detected the previous detection position and moisture detection has not yet started from the next detection position.

[0116] Next, the position information of the second tobacco production line can be obtained, and based on the position information of the second tobacco production line, the target automatic guided vehicle can be controlled to move along the second tobacco production line. Please refer to the above embodiment for details, which will not be described in detail here.

[0117] It is possible that when it is determined that the distance between the target automated guided vehicle and the previous detection position is greater than the distance between the target automated guided vehicle and the next detection position, it indicates that the target automated guided vehicle is closer to the next detection position, then the target automated guided vehicle can be controlled to continue moving to the next detection position to complete the moisture detection, and the next detection position can be marked to indicate that the first tobacco production line has currently detected the next detection position.

[0118] Next, the position information of the second tobacco production line can be obtained, and based on the position information of the second tobacco production line, the target automatic guided vehicle can be controlled to move along the second tobacco production line. Please refer to the above embodiment for details, which will not be described in detail here.

[0119] Step 106: When it is detected that the difference between the moisture data corresponding to the moisture detection point and the preset calibration data is in a preset first interval, the position information of the moisture detection point is determined, and an early warning message corresponding to the position information of the moisture detection point is sent.

[0120] Specifically, after the robot integrated management and control platform system obtains the moisture data corresponding to each moisture detection point in turn, when it detects that the difference between a certain moisture data and the preset calibration data is in a preset first interval, it indicates that the moisture data is abnormal data, and then the position information of the moisture detection point corresponding to the score data can be determined, and an early warning message corresponding to the position information of the moisture detection point is sent to the user to remind the user to repair the first tobacco production line.

[0121] It can be understood that when it is detected that the difference between any moisture data and the preset calibration data is in the preset second interval, it indicates that the moisture detection points in the first tobacco production line remain normal, and then the position information of the third tobacco production line can be obtained to facilitate the continuation of moisture detection on the third tobacco production line.

[0122] Furthermore, when the distance between the first tobacco production line and the third tobacco production line is less than a preset distance threshold, indicating that there is no need to reselect the automatic guided vehicle, the target automatic guided vehicle can be directly controlled to move along the third tobacco production line, and the near-infrared moisture meter installed on the target automatic guided vehicle can collect moisture data corresponding to each moisture detection point in the third tobacco production line in turn.

[0123] As another optional embodiment of the present application, when it is detected that the remaining power of the target automated guided vehicle is lower than a preset power threshold, a charging request is sent to the nearest charging pile based on the location information of the target automated guided vehicle;

[0124] After receiving the confirmation instruction of the charging request, the target automatic guided vehicle is controlled to move to the charging pile for charging.

[0125] Specifically, here we can combine Figure 2 The following diagram shows an automatic moisture detection layout for a tobacco production line, provided by an embodiment of the present application. When the robotic integrated management and control platform system detects that the remaining battery power of a target automated guided vehicle (AGV) is below a preset battery threshold, it can obtain the target AGV's current location and, based on the target AGV's current location, send a charging request to the nearest charging station. In this embodiment of the present application, each charging station can pre-establish a communication connection with each AGV.

[0126] Furthermore, after receiving the confirmation instruction of the charging request returned by the charging pile, the robot integrated management and control platform system can control the target automatic guided vehicle to move to the charging pile for charging, and control the target automatic guided vehicle to return to the current position after charging is completed.

[0127] See also Figure 3 , Figure 3 A structural schematic diagram of a moisture detection system for a tobacco production line based on an automatic guided vehicle provided in an embodiment of the present application is shown.

[0128] like Figure 3 As shown, the moisture detection system for a tobacco production line based on an automatic guided vehicle may include at least a first processing module 301, a data acquisition module 302, and a second processing module 303, wherein:

[0129] The first processing module 301 is configured to obtain location information of a first tobacco production line and determine a target automated guided vehicle from at least two automated guided vehicles based on the location information of the first tobacco production line; wherein the first tobacco production line includes at least two moisture detection points;

[0130] The data acquisition module 302 is used to control the target automated guided vehicle to move along the first tobacco production line, and the near-infrared moisture meter installed on the target automated guided vehicle sequentially collects moisture data corresponding to each moisture detection point;

[0131] The second processing module 303 is used to determine the position information of the moisture detection point and send early warning information corresponding to the position information of the moisture detection point when it is detected that the difference between the moisture data corresponding to the moisture detection point and the preset calibration data is within a preset first interval; wherein the preset calibration data is obtained by collecting sample moisture data of sample tobacco processed in a laboratory oven.

[0132] In some possible embodiments, the first processing module includes:

[0133] a first determining unit, configured to determine starting point position information according to a transport direction of the first tobacco production line;

[0134] a first calculation unit, configured to obtain position information of each of the at least two automated guided vehicles, and calculate a distance from each automated guided vehicle to the starting position based on the starting position information and the position information of each automated guided vehicle;

[0135] The first processing unit is configured to select an automated guided vehicle with the shortest distance to a starting position as a target automated guided vehicle.

[0136] In some possible embodiments, the first processing module includes:

[0137] a second determining unit, configured to determine the starting position information and the ending position information according to the transport direction of the first tobacco production line;

[0138] a second calculating unit, configured to obtain position information of each of the at least two automated guided vehicles, and calculate a vertical distance from each automated guided vehicle to the first tobacco production line based on the starting position information, the ending position information, and the position information of each automated guided vehicle;

[0139] The second processing unit is configured to select the automatic guided vehicle having the shortest vertical distance to the first tobacco production line as the target automatic guided vehicle.

[0140] In some possible embodiments, the data acquisition module includes:

[0141] an acquisition unit, configured to determine position information of each moisture detection point on the first tobacco production line;

[0142] a judgment unit, configured to judge whether the starting point, the end point, and each moisture detection point on the first tobacco production line are in the same straight line according to the starting point position information, the end point position information, and the position information of each moisture detection point;

[0143] a third determining unit for determining a first moving position of the target automated guided vehicle based on the starting point position information when detecting that the starting point, the end point, and each moisture detection point on the first tobacco production line are in the same straight line; wherein a line connecting the first moving position of the target automated guided vehicle and the starting point is perpendicular to the first tobacco production line, and a distance between the first moving position of the target automated guided vehicle and the starting point is a preset distance;

[0144] a generating unit, configured to determine a second moving position of the target automated guided vehicle based on the destination position information, and generate a moving path based on the first moving position of the target automated guided vehicle and the second moving position of the target automated guided vehicle; wherein the moving path includes a detection position corresponding to the position information of each moisture detection point;

[0145] The acquisition unit is used to control the target automatic guided vehicle to move along the moving path, and when the target automatic guided vehicle reaches the detection position corresponding to the position information of each moisture detection point, control the near-infrared moisture meter set on the target automatic guided vehicle to collect moisture data corresponding to each moisture detection point.

[0146] In some possible embodiments, the acquisition unit is further configured to:

[0147] When receiving a moisture detection instruction from the second tobacco production line, the distance between the target automatic guided vehicle and two adjacent detection positions is calculated;

[0148] When it is determined that the distance between the target automated guided vehicle and the previous detection position is less than the distance between the target automated guided vehicle and the next detection position, marking the previous detection position;

[0149] Acquiring position information of the second tobacco production line, and controlling the target automatic guided vehicle to move along the second tobacco production line based on the position information of the second tobacco production line;

[0150] When it is determined that the distance between the target automated guided vehicle and the previous detection position is greater than the distance between the target automated guided vehicle and the next detection position, the target automated guided vehicle is controlled to move to the next detection position, and the near-infrared moisture meter provided on the target automated guided vehicle is controlled to collect moisture data corresponding to the next detection position;

[0151] The latter detected position is marked, and the position information of the second tobacco production line is obtained. Based on the position information of the second tobacco production line, the target automatic guided vehicle is controlled to move along the second tobacco production line.

[0152] In some possible embodiments, the system further includes:

[0153] a data acquisition module, configured to acquire position information of a third tobacco production line when it is detected that the difference between moisture data corresponding to the moisture detection point and preset calibration data is within a preset second interval; wherein the third tobacco production line includes at least two moisture detection points;

[0154] The control module is used to control the target automatic guided vehicle to move along the third tobacco production line when the distance between the first tobacco production line and the third tobacco production line is less than a preset distance threshold, and the near-infrared moisture meter set on the target automatic guided vehicle to collect moisture data corresponding to each moisture detection point in sequence.

[0155] In some possible embodiments, the system further includes:

[0156] a sending module, configured to send a charging request to the nearest charging pile based on the location information of the target automated guided vehicle when it is detected that the remaining power of the target automated guided vehicle is lower than a preset power threshold;

[0157] The charging module is used to control the target automatic guided vehicle to move to the charging pile for charging after receiving the confirmation instruction of the charging request.

[0158] Those skilled in the art will clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and / or hardware. "Unit" and "module" in this specification refer to software and / or hardware that can independently perform or cooperate with other components to perform specific functions, where the hardware can be, for example, a field-programmable gate array (FPGA) or an integrated circuit (IC).

[0159] See also Figure 4 , Figure 4 A structural schematic diagram of another moisture detection system for a tobacco production line based on an automatic guided vehicle provided in an embodiment of the present application is shown.

[0160] like Figure 4 As shown, the automatic guided vehicle-based tobacco production line moisture detection system 400 may include at least one processor 401 , at least one network interface 404 , a user interface 403 , a memory 405 and at least one communication bus 402 .

[0161] The communication bus 402 may be used to implement connection and communication among the above components.

[0162] The user interface 403 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0163] The network interface 404 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, and the like.

[0164] Among them, the processor 401 may include one or more processing cores. The processor 401 uses various interfaces and lines to connect the various parts of the entire electronic device 400, and performs various functions and processes data of the routing device 400 by running or executing instructions, programs, code sets or instruction sets stored in the memory 405, and calling data stored in the memory 405. Optionally, the processor 401 can be implemented in at least one hardware form of DSP, FPGA, and PLA. The processor 401 can integrate one or a combination of CPU, GPU, and modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used to handle wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 401, but may be implemented separately through a chip.

[0165] Among them, the memory 405 may include RAM and may also include ROM. Optionally, the memory 405 includes a non-transitory computer-readable medium. The memory 405 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 405 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 405 may also be optionally at least one storage device located away from the aforementioned processor 401. As Figure 4 As shown, the memory 405 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an automatic guided vehicle-based tobacco production line moisture detection application program.

[0166] Specifically, the processor 401 may be configured to call the automatic guided vehicle-based tobacco production line moisture detection application stored in the memory 405 and specifically perform the following operations:

[0167] Acquiring location information of a first tobacco production line, and determining a target automatic guided vehicle from at least two automatic guided vehicles based on the location information of the first tobacco production line; wherein the first tobacco production line includes at least two moisture detection points;

[0168] Controlling the target automated guided vehicle to move along the first cut tobacco production line, and sequentially collecting moisture data corresponding to each moisture detection point by a near-infrared moisture meter provided on the target automated guided vehicle;

[0169] When it is detected that the difference between the moisture data corresponding to the moisture detection point and the preset calibration data is in a preset first interval, the position information of the moisture detection point is determined, and an early warning message corresponding to the position information of the moisture detection point is sent; wherein the preset calibration data is obtained by collecting sample moisture data of sample tobacco processed in a laboratory oven.

[0170] In some possible embodiments, determining a target automated guided vehicle from at least two automated guided vehicles based on the position information of the first tobacco production line includes:

[0171] determining the starting point location information according to the transport direction of the first tobacco production line;

[0172] Obtaining position information of each of the at least two automated guided vehicles, and calculating a distance from each automated guided vehicle to the starting position based on the starting position information and the position information of each automated guided vehicle;

[0173] The automated guided vehicle with the shortest distance to the starting point is selected as the target automated guided vehicle.

[0174] In some possible embodiments, determining a target automated guided vehicle from at least two automated guided vehicles based on the position information of the first tobacco production line includes:

[0175] determining the starting position information and the ending position information according to the transport direction of the first tobacco production line;

[0176] Obtaining position information of each of the at least two automated guided vehicles, and calculating a vertical distance from each automated guided vehicle to the first tobacco production line based on the starting position information, the ending position information, and the position information of each automated guided vehicle;

[0177] The automated guided vehicle with the shortest vertical distance to the first tobacco production line is selected as the target automated guided vehicle.

[0178] In some possible embodiments, controlling the target automated guided vehicle to move along the first tobacco production line, and sequentially collecting moisture data corresponding to each moisture detection point by a near-infrared moisture meter provided on the target automated guided vehicle, includes:

[0179] Determine the location information of each moisture detection point on the first tobacco production line;

[0180] Determine whether the starting point, the end point, and each moisture detection point on the first tobacco production line are in the same straight line based on the starting point position information, the end point position information, and the position information of each moisture detection point;

[0181] When it is detected that the starting point, the end point, and each moisture detection point on the first tobacco production line are in the same straight line, a first moving position of the target automated guided vehicle is determined based on the starting point position information; wherein a line connecting the first moving position of the target automated guided vehicle and the starting point is perpendicular to the first tobacco production line, and the distance between the first moving position of the target automated guided vehicle and the starting point is a preset distance;

[0182] Determining a second moving position of the target automated guided vehicle based on the endpoint position information, and generating a moving path based on the first moving position of the target automated guided vehicle and the second moving position of the target automated guided vehicle; wherein the moving path includes a detection position corresponding to the position information of each moisture detection point;

[0183] The target automatic guided vehicle is controlled to move along the moving path, and when the target automatic guided vehicle reaches a detection position corresponding to the position information of each moisture detection point, the near-infrared moisture meter set on the target automatic guided vehicle is controlled to collect moisture data corresponding to each moisture detection point.

[0184] In some possible embodiments, after controlling the target automated guided vehicle to move along the moving path, the method further includes:

[0185] When receiving a moisture detection instruction from the second tobacco production line, the distance between the target automatic guided vehicle and two adjacent detection positions is calculated;

[0186] When it is determined that the distance between the target automated guided vehicle and the previous detection position is less than the distance between the target automated guided vehicle and the next detection position, marking the previous detection position;

[0187] Acquiring position information of the second tobacco production line, and controlling the target automatic guided vehicle to move along the second tobacco production line based on the position information of the second tobacco production line;

[0188] When it is determined that the distance between the target automated guided vehicle and the previous detection position is greater than the distance between the target automated guided vehicle and the next detection position, the target automated guided vehicle is controlled to move to the next detection position, and the near-infrared moisture meter provided on the target automated guided vehicle is controlled to collect moisture data corresponding to the next detection position;

[0189] The latter detected position is marked, and the position information of the second tobacco production line is obtained. Based on the position information of the second tobacco production line, the target automatic guided vehicle is controlled to move along the second tobacco production line.

[0190] In some possible embodiments, the method further includes:

[0191] When it is detected that the difference between the moisture data corresponding to the moisture detection point and the preset calibration data is within a preset second interval, obtaining position information of a third tobacco production line; wherein the third tobacco production line includes at least two moisture detection points;

[0192] When the distance between the first tobacco production line and the third tobacco production line is less than a preset distance threshold, the target automatic guided vehicle is controlled to move along the third tobacco production line, and the near-infrared moisture meter installed on the target automatic guided vehicle collects moisture data corresponding to each moisture detection point in turn.

[0193] In some possible embodiments, the method further includes:

[0194] When it is detected that the remaining power of the target automated guided vehicle is lower than a preset power threshold, a charging request is sent to the nearest charging pile based on the location information of the target automated guided vehicle;

[0195] After receiving the confirmation instruction of the charging request, the target automatic guided vehicle is controlled to move to the charging pile for charging.

[0196] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above method. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a microdrive, a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0197] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0198] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0199] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interface, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0200] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0201] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0202] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk, or optical disk, etc., various media that can store program code.

[0203] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program. The program may be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0204] The above are merely exemplary embodiments of the present disclosure and are not intended to limit the scope of the present disclosure. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure herein, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not recorded in the present disclosure. The description and examples are to be regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for detecting moisture in a tobacco production line based on an automatic guided vehicle, characterized in that: include: Acquiring location information of a first tobacco production line, and determining a target automatic guided vehicle from at least two automatic guided vehicles based on the location information of the first tobacco production line; wherein the first tobacco production line includes at least two moisture detection points; controlling the target automatic guided vehicle to move along the first tobacco production line, and sequentially collecting moisture data corresponding to each moisture detection point by a near-infrared moisture meter provided on the target automatic guided vehicle; When it is detected that the difference between the moisture data corresponding to the moisture detection point and the preset calibration data is within a preset first interval, the position information of the moisture detection point is determined, and a warning message corresponding to the position information of the moisture detection point is transmitted; wherein the preset calibration data is obtained from sample moisture data collected from sample cut tobacco processed in a laboratory oven; The step of determining a target automatic guided vehicle from at least two automatic guided vehicles based on the position information of the first tobacco production line includes: determining starting point position information and ending point position information according to the transport direction of the first tobacco production line; Obtaining position information of each of the at least two automated guided vehicles, and calculating a vertical distance from each of the automated guided vehicles to the first tobacco production line based on the starting position information, the ending position information, and the position information of each of the automated guided vehicles; The automatic guided vehicle with the shortest vertical distance to the first tobacco production line is used as the target automatic guided vehicle.

2. The method according to claim 1, characterized in that The step of controlling the target automatic guided vehicle to move along the first tobacco production line and sequentially collecting moisture data corresponding to each moisture detection point by a near-infrared moisture meter provided on the target automatic guided vehicle includes: Determining the position information of each moisture detection point on the first tobacco production line; Determining whether the starting point, the end point, and each of the moisture detection points on the first tobacco production line are in the same straight line based on the starting point position information, the end point position information, and the position information of each of the moisture detection points; When it is detected that the starting point, the end point, and each of the moisture detection points on the first tobacco production line are in the same straight line, determining the first moving position of the target automated guided vehicle based on the starting point position information; wherein the line connecting the first moving position of the target automated guided vehicle and the starting point is perpendicular to the first tobacco production line, and the distance between the first moving position of the target automated guided vehicle and the starting point is a preset distance; Determining a second moving position of the target automated guided vehicle according to the endpoint position information, and generating a moving path based on the first moving position of the target automated guided vehicle and the second moving position of the target automated guided vehicle; wherein the moving path includes a detection position corresponding to the position information of each moisture detection point; The target automatic guided vehicle is controlled to move along the moving path, and when the target automatic guided vehicle reaches a detection position corresponding to the position information of each moisture detection point, a near-infrared moisture meter arranged on the target automatic guided vehicle is controlled to collect moisture data corresponding to each moisture detection point.

3. The method according to claim 2, characterized in that After controlling the target automatic guided vehicle to move along the moving path, the method further includes: When receiving a moisture detection instruction from the second tobacco production line, calculating the distance between the target automatic guided vehicle and two adjacent detection positions; When it is determined that the distance between the target automated guided vehicle and the previous detection position is less than the distance between the target automated guided vehicle and the next detection position, marking the previous detection position; acquiring position information of the second tobacco production line, and controlling the target automatic guided vehicle to move along the second tobacco production line based on the position information of the second tobacco production line; When it is determined that the distance between the target automated guided vehicle and the previous detection position is greater than the distance between the target automated guided vehicle and the next detection position, controlling the target automated guided vehicle to move to the next detection position, and controlling the near-infrared moisture meter provided on the target automated guided vehicle to collect moisture data corresponding to the next detection position; The latter detection position is marked, and the position information of the second tobacco production line is obtained. Based on the position information of the second tobacco production line, the target automatic guided vehicle is controlled to move along the second tobacco production line.

4. The method according to claim 1, wherein The method further comprises: When it is detected that the difference between the moisture data corresponding to the moisture detection point and the preset calibration data is within a preset second interval, obtaining position information of a third tobacco production line; wherein the third tobacco production line includes at least two moisture detection points; When the distance between the first tobacco production line and the third tobacco production line is less than a preset distance threshold, the target automatic guided vehicle is controlled to move along the third tobacco production line, and the near-infrared moisture meter arranged on the target automatic guided vehicle collects moisture data corresponding to each of the moisture detection points in turn.

5. The method according to claim 1, wherein The method further comprises: When it is detected that the remaining power of the target automated guided vehicle is lower than a preset power threshold, a charging request is sent to the nearest charging pile based on the location information of the target automated guided vehicle; After receiving the confirmation instruction of the charging request, the target automatic guided vehicle is controlled to move to the charging pile for charging.

6. A moisture detection system for a tobacco production line based on an automatic guided vehicle, characterized in that: include: a first processing module, configured to obtain location information of a first tobacco production line and determine a target automated guided vehicle from at least two automated guided vehicles based on the location information of the first tobacco production line; wherein the first tobacco production line includes at least two moisture detection points; a data acquisition module, configured to control the target automated guided vehicle to move along the first tobacco production line, and sequentially acquire moisture data corresponding to each moisture detection point using a near-infrared moisture meter provided on the target automated guided vehicle; a second processing module configured to determine the position information of the moisture detection point and transmit a warning message corresponding to the position information of the moisture detection point when it is detected that the difference between the moisture data corresponding to the moisture detection point and preset calibration data is within a preset first interval; wherein the preset calibration data is obtained from sample moisture data collected from sample cut tobacco processed in a laboratory oven; The step of determining a target automatic guided vehicle from at least two automatic guided vehicles based on the position information of the first tobacco production line includes: determining starting point position information and ending point position information according to the transport direction of the first tobacco production line; Obtaining position information of each of the at least two automated guided vehicles, and calculating a vertical distance from each of the automated guided vehicles to the first tobacco production line based on the starting position information, the ending position information, and the position information of each of the automated guided vehicles; The automatic guided vehicle with the shortest vertical distance to the first tobacco production line is used as the target automatic guided vehicle.

7. A moisture detection system for a tobacco production line based on an automatic guided vehicle, characterized in that: including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes the steps of the method according to any one of claims 1 to 5.

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