Intelligent tobacco leaf picking manipulator and picking method thereof

Abstract

The application discloses a kind of intelligent tobacco picking manipulator and picking method thereof, manipulator includes mechanical arm, and end is equipped with binocular camera and end effector, end effector includes driving motor, connection module, tobacco cutting mechanical paw and scratchproof ball mechanical paw, two groups of mechanical paw are arranged in parallel up and down, and are connected by connection module with the output shaft of driving motor and driven to do open-close action, when closing, can form two concentric circles that embrace tobacco stem, the cutting circle formed by upper tobacco cutting mechanical paw is greater than the circumference of tobacco stem, and the scratchproof circle formed by lower scratchproof ball mechanical paw is contacted with the circumference of tobacco stem.Working time, binocular camera locates tobacco stem position and transmits it to host computer, and mechanical arm moves end effector to positioning according to position information, closes mechanical paw and embraces tobacco stem, when scratchproof ball mechanical paw moves upward, tobacco cutting mechanical paw cuts tobacco from bottom to top.The application has the advantages of high picking efficiency, low breakage rate, strong 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 a major cash crop in my country, cultivated on over one million hectares, primarily in hilly regions such as Yunnan, Guizhou, and Hunan. The tobacco harvesting process includes harvesting, curing, and post-harvest processing. Harvesting efficiency directly impacts the quality of the tobacco leaves during post-harvest grading. Therefore, advanced tobacco harvesting machinery is crucial for ensuring tobacco quality. Mechanization of tobacco harvesting in my country is relatively underdeveloped, and has traditionally been a manual operation. This is primarily due to the country's tobacco cultivation patterns, agronomic requirements, the distribution of growing areas, and flue-cured tobacco production requirements. Currently, tobacco harvesting is primarily manual, resulting in extremely labor-intensive operations. Existing tobacco harvesting equipment suffers from high breakage rates and poor adaptability. Mechanized tobacco harvesting is currently limited in both availability and suitability, hindering 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 rotating flexible blades to beat the tobacco leaves to make them fall off, can operate continuously, and has high picking efficiency. 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 off the tobacco leaves. 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 perform precise single-time single-piece picking of mature tobacco leaves. 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 leaf picking device and picking method is of great significance to improving tobacco leaf 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:

[0007] An intelligent tobacco leaf picking robot comprises a robot arm mounted on a mobile carrier, a binocular camera and an end effector mounted at the end of the robot arm, the robot arm is controlled by a host computer, and can perform path planning by programming and intelligently controlling the binocular camera, and cooperate with the opening and closing of the end effector to perform reciprocating movements of the working 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 above and below, and are both connected to the output shaft of the driving motor through the connecting module and driven by the same to perform opening and closing movements at the same time, and the two sets of mechanical claws can form two concentric circles surrounding the tobacco rod when working in a closed state, 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;

[0008] 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 encircle the cigarette rod in the concentric circle. 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.

[0009] As a further improvement of the above technical solution:

[0010] The driving motor is connected to the end interface of the robotic arm through a flange, and the binocular camera is placed above the cylinder of the driving motor and is fastened to the flange, and the side of the binocular camera equipped with the camera faces the tobacco leaf cutting mechanical claw.

[0011] The tobacco leaf cutting mechanical claw includes two groups of relatively arranged semicircular cutting knife modules, and the semicircular cutting knife modules include semicircular cutting knives and a knife seat provided with a semicircular mounting surface. The cutting knives are fitted on the semicircular mounting surface of the knife seat by a plurality of cutting knife fixing screws, and the upward end of the cutting knives is sharpened. When the tobacco leaf cutting mechanical claw is closed for work, the two groups of semicircular cutting knives enclose the cutting circle, and the cutting knives never contact the outer periphery of the tobacco rod.

[0012] The anti-scratch ball mechanical claw includes two groups of semicircular ball modules arranged opposite to each other. The semicircular ball module includes a ball seat provided 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 a ball ring that can automatically retract and retract. 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.

[0013] The connecting module includes a fixed bracket and a movable bracket. The fixed bracket includes two U-shaped frames that are parallel and spaced apart. 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. 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. The other ends of the two connecting ears of the upper layer are respectively mounted on the corresponding tool holder through two connecting bolts, and the other ends of the two connecting ears of the lower layer are respectively mounted on the corresponding ball seat through two connecting bolts.

[0014] 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 bottom of the connecting disk. The movable connecting rod at the top is rotatably hinged to the connecting ear on the corresponding tool holder, and the movable connecting rod at the bottom is rotatably hinged to the connecting ear on the corresponding ball seat. The output shaft of the driving motor is controlled to be forward or reversed to drive the connecting disk forward or backward, so as to drive the connecting ear to rotate around the hinge point between the movable connecting rod 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 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 sets of mechanical claws can be adjusted by adjusting the relative position of the limit block on the output shaft.

[0015] The top and bottom of the knife seat and the ball seat are each provided with a connecting ear piece. The knife seat and the ball seat are each provided with two through holes extending vertically therethrough. Two through holes are also provided at corresponding positions on the connecting ear piece. The two connecting ears are fastened together by the connecting bolts passing through the through holes. The movable connecting rod and the side plate ends of the U-shaped frame are respectively clamped between the corresponding two connecting ears and hingedly connected.

[0016] 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 and retracted, the ball can move in the semicircular mounting groove. 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 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 away from each other; the boundary small circle is a circle 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.

[0017] The bottom plates of the upper and lower U-shaped frames are in an integrated connecting plate structure, and a middle portion of the integrated connecting plate is provided with an avoidance hole for passing the output shaft of the driving motor.

[0018] As a general technical concept, the present invention also provides a picking method of the above-mentioned intelligent tobacco picking robot, which specifically includes the following steps:

[0019] Initial position: The machine is in shutdown state, and the intelligent tobacco leaf picking robot is in the retracted state;

[0020] Path planning and position recognition process: This is the first stage of the operation. The robot arm uses binocular cameras to accurately identify and autonomously plan a path to avoid damaging the tobacco leaves.

[0021] 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 to complete the embrace of the cigarette stick;

[0022] The picking process involves the intelligent tobacco leaf picking robot moving vertically from bottom to top. The height of the movement is determined by the number of mature tobacco leaves provided by the binocular camera. The two sets of robotic claws stop moving and open after reaching the specified height.

[0023] 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.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. In this invention, the end effector utilizes two sets of retractable mechanical claws driven by a built-in drive motor. The opening and closing angles and speeds are adjustable, adapting to the harvesting of various tobacco varieties. Furthermore, the tobacco leaf cutting claws and the anti-scratch ball claws are arranged in parallel, one above the other. They are driven to open and close by the drive motor. When closed, the two sets of claws form two concentric circles that surround the tobacco stem (i.e., in the vertical direction). The cutting circle formed by the upper tobacco leaf cutting claw is larger than the outer circumference of the tobacco stem, while the anti-scratch ball claws form a scratch circle that consistently contacts the outer circumference of the tobacco stem. As the anti-scratch ball claws move upward along the tobacco stem, the cutting claws follow this movement and cut the tobacco leaves within their range. This harvesting mechanism conforms to the tobacco leaf maturation process, avoiding the harvesting of immature leaves and reducing direct or indirect contact with the tobacco leaves, significantly reducing the rate of tobacco leaf breakage during the harvesting process.

[0026] 2. This invention utilizes an advanced, intelligent robotic arm as its execution vehicle, offering advantages such as high efficiency and intelligence, fast response, intelligently controllable picking paths, and leaf-safe operation. Furthermore, it utilizes a binocular camera as its recognition and positioning system, offering high precision and reliability, enabling accurate identification of target tobacco leaf maturity and precise location of tobacco stems.

[0027] 3. The present invention adopts a split-encircling cutter as a picking component, which can achieve 360° encircling the tobacco stem 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. The inner side of the ball ring is always in direct contact with the tobacco stem, which can prevent the cutter from accidentally damaging the tobacco stem. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the assembled three-dimensional structure of the intelligent tobacco leaf picking robot of the present invention.

[0029] Figure 2 It is a schematic diagram of the assembled three-dimensional structure of the end effector in the present invention.

[0030] Figure 3 This is a diagram showing the unfolding effect of the end effector in the present invention.

[0031] Figure 4 This is a diagram showing the closing effect of the end effector in the present invention.

[0032] Figure 5 It is a schematic diagram of the assembly structure of the semicircular cutting knife module and the semicircular ball module in the present invention.

[0033] 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.

[0034] Figure 7 This is a schematic diagram of the operation of the end effector encircling the cigarette rod in the present invention.

[0035] Figure 8 It is a schematic diagram of the principle of the anti-scratch ball of the end effector in the present invention.

[0036] Figure 9 This is a schematic diagram of the operation of the intelligent tobacco leaf picking robot in the present invention.

[0037] Figure 10a-Figure 10e It is a schematic flow chart of the picking method of the present invention.

[0038] Legend:

[0039] 1. Binocular camera; 2. End effector; 3. Robotic arm; 4. Tobacco stem; 5. Robotic arm; 6. Mobile carrier; 7. Single-ridge tobacco planting model; 2-1. Drive 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; 2-2-6. Connecting bolt; 2-3. Tobacco leaf cutting mechanical claw; 2-3-1. Cutter; 2-3-2. Cutter fixing screw; 2-3-3. Cutter holder; 2-4. Anti-scratch ball mechanical claw; 2-4-1. Ball holder; 2-4-2. Ball; 2-4-3. Telescopic spring; 2-4-4. Ball fixing bolt; 2-5. Flange. DETAILED DESCRIPTION

[0040] like Figures 1-9As shown, the intelligent tobacco leaf picking robot of the present invention includes a robotic arm 3 as an execution carrier, which is controlled by a host computer. One end of the base is typically connected to a mobile carrier. A binocular camera 1 and an end effector 2 are mounted at the end of the robotic arm 3. The robotic arm 3 intelligently controls the binocular camera 1 through programming to perform path planning and autonomous obstacle avoidance. The arm 3 coordinates the opening and closing of the end effector 2 to execute reciprocating motion along the work path, achieving 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 periphery 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 periphery 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 host computer, and 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 cigarette 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 leaves are picked from the bottom up, and the cutter moves from the bottom up along the tobacco stem, 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 the tobacco leaves, and greatly reduce the breakage rate of tobacco leaves during the picking process. Advanced and intelligent robotic arms are used 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 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 accurate positioning of the tobacco stem position.

[0041] In this embodiment, the drive motor 2-1 is bolted to the end interface of the robotic arm 3 via a flange 2-5. The binocular camera 1 is positioned above the cylinder of the drive motor 2-1 and bolted to the flange 2-5. The side of the binocular camera 1 with the camera facing the tobacco leaf cutting mechanical claw 2-3. This structure ensures that the binocular camera, drive motor, and robotic arm are firmly fixed together, forming a single unit.

[0042] In this embodiment, the tobacco leaf cutting mechanical claw 2-3 comprises two sets of opposing semicircular blade modules, each comprising a semicircular blade 2-3-1 and a blade holder 2-3-3 with a semicircular mounting surface. The upward-facing ends of the semicircular blades 2-3-1 are sharpened to facilitate cutting tobacco leaves. The lower ends of the blades 2-3-1 are uniformly perforated and securely mounted to the semicircular mounting surface of the blade holder 2-3-3 via multiple blade fixing screws 2-3-2. When the tobacco leaf cutting mechanical claw 2-3 is closed, the two sets of semicircular blades 2-3-1 form a closed cutting circle, ensuring that the blades 2-3-1 never come into contact with the outer periphery of the tobacco stem 4, effectively preventing damage to the stem.

[0043] In this embodiment, the anti-scratch ball claw 2-4 comprises two sets of opposing semicircular ball modules. These modules include a ball seat 2-4-1 with a semicircular mounting groove and multiple balls 2-4-2. The balls 2-4-2 are connected in series via a telescopic spring 2-4-3 and mounted within the semicircular mounting groove of the ball seat 2-4-1. The ends of the telescopic spring 2-4-3 are respectively mounted to the ends of the semicircular mounting groove via a ball fixing bolt 2-4-4, enabling rolling and a certain degree of telescopic capability. When the anti-scratch ball claw 2-4 is closed, the inner sides of the balls 2-4-2 on the two sets of telescopic springs 2-4-3 form an automatically retractable ball ring. The inner side of the ball ring forms a scratch-resistant circle, ensuring that each ball 2-4-2 maintains contact with the outer periphery of the cigarette holder 4, further preventing accidental damage to the cigarette holder by the cutting knife.

[0044] 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 that 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 to 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 tool holder 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.

[0045] In this embodiment, the movable bracket includes an I-shaped connecting plate 2-2-2, which is sleeved on the output shaft of the drive 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. The top and bottom ends 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 connecting ear 2-2-5 on the corresponding tool holder 2-3-3 are rotatably hinged through a pin shaft. The bottom movable connecting rod 2-2-4 and the connecting ear 2-2-5 on the corresponding ball seat 2-4-1 are rotatably hinged. 2-5 is rotatably hinged by a pin, and by controlling the output shaft of the drive motor 2-1 to rotate forward or reverse, the connecting disc 2-2-2 can be driven forward or backward, thereby driving the connecting ear 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 drive motor 2-1 between its end and the connecting disc 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 the open state, and the feeding amount at the opening is L The largest, convenient for feeding the tobacco rod 4 during the 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.

[0046] In this embodiment, a connecting ear piece 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 piece 2-2-5. The two connecting ears 2-2-5 are fastened together 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.

[0047] In this embodiment, the width of the semicircular mounting 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 mounting groove, and the range of movement is the diameter difference between the boundary circle A and the boundary circle B. Figure 8 As shown, the boundary circle A is the bottom of the semicircular mounting groove (relative to the center of the circle) where each ball 2-4-2 is located. 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 (ie toward Figure 8 The small circle B is the opening of the semicircular mounting groove of each ball 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., contracting in the opposite direction indicated by the arrow in the figure).

[0048] In this embodiment, the bottom plates of the upper and lower U-shaped frames are 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 drive motor 2-1. This structure makes the installation of the fixed bracket very convenient and quick.

[0049] In this embodiment, the intelligent tobacco leaf picking robot 5 is a complete execution module that can realize the collaborative operation of multiple robots. A single robot can pick one tobacco plant at a time. In order to improve the 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. Figure 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.

[0050] The picking method of the intelligent tobacco leaf picking robot of the present invention uses the intelligent tobacco leaf picking robot 5 as the 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 realizing 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.

[0051] like Figure 10a-Figure 10e As shown, the single picking process includes the following steps:

[0052] Figure 10a The initial position shown is the shutdown state, and the intelligent tobacco leaf picking robot 5 is in the retracted state. The lateral width can be reduced as much as possible to prevent the robot from accidentally touching and damaging the tobacco leaves growing staggered between ridges during the operation of the mobile carrier 6.

[0053] Figure 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 the precise recognition of the binocular camera 1 to avoid damaging the tobacco leaves during the travel process.

[0054] Figure 10c The 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.

[0055] Figure 10d The picking process shown is the process of vertical displacement of the intelligent tobacco leaf picking robot 5 from bottom to top. The height of the displacement 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.

[0056] Figure 10e The reset process shown is as follows: 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.

[0057] 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 modifications obtained without departing from the technical concept of the present invention should also be considered 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), wherein a binocular camera (1) and an end effector (2) are mounted at the end of the robot arm (3), the robot arm (3) is controlled by a host computer, and can intelligently control the binocular camera (1) through programming to perform path planning, and cooperate with the opening and closing of the end effector (2) to perform reciprocating motion of the working path, characterized in that: The end effector (2) comprises 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 in an upper and lower manner, and are both connected to the output shaft of the driving motor (2-1) through the connecting module (2-2) and driven by the driving 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 periphery 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 periphery of the cigarette rod (4); During operation, the binocular camera (1) accurately locates the position of the tobacco rod (4) and transmits the position information to the host computer. The robotic 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 encircle the tobacco rod (4) within the concentric circle. When the robotic 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 fastened to the flange (2-5); the side of the binocular camera (1) equipped with the camera faces the tobacco leaf cutting mechanical claw (2-3).

3. The intelligent tobacco leaf picking robot according to claim 2, 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 modules comprising a semicircular cutting knife (2-3-1) and a knife holder (2-3-3) provided with a semicircular mounting surface, the cutting knife (2-3-1) being fitted on the semicircular mounting surface of the knife holder (2-3-3) via a plurality of cutting knife fixing screws (2-3-2), the cutting knife (2-3-1) having an upward end with a sharp edge, 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, characterized in that: 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) provided 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), 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), 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 automatically retract, and 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, characterized in that: 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 brackets that are parallel to each other and spaced apart. The bottom plate of the U-shaped bracket is fixedly mounted on the end of the cylinder of the driving motor (2-1) on the output shaft side. 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). 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). 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, characterized in that: 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). The top two ends and the bottom two ends of the connecting plate (2-2-2) are both hinged with a movable connecting rod (2-2-4). The top movable connecting rod (2-2-4) and the connecting ear (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 (2-2-5) on the corresponding ball seat (2-4-1) are hinged. -2-5) is rotatably hinged, and the output shaft of the driving motor (2-1) is controlled to rotate forward and reverse, thereby driving the connecting disk (2-2-2) forward or backward, thereby driving the connecting ear (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, 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 together by the 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 ear pieces (2-2-5) and are hingedly connected.

8. The intelligent tobacco leaf picking robot according to claim 7, characterized in that: The width of the semicircular mounting 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 mounting 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 mounting 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 mounting 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 middle portion of the integrated connecting plate is provided with an avoidance hole for passing the output shaft of the drive 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: in the shutdown state, the intelligent tobacco leaf picking robot (5) is in the 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: for the grasping process, 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); Executing the picking process: the intelligent tobacco leaf picking robot (5) 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 (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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