Remote control type mountain pepper harvester and method

Abstract

The invention provides a remote control type mountain pepper harvester and method. The remote control type mountain pepper harvester comprises the steps of collecting scanning information of a target operation area; based on the transverse distribution distance between every two rows of pepper plants in the target operation area and the density distribution characteristics of the pepper plants, the operation center line of the left side edge and the operation center line of the right side edge of the mountain pepper harvester during pepper picking are extracted from the scanning information; determining a first operation cost and a second operation cost during pepper picking based on the operation center line of the left side, the operation center line of the right side and the motion constraint point of the mountain pepper harvester; and the pose state of the mountain pepper harvester is constrained based on the constraint control quantity determined by the first operation cost and the second operation cost. According to the scheme, the posture state of the mountain pepper harvester is constrained based on the constraint control quantity, the advancing posture of the mountain pepper harvester can be automatically adjusted under the constraint influence of the bumpy mountain land, and therefore the harvesting efficiency of the mountain pepper harvester is improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent agricultural power machinery, and more specifically, to a remote-controlled mountain pepper harvester and method. Background Art

[0002] With the continuous development of the intelligent level of agricultural production, intelligent agricultural power machinery has achieved remarkable development. Intelligent agricultural power machinery can realize remote control, autonomous decision-making and autonomous operation. In addition, when encountering undulating terrain and uneven soil resistance, intelligent agricultural power machinery can autonomously fine-tune the engine power, gear shift and suspension system to perform adaptive operations. For example, in the remote-controlled mountain pepper harvester harvesting peppers, by combining advanced algorithms such as fuzzy control and adaptive control, the mountain pepper harvester can realize autonomous operation in complex and changeable farmland environments, ensuring the precise picking of peppers in the target operation area, and its operation quality far exceeds manual operation.

[0003] In the existing intelligent agricultural power machinery control, the control of intelligent agricultural power machinery is mainly based on distributed power control systems and intelligent control algorithms. Through real-time data acquisition and multimodal reinforcement learning frameworks, precise control of mechanical movement and operation is achieved to adapt to different working conditions. However, in the control of remote-controlled mountain pepper harvesters, when the mountain pepper harvester is in a mountainous environment, it is affected by the constraints of the rugged mountains. The operating boundary of the mountain pepper harvester cannot be aligned with the target harvesting boundary (that is, the preset harvesting boundary of the mountain pepper harvester), causing the moving posture of the mountain pepper harvester to deviate from the normal moving posture, thereby reducing the harvesting efficiency of the mountain pepper harvester. Therefore, how to realize the automatic adjustment of the moving posture of the mountain pepper harvester under the constraints of the rugged mountains, thereby improving the harvesting efficiency of the mountain pepper harvester has become a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides a remote-controlled mountain pepper harvester and method, which can realize automatic adjustment of the traveling posture of the mountain pepper harvester under the constraint of the rugged mountain terrain, thereby improving the harvesting efficiency of the mountain pepper harvester.

[0005] In a first aspect, the present application provides a method for picking peppers, comprising the following steps:

[0006] When the remote-controlled mountain pepper harvester drives to the target operation area, the target operation area is scanned;

[0007] The operation center line on the left side and the operation center line on the right side of the mountain pepper harvester when picking peppers are extracted from the scanning information by using the lateral distribution spacing between the rows of pepper plants in the target operation area and the density distribution characteristics of the pepper plants;

[0008] Determine the motion constraint point of the mountain pepper harvester under the picking boundary constraint, determine the first operation cost of the mountain pepper harvester when operating on the left side based on the motion constraint point and the operation center line of the left side, and determine the second operation cost of the mountain pepper harvester when operating on the left side through the motion constraint point and the operation center line of the left side;

[0009] The first operation cost and the second operation cost are used to impose a minimum cost constraint on the route of the mountain pepper harvester when picking peppers, so as to obtain a constraint control amount of the mountain pepper harvester on the route;

[0010] The posture state of the mountain pepper harvester is constrained based on the constraint control amount, and the mountain pepper harvester with the constrained posture state is controlled to pick peppers in the target operation area.

[0011] In some embodiments, the operation center line on the left side and the operation center line on the right side of the mountain pepper harvester when picking peppers are extracted from the scanning information through the lateral distribution spacing between the rows of pepper plants in the target operation area and the density distribution characteristics of the pepper plants, specifically including:

[0012] Extracting a current scanned image frame from scanned information of a target operating area;

[0013] Performing density cluster analysis on the scanned image frame to obtain clustered blocks of pepper plants in the target operation area, and using the clustered blocks as pepper rows in the target operation area to obtain multiple pepper rows in the target operation area;

[0014] Determine the pepper row centerline of each pepper row based on the density distribution characteristics of pepper plants in the target operation area;

[0015] Calculate the spacing between the center lines of each pepper row to obtain the lateral distribution spacing between pepper plants in each row in the target operation area;

[0016] Extracting the effective lateral distribution spacing when the mountain pepper harvester is picking peppers from all lateral distribution spacings based on the bucket length of the mountain pepper harvester picking bucket;

[0017] Extract the center line of the first pepper row and the center line of the second pepper row corresponding to the effective lateral distribution spacing;

[0018] The first pepper row center line and the second pepper row center line are used as the left side operation center line and the right side operation center line of the mountain pepper harvester when picking peppers.

[0019] In some embodiments, determining the pepper row center line of each pepper row based on the density distribution characteristics of pepper plants in the target operation area specifically includes:

[0020] Extracting pixel values ​​of each pepper row in the target operation area to obtain a set of pixel values ​​of each pepper row;

[0021] Select a pepper row as the selected pepper row, and determine the density distribution characteristics of pepper plants in the selected pepper row in the target operation area according to the pixel value set of the selected pepper row;

[0022] Remove disturbed pixels from the selected pepper row by using the density distribution feature to obtain an interference-resistant selected pepper row;

[0023] Fitting all geometric center points of the selected pepper row to obtain the pepper row center line of the selected pepper row;

[0024] Continue determining the pepper row center lines for the remaining pepper rows.

[0025] In some embodiments, determining the first operation cost of the mountain pepper harvester when operating on the left side based on the motion constraint point and the operation center line of the left side specifically includes:

[0026] Extracting a left side operation point set from the operation center line of the left side, and extracting the left side operation point closest to the current position of the mountain pepper harvester and the farthest left side operation point from the left side operation point set;

[0027] Determine the orientation vector of the left side pepper row of the mountain pepper harvester by the nearest left side operation point and the farthest left side operation point;

[0028] Determining the orientation vector of the left side of the mountain pepper harvester according to the farthest left side operation point and the motion constraint point;

[0029] A vector dot product calculation is performed on the orientation vector of the pepper row on the left side of the mountain pepper harvester and the orientation vector of the left side of the mountain pepper harvester to obtain the first operation cost when the mountain pepper harvester operates on the left side.

[0030] In some embodiments, determining the second operation cost of the mountain pepper harvester when operating on the left side through the motion constraint point and the operation center line of the left side specifically includes:

[0031] Extracting a right side operation point set from the operation center line of the right side, and extracting the right side operation point closest to the current position of the mountain pepper harvester and the farthest right side operation point from the right side operation point set;

[0032] Determine the orientation vector of the pepper row on the right side of the mountain pepper harvester by using the nearest right side operation point and the farthest right side operation point;

[0033] Determining the orientation vector of the right side of the mountain pepper harvester according to the farthest right side operation point and the motion constraint point;

[0034] A vector dot product calculation is performed on the orientation vector of the pepper row on the right side of the mountain pepper harvester and the orientation vector of the right side of the mountain pepper harvester to obtain a second operation cost when the mountain pepper harvester operates on the right side.

[0035] In some embodiments, the remote-controlled mountain pepper harvester is a drum-type separation pepper harvester.

[0036] In some embodiments, scanning information of the target work area is collected by a camera.

[0037] In a second aspect, the present application provides a remote-controlled mountain pepper harvester, which includes a pepper picking control unit, and the pepper picking control unit includes:

[0038] A scanning module is used to scan the target operation area when the remote-controlled mountain pepper harvester drives to the target operation area;

[0039] A processing module, used to extract from the scanning information the operation center line of the left side and the operation center line of the right side of the mountain pepper harvester when picking peppers through the lateral distribution spacing between the rows of pepper plants in the target operation area and the density distribution characteristics of the pepper plants;

[0040] The processing module is further used to determine the motion constraint point of the mountain pepper harvester under the picking boundary constraint, determine the first operation cost of the mountain pepper harvester when operating on the left side based on the motion constraint point and the operation center line of the left side, and determine the second operation cost of the mountain pepper harvester when operating on the left side through the motion constraint point and the operation center line of the left side;

[0041] The processing module is further used to perform a minimum cost constraint on the route of the mountain pepper harvester when picking peppers based on the first operation cost and the second operation cost, so as to obtain a constraint control amount of the mountain pepper harvester on the route;

[0042] An execution module is used to constrain the posture state of the mountain pepper harvester based on the constraint control amount, and control the mountain pepper harvester with constrained posture state to pick peppers in a target operating area.

[0043] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned pepper picking method.

[0044] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned pepper picking method is implemented.

[0045] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects:

[0046] In the remote-controlled mountain pepper harvester and method provided by the present application, first, when the remote-controlled mountain pepper harvester travels to the target operating area, the target operating area is scanned; secondly, the operating center line of the left side and the operating center line of the right side of the mountain pepper harvester when picking peppers are extracted from the scanning information through the lateral distribution spacing between the rows of pepper plants in the target operating area and the density distribution characteristics of the pepper plants; further, the motion constraint points of the mountain pepper harvester under the picking boundary constraints are determined, and the mountain pepper harvester is determined based on the motion constraint points and the operating center line of the left side. The first operation cost when the mountain pepper harvester is operating on the left side is determined, and the second operation cost when the mountain pepper harvester is operating on the left side is determined by the motion constraint point and the operation center line of the left side; then, the first operation cost and the second operation cost are used to perform minimum cost constraints on the travel route of the mountain pepper harvester when picking peppers, and the constraint control amount of the mountain pepper harvester on the travel route is obtained; finally, the posture state of the mountain pepper harvester is constrained based on the constraint control amount, and the mountain pepper harvester with the posture state constraint is controlled to pick peppers in the target operation area.

[0047] It can be seen that the present application can realize automatic adjustment of the traveling posture of the mountain pepper harvester under the constraint of the rugged mountain terrain, thereby improving the harvesting efficiency of the mountain pepper harvester; first, the scanning information of the mountain pepper harvester when scanning the target operating area is collected, thereby providing comprehensive and reliable basic data support for the subsequent operation centerline extraction, path planning, and posture adjustment; secondly, the operation centerline of the left side and the operation centerline of the right side of the mountain pepper harvester when picking peppers are extracted from the scanning information through the lateral distribution spacing between the rows of pepper plants in the target operating area and the density distribution characteristics of the pepper plants, thereby providing accurate working range guidance for the picking bucket, so that the harvester can pick as many peppers as possible in a single pass, avoiding omissions or repeated operations caused by the rugged mountain terrain; further, the first operation cost on the left side and the second operation cost on the right side of the mountain pepper harvester when picking peppers are determined to analyze the mountain terrain. The path loss state on the left and right sides of the pepper harvester is determined, and then the loss state of the mountain pepper harvester is adjusted to avoid the constraint influence of the mountain pepper harvester under the rugged mountain terrain; then, the constraint control amount of the mountain pepper harvester on the travel route is determined based on the first operation cost and the second operation cost, and the operation center line of the mountain pepper harvester is adjusted in time to align with the target harvesting boundary to optimize the harvesting process, ensure that the mountain pepper harvester remains on the preset operation path, and reduce the instability of the harvesting process; finally, the posture state of the mountain pepper harvester is constrained based on the constraint control amount to align the operation boundary of the mountain pepper harvester with the target harvesting boundary, and then the effective operation posture of the mountain pepper harvester is obtained; in summary, the technical solution provided by the present application can realize the automatic adjustment of the travel posture of the mountain pepper harvester under the constraint influence of the rugged mountain terrain, thereby improving the harvesting efficiency of the mountain pepper harvester. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is an exemplary flow chart of a pepper picking method according to some embodiments of the present application;

[0049] Figure 2 is an exemplary flow chart of determining the cost of a first operation according to some embodiments of the present application;

[0050] Figure 3 is an exemplary flow chart for determining a constraint control amount according to some embodiments of the present application;

[0051] Figure 4 is a schematic diagram of the structure of a pepper picking control unit according to some embodiments of the present application;

[0052] Figure 5 It is a schematic diagram of the structure of a computer device for implementing a pepper picking method according to some embodiments of the present application. DETAILED DESCRIPTION

[0053] In order to better understand the technical solution of the present application, the technical solution of the present application will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0054] refer to Figure 1 , which is an exemplary flow chart of a pepper picking method according to some embodiments of the present application, and the pepper picking method 100 mainly includes the following steps:

[0055] In step 101, when the remote-controlled mountain pepper harvester travels to a target operating area, the target operating area is scanned.

[0056] It should be noted that the remote-controlled mountain pepper harvester in this embodiment can be a drum-type separation pepper harvester. The remote-controlled mountain pepper harvester is an agricultural machinery specially designed for harvesting peppers in complex terrains such as mountains. The remote-controlled mountain pepper harvester usually has good adaptability and can adapt to the mechanized harvesting of string peppers and flat peppers in different regions and varieties. When it is specifically implemented, it can also be other mountain pepper harvesters with similar functions, which will not be repeated here.

[0057] In a specific implementation, a mountain pepper harvester is remotely controlled by a remote control terminal to drive to a target operating area, and a camera is used to scan the target operating area to obtain scanning information of the target operating area, wherein the scanning information includes multiple scanning image frames, and the scanning image frames represent images obtained by scanning the target picking area. In addition, in other embodiments, other acquisition sensors may be used to acquire scanning information of the target operating area, such as a laser radar, which is not limited here.

[0058] It should be noted that the target operation area in the present application represents the area where peppers need to be picked; the scanning information in the present embodiment represents the regional feature information obtained by scanning the target operation area. By determining the scanning information, it can effectively provide comprehensive and reliable basic data support for subsequent operation centerline extraction, path planning, posture adjustment and picking execution.

[0059] In step 102, the operation center line on the left side and the operation center line on the right side of the mountain pepper harvester when picking peppers are extracted from the scanning information through the lateral distribution spacing between the rows of pepper plants in the target operation area and the density distribution characteristics of the pepper plants.

[0060] In some embodiments, the operation center line on the left side and the operation center line on the right side of the mountain pepper harvester when picking peppers can be extracted from the scanning information by using the lateral distribution spacing between the rows of pepper plants in the target operation area and the density distribution characteristics of the pepper plants, which can be achieved by the following steps, namely:

[0061] Extracting a current scanned image frame from scanned information of a target operating area;

[0062] Performing density cluster analysis on the scanned image frame to obtain clustered blocks of pepper plants in the target operation area, and using the clustered blocks as pepper rows in the target operation area to obtain multiple pepper rows in the target operation area;

[0063] Determine the pepper row centerline of each pepper row based on the density distribution characteristics of pepper plants in the target operation area;

[0064] Calculate the spacing between the center lines of each pepper row to obtain the lateral distribution spacing between pepper plants in each row in the target operation area;

[0065] Extracting the effective lateral distribution spacing when the mountain pepper harvester is picking peppers from all lateral distribution spacings based on the bucket length of the mountain pepper harvester picking bucket;

[0066] Extract the center line of the first pepper row and the center line of the second pepper row corresponding to the effective lateral distribution spacing;

[0067] The first pepper row center line and the second pepper row center line are used as the left side operation center line and the right side operation center line of the mountain pepper harvester when picking peppers.

[0068] In a specific implementation, a density clustering analysis is performed on the scanned image frame to obtain clustered blocks of pepper plants in the target operation area, and the clustered blocks are used as pepper rows in the target operation area to obtain multiple pepper rows in the target operation area, that is, a density-based clustering algorithm (such as DBSCAN) is used to analyze the pixel data in the scanned image frame, identify the clustered blocks of pepper plants, and use the clustered blocks as pepper rows in the target operation area to obtain multiple pepper rows in the target operation area.

[0069] It should be noted that, in the present embodiment, the clustering block represents the concentrated distribution area of ​​pepper plants in space. Peppers are usually planted in rows. Therefore, each clustering block usually corresponds to a row of pepper plants. The clustering block reflects the distribution characteristics of pepper plants in the target operation area, including the spatial position and morphological characteristics of pepper plants and their relative relationship with adjacent plants. In the present embodiment, the pepper row represents the arrangement structure of pepper plants in the target operation area. By determining the pepper row, the distribution status of peppers in the target operation area can be effectively identified, thereby providing conditions for subsequent picking by mountain pepper harvesters.

[0070] In some embodiments, determining the center line of each pepper row based on the density distribution characteristics of pepper plants in the target operation area can be achieved by using the following steps, namely:

[0071] Extracting pixel values ​​of each pepper row in the target operation area to obtain a set of pixel values ​​of each pepper row;

[0072] Select a pepper row as the selected pepper row, and determine the density distribution characteristics of pepper plants in the selected pepper row in the target operation area according to the pixel value set of the selected pepper row;

[0073] Remove disturbed pixels from the selected pepper row by using the density distribution feature to obtain an interference-resistant selected pepper row;

[0074] Fitting all geometric center points of the selected pepper row to obtain the pepper row center line of the selected pepper row;

[0075] Continue determining the pepper row center lines for the remaining pepper rows.

[0076] In the specific implementation, first, pixel values ​​are extracted for each pepper row in the target operation area to obtain a pixel value set of each pepper row; secondly, a pepper row is selected as the selected pepper row, and the mean value of all pixel values ​​in the pixel value set of the selected pepper row is calculated, and the mean calculation result is used as the density distribution feature of the pepper plants in the selected pepper row in the target operation area; further, the disturbance pixels of the selected pepper row are removed by the density distribution feature to obtain an interference-resistant selected pepper row, that is: the pixel points whose pixel values ​​in the selected pepper row and the density distribution feature have a difference greater than a preset difference to obtain an interference-resistant selected pepper row; then, all geometric center points of the interference-resistant selected pepper row are fitted by the image processing tool OpenCV to obtain the pepper row center line of the selected pepper row; finally, the pepper row center lines of the remaining pepper rows are continued to be determined by the method of "fitting all geometric center points of the interference-resistant selected pepper row to obtain the pepper row center line of the selected pepper row".

[0077] It should be noted that the density distribution characteristics in the present application represent the density of pepper plants in the pepper row, that is, the larger the density distribution characteristics, the greater the density of pepper plants in the pepper row, and vice versa; the center line of the pepper row in this embodiment represents the fitting line obtained by fitting along the center of the pepper row.

[0078] In specific implementation, the spacing between the center lines of each pepper row can be calculated by the vector method to obtain the lateral distribution spacing between each row of pepper plants in the target operation area, that is, for every two pepper rows, first calculate the common normal vector of the center lines of the two pepper rows, then calculate the projection length of the connecting line segment of any two points on the center lines of the two pepper rows on the common normal vector, and use the projection length as the lateral distribution spacing between the two pepper rows, thereby obtaining the lateral distribution spacing between each row of pepper plants in the target operation area, wherein the lateral distribution spacing between each row of pepper plants in the present application is calculated in sequence with the first row of pepper rows as the reference row, and the spacing between the reference row and the remaining pepper rows is calculated.

[0079] It should be noted that the lateral distribution spacing in the present application represents the lateral distance between two pepper rows in the target operating area, and the lateral distribution spacing reflects the spatial arrangement of the pepper rows. The determination of the lateral distribution spacing is an important parameter for planning the picking path of the mountain pepper harvester. The extraction of the effective lateral distribution spacing further considers the physical size and operating requirements of the picking bucket to ensure the efficiency and accuracy of the harvester operation.

[0080] In a specific implementation, the effective lateral distribution spacing of the mountain pepper harvester when picking peppers is extracted from all lateral distribution spacings based on the bucket length of the picking bucket of the mountain pepper harvester, that is, the difference between the bucket length and each lateral distribution spacing is calculated, and the lateral distribution spacing corresponding to the minimum difference calculation result is extracted as the effective lateral distribution spacing when the mountain pepper harvester is picking peppers. During harvesting by the mountain pepper harvester, it is necessary to improve the picking efficiency of peppers, so the picking bucket needs to cover more pepper plants to the greatest extent. Therefore, the lateral distribution spacing corresponding to the minimum difference calculation result can be used as the effective lateral distribution spacing of the mountain pepper harvester when picking peppers. In this embodiment, the effective lateral distribution spacing represents the effective picking spacing range of the mountain pepper harvester.

[0081] In specific implementation, the first pepper row center line and the second pepper row center line corresponding to the effective lateral distribution spacing are extracted, that is: in left-right order, the left pepper row center line corresponding to the effective lateral distribution spacing is used as the first pepper row center line, and the right pepper row center line corresponding to the effective lateral distribution spacing is used as the first pepper row center line, the first pepper row center line represents the pepper row center line close to the left side of the mountain pepper harvester, and the second pepper row center line represents the pepper row center line close to the right side of the mountain pepper harvester.

[0082] It should be noted that the operating center line on the left side in the present application represents the reference center line when the mountain pepper harvester operates on the left side; the operating center line on the right side in the present application represents the reference center line when the mountain pepper harvester operates on the right side. In a mountainous environment with complex terrain and uneven plant distribution, by determining the operating center line on the left side and the operating center line on the right side, it can provide a harvesting basis for the mountain pepper harvester, allowing it to flexibly adapt to the operating needs of different areas. The operating center line provides precise working range guidance for the picking bucket, allowing the harvester to pick as many peppers as possible in a single pass while reducing omissions or repeated operations.

[0083] In step 103, the motion constraint point of the mountain pepper harvester under the picking boundary constraint is determined, and the first operation cost of the mountain pepper harvester when operating on the left side is determined based on the motion constraint point and the operation center line of the left side, and the second operation cost of the mountain pepper harvester when operating on the left side is determined by the motion constraint point and the operation center line of the left side.

[0084] In some embodiments, determining the motion constraint points of the mountain pepper harvester under the picking boundary constraint can be achieved by using the following steps, namely:

[0085] Calibrate the left picking boundary extension line and the right picking boundary extension line of the mountain pepper harvester picking bucket;

[0086] Determining an effective operation path line of the mountain pepper harvester according to the preset boundary margin parameters of the mountain pepper harvester, the left picking boundary extension line and the right picking boundary extension line;

[0087] The points on the effective operation path where obstacles exist are marked as motion constraint points.

[0088] In the specific implementation, first, the space projection technology is used to calibrate the left picking boundary extension line and the right picking boundary extension line of the picking bucket of the mountain pepper harvester. For example, the space projection technology of point cloud processing is used to calibrate the left picking boundary extension line and the right picking boundary extension line of the picking bucket of the mountain pepper harvester. The space projection technology of point cloud processing processes the point cloud data of the picking bucket of the mountain pepper harvester in three-dimensional space, extracts boundary points, and projects them onto a two-dimensional plane to determine the picking boundary, and then extends the picking boundary points according to a predetermined delay scale to obtain the left picking boundary extension line and the right picking boundary extension line of the picking bucket of the mountain pepper harvester; then, the left picking boundary extension line and the right picking boundary extension line are determined according to the preset boundary margin parameters of the mountain pepper harvester, the left picking boundary extension line and the right picking boundary extension line. The effective operating path line of the mountain pepper harvester, namely: the left picking boundary extension line and the right picking boundary extension line are offset corrected according to the preset boundary margin parameters of the mountain pepper harvester (such as the operating safety distance), and the center line between the corrected left picking boundary extension line and the right picking boundary extension line is used as the effective operating path line of the mountain pepper harvester. For example, the left picking boundary extension line and the right picking boundary extension line are inwardly corrected according to the boundary margin parameters, and the center line between the corrected left picking boundary extension line and the right picking boundary extension line is used as the effective operating path line of the mountain pepper harvester; finally, obstacles on the effective operating path line are identified by an image segmentation algorithm, and their position coordinates are marked as motion constraint points, for example, the Canny edge detection algorithm in the image segmentation algorithm is used.

[0089] It should be noted that in this embodiment, the left picking boundary extension line represents the extension line of the left side boundary line of the picking bucket of the mountain pepper harvester; the right picking boundary extension line in this embodiment represents the extension line of the right side boundary line of the picking bucket of the mountain pepper harvester; the boundary margin parameter in this embodiment represents the predefined parameters used to adjust the picking operation boundary to ensure the safety and effectiveness of the mountain pepper harvester operating in complex and irregular terrain; the effective operating path line in this embodiment represents the effective operating trajectory of the mountain pepper harvester; the motion constraint point in this application represents the position point with motion path restrictions, that is, the restrictive position point on the motion trajectory and path planning of the mountain pepper harvester caused by boundary conditions, terrain features or obstacle distribution. These points can dynamically adjust the posture and route of the harvester. The determination of the motion constraint point can effectively ensure the continuity and stability of the operating path, while reducing unnecessary path deviations or repeated operations.

[0090] In some embodiments, reference Figure 2As shown, this figure is an exemplary flow chart of determining the first operation cost according to some embodiments of the present application. In this embodiment, the first operation cost of the mountain pepper harvester when operating on the left side based on the motion constraint point and the operation center line of the left side can be determined by the following steps:

[0091] First, in step 1031, a left side operation point set is extracted from the operation center line of the left side, and the left side operation point closest to the current position of the mountain pepper harvester and the farthest left side operation point in the left side operation point set are extracted;

[0092] Secondly, in step 1032, the orientation vector of the left side pepper row of the mountain pepper harvester is determined by the nearest left side operation point and the farthest left side operation point;

[0093] Then, in step 1033, the orientation vector of the left side of the mountain pepper harvester is determined according to the farthest left side operation point and the motion constraint point;

[0094] Finally, in step 1034, a vector dot product is calculated between the orientation vector of the pepper row on the left side of the mountain pepper harvester and the orientation vector of the left side of the mountain pepper harvester to obtain the first operation cost when the left side of the mountain pepper harvester is operating.

[0095] In the specific implementation, first, a left-side working point set is extracted from the working center line of the left side, and the left-side working point closest to the current position of the mountain pepper harvester and the farthest left-side working point in the left-side working point set are extracted, that is: all left-side working points are extracted from the working center line of the left side according to the preset sampling step length to obtain the left-side working point set, and the distance between each left-side working point in the left-side working point set and the current position of the mountain pepper harvester is calculated by Euclidean distance, and the left-side working point closest to the current position of the mountain pepper harvester in the left-side working point set is extracted. The left side working point and the farthest left side working point; secondly, the nearest left side working point and the farthest left side working point are calculated by vector subtraction to obtain the orientation vector of the pepper row on the left side of the mountain pepper harvester; then, the farthest left side working point and the motion constraint point are calculated according to vector subtraction to obtain the orientation vector of the left side of the mountain pepper harvester; finally, the vector dot product calculation is performed on the orientation vector of the pepper row on the left side of the mountain pepper harvester and the orientation vector of the left side of the mountain pepper harvester to obtain the first operation cost when the mountain pepper harvester is operating on the left side.

[0096] It should be noted that, in this embodiment, vector subtraction refers to the subtraction between two coordinate vectors, which will not be elaborated here; in this embodiment, the left side operation point set represents a combination of multiple left side operation points, and the left side operation point represents the position point on the operation centerline of the mountain pepper harvester when operating on the left side; in this embodiment, the orientation vector of the pepper row on the left side of the mountain pepper harvester represents the extension direction of the pepper row on the left side of the mountain pepper harvester in space, which is often expressed in the form of a vector. The orientation vector is used as a direction guide for the pepper row on the left side of the mountain pepper harvester, helping the harvester to determine the route of the left operating range, and is for path planning and operation orientation of the mountain pepper harvester. Provide reference; the orientation vector of the left side of the mountain pepper harvester in this embodiment represents the direction in which the mountain pepper harvester extends toward the operation center line in the left side space; the first operation cost in this application represents the operation loss amount on the left side of the mountain pepper harvester, that is, it is characterized by the angle between the orientation vector of the operation center line on the left side of the mountain pepper harvester and the orientation vector of the left side of the mountain pepper harvester, and the angle describes the degree of deviation between the left side pepper row direction and the left side picking direction of the mountain pepper harvester. The greater the deviation between the left side pepper row direction and the left side picking direction of the mountain pepper harvester, the greater the operation loss on the left side of the mountain pepper harvester, and vice versa.

[0097] In some embodiments, the second operation cost of the mountain pepper harvester when operating on the left side can be determined by the motion constraint point and the operation center line of the left side by the following steps, namely:

[0098] Extracting a right side operation point set from the operation center line of the right side, and extracting the right side operation point closest to the current position of the mountain pepper harvester and the farthest right side operation point from the right side operation point set;

[0099] Determine the orientation vector of the pepper row on the right side of the mountain pepper harvester by using the nearest right side operation point and the farthest right side operation point;

[0100] Determining the orientation vector of the right side of the mountain pepper harvester according to the farthest right side operation point and the motion constraint point;

[0101] A vector dot product calculation is performed on the orientation vector of the pepper row on the right side of the mountain pepper harvester and the orientation vector of the right side of the mountain pepper harvester to obtain a second operation cost when the mountain pepper harvester operates on the right side.

[0102] In the specific implementation, first, a right side working point set is extracted from the working center line of the right side, and the right side working point closest to the current position of the mountain pepper harvester and the farthest right side working point in the right side working point set are extracted, that is: all the right side working points are extracted from the working center line of the right side according to the preset acquisition step length to obtain the right side working point set, and the distance between each right side working point in the right side working point set and the current position of the mountain pepper harvester is calculated by Euclidean distance, and the right side working point set closest to the current position of the mountain pepper harvester is extracted. The right side working point and the farthest right side working point; secondly, the nearest right side working point and the farthest right side working point are calculated by vector subtraction to obtain the orientation vector of the pepper row on the right side of the mountain pepper harvester; then, the farthest right side working point and the center position are calculated according to vector subtraction to obtain the orientation vector of the right side of the mountain pepper harvester; finally, the orientation vector of the pepper row on the right side of the mountain pepper harvester is calculated by vector dot product with the orientation vector of the right side of the mountain pepper harvester to obtain the second operation cost when the mountain pepper harvester is operating on the right side.

[0103] It should be noted that, in this embodiment, vector subtraction refers to the subtraction between two coordinate vectors, which will not be elaborated here; in this embodiment, the right side operation point set represents a combination of multiple right side operation points, and the right side operation point represents the position point on the operation centerline of the mountain pepper harvester when operating on the right side; in this embodiment, the orientation vector of the pepper row on the right side of the mountain pepper harvester represents the extension direction of the pepper row on the right side of the mountain pepper harvester in space, which is often expressed in the form of a vector. The orientation vector is used as a direction guide for the pepper row on the right side of the mountain pepper harvester to help the harvester determine the route of the right operating range, which is the path planning and operation orientation of the mountain pepper harvester. Provide reference; the orientation vector of the right side of the mountain pepper harvester in this embodiment represents the direction in which the right side of the mountain pepper harvester extends toward the operation centerline in space; the second operation cost in this application represents the operation loss amount of the right side of the mountain pepper harvester, that is, it is characterized by the angle between the orientation vector of the operation centerline of the right side of the mountain pepper harvester and the orientation vector of the right side of the mountain pepper harvester, and the angle describes the degree of deviation between the right side pepper row direction and the picking direction of the right side of the mountain pepper harvester. The greater the deviation between the right side pepper row direction and the picking direction of the right side of the mountain pepper harvester, the greater the operation loss amount of the right side of the mountain pepper harvester, and vice versa.

[0104] In step 104, the first operation cost and the second operation cost are used to impose a minimum cost constraint on the route of the mountain pepper harvester when picking peppers, so as to obtain the constraint control amount of the mountain pepper harvester on the route.

[0105] In some embodiments, reference Figure 3 As shown, this figure is an exemplary flow chart for determining the constraint control amount according to some embodiments of the present application. In this embodiment, the first operation cost and the second operation cost are used to constrain the minimum cost of the route of the mountain pepper harvester when picking peppers. The constraint control amount of the mountain pepper harvester on the route can be obtained by the following steps:

[0106] First, in step 1041, a reference operation center line on the left side and a reference operation center line on the right side of the mountain pepper harvester when picking peppers are obtained;

[0107] Secondly, in step 1042, a travel route reference line of the mountain pepper harvester is generated according to the reference operation center line of the left side and the operation center line of the right side;

[0108] Then, in step 1043, a first travel constraint route and a second travel constraint route of the mountain pepper harvester are determined based on the first operation cost and the second operation cost, respectively;

[0109] Finally, in step 1044, the constraint control amount of the mountain pepper harvester on the travel route is determined by using the first travel constraint route, the second travel constraint route and the travel route reference line.

[0110] In the specific implementation, first, the reference operation center line on the left side and the reference operation center line on the right side of the mountain pepper harvester when picking peppers are obtained through the pepper harvesting monitoring database. The reference operation center line on the left side and the reference operation center line on the right side are pre-set according to the picking range of the picking bucket of the mountain pepper harvester, and are not limited here; secondly, the reference operation center line on the left side and the reference operation center line on the right side are processed by the bilateral least squares fitting method in the geometric fitting technology to obtain the reference line of the travel route of the mountain pepper harvester, that is, the average distance between the reference operation center line on the left side and the reference operation center line on the right side is calculated, and the points corresponding to the average distance are connected to obtain the reference line of the travel route of the mountain pepper harvester; then, based on the first operation cost and the first operation cost, the first travel constraint route and the second travel constraint route of the mountain pepper harvester are respectively determined, that is: the motion constraint point and the preset route step length of the mountain pepper harvester are obtained, and the first constraint unit vector is constructed according to the first operation cost, starting from the motion constraint point with the preset route The line step length generates all path points along the direction of the first constraint unit vector, connects all the path points in sequence, and obtains the first travel constraint route of the mountain pepper harvester; constructs the second constraint unit vector according to the second operation cost, starts from the motion constraint point, generates all path points along the direction of the second constraint unit vector with a preset route step length, connects all the path points in sequence, and obtains the second travel constraint route of the mountain pepper harvester; finally, determines the constraint control amount of the mountain pepper harvester on the travel route through the first travel constraint route, the second travel constraint route and the travel route reference line, that is: compares the first travel constraint route with the travel route reference line according to the Euclidean distance to obtain the left travel deviation of the mountain pepper harvester; compares the second travel constraint route with the travel route reference line according to the Euclidean distance to obtain the right travel deviation of the mountain pepper harvester; calculates the average value of the left travel deviation and the right travel deviation, and uses the average value calculation result as the constraint control amount of the mountain pepper harvester on the travel route.

[0111] It should be noted that the minimum cost constraint in the present application represents the process of minimizing the cost of the left side travel route and the right side travel route of the mountain pepper harvester, wherein the first operation cost and the second operation cost are used to impose a minimum cost constraint on the travel route of the mountain pepper harvester when picking peppers, namely: obtaining the reference operation center line on the left side and the reference operation center line on the right side of the mountain pepper harvester when picking peppers; generating a travel route reference line of the mountain pepper harvester according to the reference operation center line on the left side and the operation center line on the right side; determining the first travel constraint route and the second travel constraint route of the mountain pepper harvester based on the first operation cost and the first operation cost respectively; determining the constraint control amount of the mountain pepper harvester on the travel route through the first travel constraint route, the second travel constraint route and the travel route reference line, i.e. completing the minimum cost constraint on the travel route of the mountain pepper harvester when picking peppers.

[0112] It should also be noted that the route reference line in this embodiment represents the reference route of the mountain pepper harvester; the first constraint unit vector in this embodiment represents the unit vector constructed by the first operation cost, for example, the first operation cost is θ 1 When , the first constraint unit vector constructed by the first operation cost is: (cos(θ 1 ), sin(θ 1 )),θ 1 represents the first operation cost; in this embodiment, the second constraint unit vector represents the unit vector constructed by the second operation cost, for example, the first operation cost is θ 2 When , the second constraint unit vector constructed by the second operation cost is: (cos(θ 2 ), sin(θ 2 )),θ 2Indicates the second operation cost; the first travel constraint route in this embodiment represents the travel route constrained on the left side of the mountain pepper harvester; the second travel constraint route in this embodiment represents the travel route constrained on the right side of the mountain pepper harvester; the preset route step length in this embodiment is a pre-set route step length, which can be set according to actual needs and is not limited here; the left travel deviation in this embodiment represents the degree of deviation between the actual constrained travel route on the left side of the mountain pepper harvester and the travel route reference line; the right travel deviation in this embodiment represents the degree of deviation between the actual travel constraint route on the right side of the mountain pepper harvester and the travel route reference line; the constraint control amount in this application represents the control amount of the motion constraint of the mountain pepper harvester. When the constraint control amount is larger, the control amount of the motion constraint of the mountain pepper harvester is larger. When the constraint control amount is smaller, the control amount of the motion constraint of the mountain pepper harvester is smaller. By calculating the constraint control amount, the path deviation of the mountain pepper harvester can be adjusted in time to optimize the harvesting process, ensure that the mountain pepper harvester remains on the preset operation path, and reduce the instability of the harvesting process.

[0113] In step 105, the posture state of the mountain pepper harvester is constrained based on the constraint control amount, and the mountain pepper harvester with the constrained posture state is controlled to pick peppers in the target operation area.

[0114] In some embodiments, constraining the posture state of the mountain pepper harvester based on the constraint control amount can be achieved by using the following steps, namely:

[0115] The constraint control amount generates a posture constraint signal of the mountain pepper harvester, and in response to the posture constraint signal, the mountain pepper harvester is controlled to perform posture state constraints.

[0116] In specific implementation, the constraint control amount is input into a control algorithm, such as a proportional-integral-differential (PID) controller or a fuzzy controller, to generate a corresponding posture constraint signal, which includes a translation instruction for adjusting the lateral position of the mountain pepper harvester and an angle correction instruction for adjusting the travel direction, to ensure that the actual path of the mountain pepper harvester gradually approaches the reference path, and the posture constraint signal acts on the walking mechanism and direction control system of the mountain pepper harvester by driving the control system of the mountain pepper harvester to correct the posture state of the mountain pepper harvester until the constraint control amount is reduced to an acceptable range, so as to align the operating center line of the mountain pepper harvester with the target harvesting boundary, thereby achieving precise path alignment and stable operating state.

[0117] In specific implementation, the mountain pepper harvester with posture state constraints is controlled to pick the peppers in the target operating area, that is, the picking bucket of the mountain pepper harvester with posture state constraints is controlled by the remote control terminal to vibrate and pick the peppers in the target operating area.

[0118] In addition, in another aspect of the present application, in some embodiments, the present application provides a remote control mountain pepper harvester, the harvester includes a pepper picking control unit, reference Figure 4 , which is a schematic diagram of the structure of a pepper picking control unit according to some embodiments of the present application, the pepper picking control unit 200 includes: a scanning module 201, a processing module 202 and an execution module 203, which are described as follows:

[0119] Scanning module 201, in this application, scanning module 201 is mainly used to scan the target operation area when the remote-controlled mountain pepper harvester drives to the target operation area;

[0120] Processing module 202, in the present application, the processing module 202 is mainly used to extract the operation center line of the left side and the operation center line of the right side of the mountain pepper harvester when picking peppers from the scanning information through the lateral distribution spacing between the rows of pepper plants in the target operation area and the density distribution characteristics of the pepper plants;

[0121] The processing module 202 is further used to determine the motion constraint point of the mountain pepper harvester under the picking boundary constraint, determine the first operation cost of the mountain pepper harvester when operating on the left side based on the motion constraint point and the operation center line of the left side, and determine the second operation cost of the mountain pepper harvester when operating on the left side through the motion constraint point and the operation center line of the left side;

[0122] In addition, the processing module 202 is also used to perform minimum cost constraints on the route of the mountain pepper harvester when picking peppers based on the first operation cost and the second operation cost, so as to obtain the constraint control amount of the mountain pepper harvester on the route;

[0123] Execution module 203. In the present application, execution module 203 is mainly used to constrain the posture state of the mountain pepper harvester based on the constraint control amount, and control the mountain pepper harvester after the posture state constraint to pick peppers in the target working area.

[0124] In addition, the present application also provides a computer device, which includes a memory and a processor, the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned pepper picking method.

[0125] In some embodiments, reference Figure 5 , which is a schematic diagram of the structure of a computer device for implementing a pepper picking method according to some embodiments of the present application. The pepper picking method in the above embodiment can be Figure 5 The computer device 300 shown in the figure is implemented, and the computer device 300 includes at least one processor 301, a communication bus 302, a memory 303 and at least one communication interface 304.

[0126] Processor 301 may be a general-purpose central processing unit (CPU), or an application-specific integrated circuit (ASIC) or one or more processors for controlling the execution of the pepper picking method in the present application.

[0127] The communication bus 302 may be used to transmit information between the above-mentioned components.

[0128] The memory 303 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including a compressed optical disc, a laser disc, an optical disc, a digital versatile disc, a Blu-ray disc, etc.), a magnetic disk or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 303 may exist independently and be connected to the processor 301 via the communication bus 302. The memory 303 may also be integrated with the processor 301.

[0129] The memory 303 is used to store the program code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the program code stored in the memory 303. The program code may include one or more software modules. The determination of the pepper picking method in the above embodiment can be implemented by the processor 301 and one or more software modules in the program code in the memory 303.

[0130] The communication interface 304 uses any transceiver or other device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0131] In a specific implementation, as an embodiment, a computer device may include multiple processors, each of which may be a single-CPU processor or a multi-CPU processor. The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0132] The above-mentioned computer device can be a general-purpose computer device or a special-purpose computer device. In a specific implementation, the computer device can be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device or an embedded device. The embodiment of the present application does not limit the type of computer device.

[0133] In addition, the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the above-mentioned pepper picking method is implemented.

[0134] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0135] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A pepper picking method for picking peppers using a remote-controlled mountain pepper harvester, characterized in that: The steps include: When the remote-controlled mountain pepper harvester drives to the target operation area, the target operation area is scanned; The operation center line on the left side and the operation center line on the right side of the mountain pepper harvester when picking peppers are extracted from the scanning information by using the lateral distribution spacing between the rows of pepper plants in the target operation area and the density distribution characteristics of the pepper plants; Determine the motion constraint point of the mountain pepper harvester under the picking boundary constraint, determine the first operation cost of the mountain pepper harvester when operating on the left side based on the motion constraint point and the operation center line of the left side, and determine the second operation cost of the mountain pepper harvester when operating on the left side through the motion constraint point and the operation center line of the left side; The first operation cost and the second operation cost are used to impose a minimum cost constraint on the route of the mountain pepper harvester when picking peppers, so as to obtain a constraint control amount of the mountain pepper harvester on the route; The posture state of the mountain pepper harvester is constrained based on the constraint control amount, and the mountain pepper harvester with the constrained posture state is controlled to pick peppers in the target operation area.

2. The method according to claim 1, characterized in that The operation center line on the left side and the operation center line on the right side of the mountain pepper harvester when picking peppers are extracted from the scanning information through the lateral distribution spacing between the rows of pepper plants in the target operation area and the density distribution characteristics of the pepper plants, specifically including: Extracting a current scanned image frame from scanned information of a target operating area; Performing density cluster analysis on the scanned image frame to obtain clustered blocks of pepper plants in the target operation area, and using the clustered blocks as pepper rows in the target operation area to obtain multiple pepper rows in the target operation area; Determine the pepper row centerline of each pepper row based on the density distribution characteristics of pepper plants in the target operation area; Calculate the spacing between the center lines of each pepper row to obtain the lateral distribution spacing between pepper plants in each row in the target operation area; Extracting the effective lateral distribution spacing when the mountain pepper harvester is picking peppers from all lateral distribution spacings based on the bucket length of the mountain pepper harvester picking bucket; Extract the center line of the first pepper row and the center line of the second pepper row corresponding to the effective lateral distribution spacing; The first pepper row center line and the second pepper row center line are used as the left side operation center line and the right side operation center line of the mountain pepper harvester when picking peppers.

3. The method according to claim 2, characterized in that Determining the center line of each pepper row based on the density distribution characteristics of pepper plants in the target operation area specifically includes: Extracting pixel values ​​of each pepper row in the target operation area to obtain a set of pixel values ​​of each pepper row; Select a pepper row as the selected pepper row, and determine the density distribution characteristics of pepper plants in the selected pepper row in the target operation area according to the pixel value set of the selected pepper row; Remove disturbed pixels from the selected pepper row by using the density distribution feature to obtain an interference-resistant selected pepper row; Fitting all geometric center points of the selected pepper row to obtain the pepper row center line of the selected pepper row; Continue determining the pepper row center lines for the remaining pepper rows.

4. The method according to claim 1, characterized in that Determining the first operation cost of the mountain pepper harvester when operating on the left side based on the motion constraint point and the operation center line of the left side specifically includes: Extracting a left side operation point set from the operation center line of the left side, and extracting the left side operation point closest to the current position of the mountain pepper harvester and the farthest left side operation point from the left side operation point set; Determine the orientation vector of the left side pepper row of the mountain pepper harvester by the nearest left side operation point and the farthest left side operation point; Determining the orientation vector of the left side of the mountain pepper harvester according to the farthest left side operation point and the motion constraint point; A vector dot product calculation is performed on the orientation vector of the pepper row on the left side of the mountain pepper harvester and the orientation vector of the left side of the mountain pepper harvester to obtain the first operation cost when the mountain pepper harvester operates on the left side.

5. The method according to claim 1, characterized in that Determining the second operation cost of the mountain pepper harvester when operating on the left side through the motion constraint point and the operation center line of the left side specifically includes: Extracting a right side operation point set from the operation center line of the right side, and extracting the right side operation point closest to the current position of the mountain pepper harvester and the farthest right side operation point from the right side operation point set; Determine the orientation vector of the pepper row on the right side of the mountain pepper harvester by using the nearest right side operation point and the farthest right side operation point; Determining the orientation vector of the right side of the mountain pepper harvester according to the farthest right side operation point and the motion constraint point; A vector dot product calculation is performed on the orientation vector of the pepper row on the right side of the mountain pepper harvester and the orientation vector of the right side of the mountain pepper harvester to obtain a second operation cost when the mountain pepper harvester operates on the right side.

6. The method according to claim 1, characterized in that The remote-controlled mountain pepper harvester is a drum-type separation pepper harvester.

7. The method according to claim 1, characterized in that The target operation area is scanned by the camera.

8. A remote-controlled mountain pepper harvester, comprising a pepper picking control unit, characterized in that: The pepper picking control unit comprises: A scanning module is used to scan the target operation area when the remote-controlled mountain pepper harvester drives to the target operation area; A processing module, used to extract from the scanning information the operation center line of the left side and the operation center line of the right side of the mountain pepper harvester when picking peppers through the lateral distribution spacing between the rows of pepper plants in the target operation area and the density distribution characteristics of the pepper plants; The processing module is further used to determine the motion constraint point of the mountain pepper harvester under the picking boundary constraint, determine the first operation cost of the mountain pepper harvester when operating on the left side based on the motion constraint point and the operation center line of the left side, and determine the second operation cost of the mountain pepper harvester when operating on the left side through the motion constraint point and the operation center line of the left side; The processing module is further used to perform a minimum cost constraint on the route of the mountain pepper harvester when picking peppers based on the first operation cost and the second operation cost, so as to obtain a constraint control amount of the mountain pepper harvester on the route; An execution module is used to constrain the posture state of the mountain pepper harvester based on the constraint control amount, and control the mountain pepper harvester with constrained posture state to pick peppers in a target operating area.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores codes, and the processor is configured to obtain the codes and execute the pepper picking method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the pepper picking method according to any one of claims 1 to 7 is implemented.

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