Plant threshing robot and plant threshing method

Abstract

The invention provides a plant threshing robot and a plant threshing method. The plant threshing robot comprises a mechanical arm; the image acquisition device is arranged at the terminal of the mechanical arm; the absorption device comprises an absorption port and an air blower communicated with the absorption port, and the air blower provides suction force for inwards sucking target branches and leaves from the absorption port; the first cutting device is arranged at the absorption port, the first cutting device comprises a cutting shell and at least one pair of oppositely-arranged blades arranged in the cutting shell, and the blades have the freedom degree of moving towards or away from the center of the cutting shell; the connecting flange is arranged at the terminal of the mechanical arm, and the image acquisition device and the absorption port are arranged on the connecting flange side by side.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a plant leaf threshing robot and a plant leaf threshing method. Background Art

[0002] Tomatoes are one of my country's important cash crops, accounting for over one-third of the world's annual output, and the industry continues to expand. With the widespread adoption of modern greenhouse elevated substrate cultivation technology, tomato cultivation is gradually moving toward large-scale and intensive production. Effective branch and stem management and the timely removal of unnecessary side branches and old leaves are key to improving yield and quality in greenhouse tomato cultivation. However, greenhouse leaf removal currently relies primarily on manual labor, which is not only labor-intensive and inefficient, but also difficult to meet the needs of large-scale cultivation.

[0003] As a tomato plant grows, its side branches grow alongside the main stem. Because the objects being worked on grow interlaced on either side of the stem, their postures and shapes vary, information redundancy and occlusion can occur in a wide field of view. Currently, most pruning robots rely on depth cameras to acquire information, but a complex field of view can lead to information redundancy and an overabundance of objects, increasing the requirements for both the system's computing power and the accuracy of the object recognition algorithm. In this scenario, the eye-in-hand visual structure is easily obscured by the tomato branches and leaves, preventing the capture of visual information about the target.

[0004] Furthermore, existing technologies still have numerous shortcomings. For example, some robots use pulling or rotating methods during leaf removal, which can easily damage the main stems of tomato plants. The problem of leaf scattering after leaf removal is not effectively addressed, increasing the workload of subsequent cleanup. Therefore, developing a tomato pruning and leaf removal robot that can overcome these shortcomings is of great urgency and practical significance. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a plant leaf-pulling robot and a plant leaf-pulling method using the plant leaf-pulling robot, which uses a method of vacuum suction of target leaves and blade cutting to prune plants, thereby avoiding damage to the main stem of the plant by pulling or rotating.

[0006] In one embodiment of the present invention, a plant leaf removing robot is provided, comprising: robotic arm; An image acquisition device, the image acquisition device being installed at the terminal end of the robotic arm; An absorption device, the absorption device comprising an absorption port and a blower in communication with the absorption port, the blower providing suction force for sucking target branches and leaves inward from the absorption port; a first cutting device, the first cutting device being mounted on the absorption port, the first cutting device comprising a cutting housing and at least a pair of oppositely disposed blades mounted in the cutting housing, the blades being free to move toward or away from a center of the cutting housing; A connecting flange is installed at the terminal end of the robotic arm, and the image acquisition device and the absorption port are installed side by side on the connecting flange.

[0007] In one embodiment, the cutting shell is formed into a cylindrical shape corresponding to the shape of the absorption port. The first cutting device comprises: an end cover, the end cover being mounted on the front end of the cutting shell; A plurality of pressure sensors are evenly distributed on the end cover along a circumferential direction, and the suction force responds to pressure values ​​of the pressure sensors.

[0008] In one embodiment, the distance between the blade and the front end of the cutting housing corresponds to the distance between the separation point of the target branch and the plant trunk.

[0009] In one embodiment, the first cutting device comprises: a blade base having a first track; a driving disk, the driving disk and the blade base being respectively mounted on opposite sides of the cutting housing, the driving disk having a first protrusion protruding toward the blade base; The blade has a second track, the blade is clamped between the blade base and the driving disk, and the first protrusion is provided through the second track and the first track; The rotation of the driving disk around the central axis of the cutting housing drives the blade to move along the extension direction of the first track, so as to drive the blade to move toward or away from the center of the cutting housing.

[0010] In one embodiment, the first cutting device comprises three pairs of blades; Each of the blades is formed in a triangular shape, the blade having a cutting edge and a track edge forming an acute angle, the cutting edge of each blade abutting the track edge of an adjacent blade; The first track is formed as a straight track, and the second track is formed as an arc track.

[0011] In one embodiment, the absorption device comprises: The recovery part, the absorption port and the blower are connected via a three-way pipe, wherein the recovery part is located directly below the three-way pipe.

[0012] In one embodiment, it includes: a second cutting device, the second cutting device being installed between the absorption port and the tee pipe; and / or A photoelectric sensor is installed between the absorption port and the three-way pipe, and the blower is turned off in response to a detection signal of the photoelectric sensor.

[0013] Another embodiment of the present application further provides a plant leaf-threshing robot, comprising: robotic arm; An image acquisition device, the image acquisition device being installed at the terminal end of the robotic arm; An absorption device, the absorption device comprising an absorption port and a blower connected to the absorption port, the blower providing suction force for sucking target branches and leaves inward from the absorption port, the absorption port being connected to the blower via a first pipe; a second cutting device, the second cutting device being installed in the first pipe; A connecting flange, the connecting flange being mounted on a terminal end of the robotic arm, the image acquisition device and the absorption port being mounted side by side on the connecting flange; The image acquisition device and the absorption port are driven to the position of target branches and leaves via a robotic arm, the target branches and leaves are sucked into the cutting shell via the absorption device, and the second cutting device cuts and separates the target branches and leaves from the plant trunk.

[0014] In one embodiment, the second cutting device comprises: a second chassis formed into a circular disc corresponding to a cross section of the first pipe; spiral blades, the spiral blades being distributed at equal angular intervals on a side of the second chassis facing the absorption port, the circumferential edges of the spiral blades forming a cutting surface; A cutting outlet is located in a circumferential direction of the second cutting device.

[0015] Another embodiment of the present application provides a plant defoliation method using the plant defoliation robot, comprising: The image acquisition device and the first cutting device are driven to the position of the target branches and leaves by the robotic arm; The target branches and leaves are sucked into the cutting shell via the absorption device; The blade cuts and separates the target branches and leaves from the plant trunk by moving toward the center of the cutting shell, and the cutting position of the blade is located at the center of the cutting shell.

[0016] In this example, since the target branches and leaves are located using negative pressure suction, the requirements for visual recognition are reduced, which can also reduce the parameter requirements for the image acquisition device. Fuzzy control can also be used to locate the target branches and leaves, which can also shorten the positioning time. Furthermore, the paired blades are arranged to cut the target leaves by moving toward or away from the center of the cutting shell 41, that is, using a bisection method. This eliminates the need to twist or pull the target branches and leaves, or even the main stem or branches, thereby avoiding damage to the plant branches. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following drawings are only used to schematically illustrate and explain the present invention and are not intended to limit the scope of the present invention.

[0018] Figure 1 It is a structural schematic diagram of the plant leaf removing robot of the present invention.

[0019] Figure 2 It is a partial structural diagram of the plant leaf removing robot of the present invention.

[0020] Figure 3 and Figure 4 It is an exploded schematic diagram of the first cutting device in the present invention.

[0021] Figures 5a to 5c Schematic diagram of the blade trajectory of the first cutting device of the present invention.

[0022] Figure 6 It is a partial structural diagram of the plant leaf removing robot of the present invention.

[0023] Figure 7 It is a schematic structural diagram of the second cutting device in the present invention. DETAILED DESCRIPTION

[0024] In order to have a clearer understanding of the technical features, purposes and effects of the invention, specific embodiments of the present invention are now described with reference to the accompanying drawings, in which the same reference numerals represent the same parts.

[0025] In this document, “illustrative” means “serving as an example, instance or illustration”, and any diagram or implementation described in this document as “illustrative” should not be interpreted as a more preferred or more advantageous technical solution.

[0026] To simplify the drawings, only the parts relevant to the present invention are schematically shown in each figure and do not represent the actual structure of the product. In addition, to simplify the drawings and facilitate understanding, in some figures, only one of the components with the same structure or function is schematically depicted or labeled.

[0027] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0028] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the prerequisite for each other's existence.

[0029] In this document, "equal" and "same" are not strictly limited in the mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use. Unless otherwise specified, the numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges contained therein.

[0030] Example embodiments will now be described more fully with reference to the accompanying drawings.

[0031] like Figures 1 to 3 As shown, one embodiment of the present invention provides a plant leaf removing robot, comprising: Robotic arm 10; The image acquisition device 20 is installed at the end of the robot arm 10; The absorption device 30 includes an absorption port 31 and a blower 32 connected to the absorption port 31, and the blower 32 provides suction force from the absorption port 31 to absorb the target branches and leaves inward; a first cutting device 40, which is mounted on the absorption port 31 and includes a cutting housing 41 and at least one pair of oppositely disposed blades 42 mounted in the cutting housing 41, wherein the blades 42 have the freedom to move toward or away from the center of the cutting housing 41; The connecting flange 21 is mounted on the terminal end of the robot arm 10 , and the image acquisition device 20 and the absorption port 31 are mounted side by side on the connecting flange 21 .

[0032] In this example, an absorption-type leaf removal method is adopted. Based on the different postures of tomato side branches, the method of relying solely on the depth camera to locate the target branches and leaves is abandoned. Instead, a suction device is introduced to absorb the branches and leaves that need to be cut, which weakens the requirements for visual recognition. This allows the robotic arm to flexibly handle tomato side branches with different postures, and has better adaptability to tomato pruning operations.

[0033] Among them, the image acquisition device 20 is used to locate the target branches and leaves, and the absorption device 30 is used to absorb the target branches and leaves through negative pressure. The image acquisition device 20 and the absorption device 30 are installed side by side to the terminal end of the robotic arm 10 through the connecting flange 21, and the movement of the robotic arm 10 can drive the image acquisition device 20 and the absorption device 30 to move synchronously.

[0034] Furthermore, a first cutting device 40 is mounted on the absorption port 31 of the absorption device 30. The target branches and leaves, which are drawn into the absorption port 31 by negative pressure, are separated from the plant branches or main stem by the first cutting device 40. In this example, the first cutting device 40 includes at least one pair of opposing blades 42. The paired blades 42 move toward or away from the center of the cutting housing 41 to cut the target leaves, i.e., using a bisection method. This eliminates the need to twist or pull the target branches and leaves, or even the main stem or branches, thereby preventing damage to the plant branches.

[0035] In this example, since the target branches and leaves are positioned by negative pressure suction, the requirements for visual recognition are reduced, the parameter requirements for the image acquisition device 20 can be reduced, and the fuzzy control method can be used for the positioning of the target branches and leaves, which can also shorten the positioning time.

[0036] Specifically, the cutting housing 41 is formed into a cylindrical or annular shape corresponding to the shape of the absorption port 31; The first cutting device 40 comprises: An end cover 43 is mounted on the front end of the cutting shell 41; The pressure sensor 46 , wherein a plurality of pressure sensors are evenly distributed on the end cover 43 along the circumferential direction, the suction force responds to the pressure value of the pressure sensor 46 .

[0037] In a specific example, by reasonably controlling the suction force of the absorption device, the target branches and leaves are sucked into the absorption device 30 without damaging the plant branches. Specifically, a plurality of pressure sensors 46 are distributed on the surface of the end cap 43, and the pressure sensors 46 are symmetrically distributed in pairs about the center of the cutting shell 41, and the pressure sensors 46 are evenly distributed at equal angles. When the target branches and leaves are sucked into the absorption device 30, since the target branches and leaves form an angle with the plant branches, the target branches and leaves will be restricted outside the absorption device 30 due to the abutment against the end cap 43.

[0038] Plant branches can also deform due to the suction force, dragged by the target branches. By controlling the suction force, the deformation of the plant branches can be kept within a reasonable threshold to avoid affecting their normal growth. The deformation of the plant branches corresponds to the pressure exerted by the plant branches on end cap 43. Therefore, the suction force generated by the blower is responsive to the pressure value of pressure sensor 46. Specifically, when the pressure value of pressure sensor 46 reaches the threshold, the blower's suction force reaches its upper limit, and the blower's speed is maintained or decreased.

[0039] The position of the end cap 43 corresponds to the position of the plant trunk, and the distance between the blade 42 and the front end of the cutting shell 41 corresponds to the distance between the separation point of the target branches and leaves and the plant trunk.

[0040] Therefore, in this example, by changing the fixed position of the blade 42 in the cutting housing 41 , the position of the separation point (the position to be cut) of the target branches and leaves can be changed.

[0041] In a specific example, Figure 3 and Figure 4 As shown, the first cutting device 40 includes: The blade base 44 has a first track 441; The driving disk 45 and the blade base 44 are respectively installed on opposite sides of the cutting housing 41. The driving disk 45 has a first protrusion 451 protruding toward the blade base 44; The blade 42 has a second track 442 , and the blade 42 is clamped between the blade base 44 and the driving disk 45 , and the first protrusion 451 is provided through the second track 442 and the first track 441 ; The rotation of the driving disc 45 around the central axis of the cutting housing 41 drives the blade 42 to move along the extension direction of the first track 441 , so as to drive the blade 42 to move toward or away from the center of the cutting housing 41 .

[0042] In this example, one or more pairs of blades 42 may be included, arranged in pairs and moving relative to each other. The cutting housing 41 may have a circular cross-section. A drive motor 47 drives a drive disk 45 to rotate, which in turn drives the blades 42 along a first track 441 toward or away from the center of the cutting housing 41.

[0043] Wherein, when multiple pairs of blades 42 are included, Figures 5a to 5c As shown, multiple pairs of blades 42 rotate and open and close in a camera aperture-like opening and closing manner, and the first protrusion 451 on the drive disk 45 passes through the second track 442 and the first track 441 in sequence, and the drive disk 45 and the blade base 44 clamp the blade 42 therebetween in the direction of the central axis. The rotation of the drive disk 45 can drive the blade 42 to move along the joint action trajectory of the first track 441 and the second track 442 via the first protrusion 451, specifically, it moves back and forth along the extension direction of the first track 441, and the moving direction of the blade 42 is related to the rotation direction of the drive disk 45.

[0044] In one specific example, the first cutting device 40 includes three pairs of blades 42; Each blade 42 is formed in a triangular shape, and has a cutting edge 421 and a track edge 422 forming an acute angle, wherein the cutting edge 421 of each blade 42 abuts against the track edge 422 of an adjacent blade 42; The first track 441 is formed as a straight track, and the second track 442 is formed as an arc track.

[0045] For example, each blade 42 can be formed into a right triangle, wherein the acute angle formed by the cutting edge 421 and the track edge 422 is 60 degrees, and each blade 42 abuts the track edge 422 of the adjacent blade 42 with its cutting edge 421. During the movement of the blade 42, the cutting edges 421 and track edges 422 of the adjacent blades 42 are always in contact until they are connected at the sharp point of the acute angle at the center point of the cutting shell to form a cutting point for the target branches and leaves.

[0046] In this example, the absorption device 30 comprises: The recovery part 33 , the absorption port 31 and the blower 32 are connected via a three-way pipe 34 , wherein the recovery part 33 is located directly below the three-way pipe 34 .

[0047] The first port of the tee pipe 34 is connected to the suction port 31 via a first pipe, the second port is connected to the blower 32 via a second pipe, and the third port is connected to the recovery unit 33 directly or via a third pipe. The recovery unit 33 is located directly below the tee pipe 34 in the direction of gravity, and the third pipe extends vertically, so that the target branches and leaves that are sucked into the suction port 31 and separated from the plant trunk by the first cutting device can fall into the recovery unit 33 under the action of gravity. It should be understood that the target leaves can only fall into the recovery unit 33 under the action of gravity when the blower stops working or the suction force is less than a threshold.

[0048] In a preferred example, a check valve 35 is further included between the three-way pipe 34 and the recovery part 33 to prevent the target branches and leaves entering the recovery part 33 from leaving the recovery part 33 under the suction force of the blower.

[0049] In an optional example, it may also include: A second cutting device 50 is installed between the absorption port 31 and the tee pipe 34; and / or The photoelectric sensor 60 is installed between the absorption port 31 and the three-way pipe 34 . The blower 32 is turned off in response to a detection signal of the photoelectric sensor 60 .

[0050] like Figure 7 As shown, the second cutting device 50 can be formed as a rotary cutting device, and the second cutting device 50 includes: A second chassis 51, the second chassis 51 is formed into a circular disc corresponding to the cross section of the first pipe 341; Spiral blades 52 are distributed at equal angles on a side of the second chassis 51 facing the absorption port 31, and the circumferential edges of the spiral blades 52 form cutting surfaces; The cutting outlet is located in the circumferential direction of the second cutting device 50 .

[0051] Among them, the spiral blades 52 are generally distributed along the radial direction of the second chassis 51, and the cutting surface of the spiral blades 52 is located at the circumferential edge. The target branches and leaves sucked in through the absorption port 31 are limited by the second chassis 51. Under the centrifugal force and the diversion of the spiral blades 52, the limited target branches and leaves are sent to the cutting surface for chopped and discharged into the first pipe 341 through the cutting outlet.

[0052] The difference between the first cutting device and the second cutting device is that the cutting methods for the target branches and leaves are different. The function of the first cutting device is to cut off the leaf stalks, while the function of the second cutting device is to chop the leaves for subsequent recycling and processing.

[0053] The second cutting device is located closer to the inside of the first pipe than the first cutting device. Optionally, the second cutting device may also be disposed at the absorption port 31 .

[0054] The first pipe may further include a photoelectric sensor 60, which is located between the absorption port 31 and the tee pipe 34. Preferably, the photoelectric sensor is located between the second cutting device and the tee pipe 34, so that the target branches and leaves are detected before they have been cut and have not entered the tee pipe. In this example, the robotic arm 10 can also be attached to a walking robot, allowing it to move. The robotic arm 10 can have at least three degrees of freedom, allowing it to be combined with the walking robot to form a plant defoliation robot that can be moved to any location. Optionally, the blower 32 can be fixed to the base of the robotic arm 10, allowing the walking robot to simultaneously drive the robotic arm 10 and the suction device.

[0055] Combine Figure 1 and Figure 7 As shown, another embodiment of the present invention further provides a plant leaf removing robot, comprising: Robotic arm 10; The image acquisition device 20 is installed at the end of the robot arm 10; The absorption device 30 includes an absorption port 31 and a blower 32 connected to the absorption port 31. The blower 32 provides suction force to absorb target branches and leaves from the absorption port 31. The absorption port 31 is connected to the blower 32 via a first pipe 341. A second cutting device 50 is installed in the first pipe 341; A connecting flange 21 is mounted on the terminal end of the robot arm 10 , and the image acquisition device 20 and the absorption port 31 are mounted side by side on the connecting flange 21 ; The image acquisition device 20 and the absorption port 31 are driven to the position of the target branches and leaves via the robotic arm 10 , the target branches and leaves are sucked into the cutting shell 41 via the absorption device 30 , and the second cutting device 50 cuts and separates the target branches and leaves from the plant trunk.

[0056] Furthermore, the second cutting device 50 includes: A second chassis 51, the second chassis 51 is formed into a circular disc corresponding to the cross section of the first pipe 341; Spiral blades 52 are distributed at equal angles on a side of the second chassis 51 facing the absorption port 31, and the circumferential edges of the spiral blades 52 form cutting surfaces; The cutting outlet is located in the circumferential direction of the second cutting device 50 .

[0057] Another embodiment of the present invention also provides a method for Figure 1 The plant leaf removing method of the plant leaf removing robot shown includes: The image acquisition device 20 and the first cutting device 40 are driven to the position of the target branches and leaves by the robotic arm 10; The target branches and leaves are sucked into the cutting shell 41 through the absorption device 30; The blade moves toward the center of the cutting housing 41 to separate the target branches and leaves from the plant trunk. The cutting position of the blade is located at the center of the cutting housing 41 .

[0058] In this example, since the target branches and leaves are located using negative pressure suction, the requirements for visual recognition are reduced, which can also reduce the parameter requirements for the image acquisition device. Fuzzy control can also be used to locate the target branches and leaves, which can also shorten the positioning time. Furthermore, the paired blades are arranged to cut the target leaves by moving toward or away from the center of the cutting shell 41, that is, using a bisection method. This eliminates the need to twist or pull the target branches and leaves, or even the main stem or branches, thereby avoiding damage to the plant branches.

[0059] Based on the characteristics of different postures of tomato side branches, this embodiment abandons the method of relying solely on depth cameras for target positioning, and introduces an air pump to suck the branches and leaves that need to be pruned, weakening the requirements for visual recognition. This allows the pruning robot arm to flexibly handle tomato side branches with different postures and has better adaptability to tomato pruning operations.

[0060] The end effector uses a camera-aperture rotating blade equipped with a sensor, which provides efficient and flexible leaf threshing, as well as precise leaf positioning. The rotating blade has a simple structure, high speed, and efficient petiole cutting, while minimizing the impact on the cut wound.

[0061] The robot in this example is equipped with a collection device at the bottom, which is a dual-purpose vacuum pump. It uses negative pressure to quickly suck in the cut branches and leaves and transports them to the collection device through pipes to prevent the leaves from scattering, replacing manual cleaning and improving the efficiency of pruning and leaf removal.

[0062] The series of detailed descriptions listed above are merely specific descriptions of feasible implementation methods of the present invention and are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not depart from the technical spirit of the present invention, such as the combination, division or repetition of features, should be included in the scope of protection of the present invention.

Claims

1. A plant leaf-threshing robot, characterized in that: include: Robotic Arm (10); An image acquisition device (20), the image acquisition device (20) being installed at a terminal end of the robotic arm (10); An absorption device (30), the absorption device (30) comprising an absorption port (31) and a blower (32) in communication with the absorption port (31), the blower (32) providing suction force for sucking target branches and leaves inward from the absorption port (31); a first cutting device (40), the first cutting device (40) being mounted on the absorption port (31), the first cutting device (40) comprising a cutting housing (41) and at least one pair of oppositely disposed blades (42) mounted in the cutting housing (41), the blades (42) having the freedom to move toward or away from the center of the cutting housing (41); A connecting flange (21) is mounted on a terminal end of the mechanical arm (10), and the image acquisition device (20) and the absorption port (31) are mounted side by side on the connecting flange (21).

2. The plant leaf removing robot according to claim 1, characterized in that: The cutting shell (41) is formed into a cylindrical shape corresponding to the shape of the absorption port (31). The first cutting device (40) comprises: an end cover (43), the end cover (43) being mounted on the front end of the cutting shell (41); A pressure sensor (46), wherein a plurality of the pressure sensors are evenly distributed on the end cover (43) along a circumferential direction, and the suction force responds to the pressure value of the pressure sensor (46).

3. The plant leaf removing robot according to claim 1, characterized in that: The distance between the blade (42) and the front end of the cutting shell (41) corresponds to the distance between the separation point of the target branches and leaves and the plant trunk.

4. The plant leaf removing robot according to claim 3, characterized in that: The first cutting device (40) comprises: A blade base (44), the blade base (44) having a first track (441); a driving disk (45), the driving disk (45) and the blade base (44) being respectively mounted on opposite sides of the cutting housing (41), the driving disk (45) having a first protrusion (451) protruding toward the blade base (44); The blade (42) has a second track (442), the blade (42) is clamped between the blade base (44) and the drive disk (45), and the first protrusion (451) is provided through the second track (442) and the first track (441); The rotation of the drive disc (45) around the central axis of the cutting housing (41) drives the blade (42) to move along the extension direction of the first track (441), thereby driving the blade (42) to move toward or away from the center of the cutting housing (41).

5. The plant leaf removing robot according to claim 4, characterized in that: The first cutting device (40) comprises three pairs of blades (42); Each of the blades (42) is formed in a triangular shape, and the blade (42) has a cutting edge (421) and a track edge (422) forming an acute angle, and the cutting edge (421) of each blade (42) abuts against the track edge (422) of an adjacent blade (42); The first track (441) is formed as a straight track, and the second track (442) is formed as an arc track.

6. The plant leaf removing robot according to claim 1, characterized in that: The absorption device (30) comprises: The recovery part (33), the absorption port (31) and the blower (32) are connected via a three-way pipe (34), wherein the recovery part (33) is located directly below the three-way pipe (34).

7. The plant leaf removing robot according to claim 6, characterized in that: include: a second cutting device (50), the second cutting device (50) being installed between the absorption port (31) and the three-way pipe (34); and / or A photoelectric sensor (60) is installed between the absorption port (31) and the three-way pipe (34), and the blower (32) is turned off in response to a detection signal of the photoelectric sensor (60).

8. A plant leaf-threshing robot, characterized in that: include: Robotic Arm (10); An image acquisition device (20), the image acquisition device (20) being installed at a terminal end of the robotic arm (10); An absorption device (30), the absorption device (30) comprising an absorption port (31) and a blower (32) in communication with the absorption port (31), the blower (32) providing suction force for inwardly drawing target branches and leaves from the absorption port (31), the absorption port (31) in communication with the blower (32) via a first pipe (341); a second cutting device (50), the second cutting device (50) being installed in the first pipe (341); A connecting flange (21), the connecting flange (21) being mounted on a terminal end of the robotic arm (10), the image acquisition device (20) and the absorption port (31) being mounted side by side on the connecting flange (21); The image acquisition device (20) and the absorption port (31) are driven to the position of target branches and leaves via the robotic arm (10), the target branches and leaves are sucked into the first pipe (341) via the absorption device (30), and the second cutting device (50) cuts and separates the target branches and leaves from the plant trunk.

9. The plant leaf removing robot according to claim 8, characterized in that: The second cutting device (50) comprises: a second chassis (51), the second chassis (51) being formed as a circular disc corresponding to the cross section of the first pipe (341); Spiral blades (52), the spiral blades (52) being distributed at equal angular intervals on a side of the second chassis (51) facing the absorption port (31), and the circumferential edges of the spiral blades (52) forming a cutting surface; A cutting outlet is located in the circumferential direction of the second cutting device (50).

10. A plant defoliation method using the plant defoliation robot according to any one of claims 1 to 7, characterized in that: include: The image acquisition device (20) and the first cutting device (40) are driven to the position of target branches and leaves via the robotic arm (10); The target branches and leaves are sucked into the cutting shell (41) via the absorption device (30); The blade cuts and separates the target branches and leaves from the plant trunk by moving toward the center of the cutting shell (41), and the cutting position of the blade is located at the center of the cutting shell (41).

Images