Tobacco plant positioning and picking method, device and system based on infrared laser sensing

Abstract

The invention relates to the technical field of tobacco leaf picking, and particularly discloses a tobacco plant positioning and picking method, device and system based on infrared laser sensing. According to the method, the positions of tobacco plants in advance are detected in real time through an infrared laser sensor installed on a mobile platform; the signals of the infrared laser sensor change, the change of the signals is converted into DI signals, the DI signals are transmitted to an execution program of the upper computer through the control unit, an operation program compiled in advance controls the moving platform to stop, meanwhile, the picking mechanical arm executes a picking command, program operation is completed after the picking command is executed, and the program returns to the initial state. Namely, the mobile platform continues to operate and waits for triggering of the next signal of the infrared laser sensor. The method has the advantages of high anti-interference capability, high response speed, high positioning precision, low use cost and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tobacco leaf picking, in particular to a tobacco plant positioning and picking method, device and system based on infrared laser sensing. BACKGROUND

[0002] Tobacco is an important economic crop, and the picking quality of its leaves directly affects the final quality. Currently, field tobacco picking mainly relies on manual labor, which is labor-intensive and low-efficiency. To achieve automated picking, the key lies in how to quickly and accurately locate the tobacco plants in a complex field environment. In the prior art, there are some attempts to apply to tobacco plant detection or agricultural automation. For example, in the field of image recognition, some researches based on unmanned aerial vehicle remote sensing technology and deep learning (such as U-Net network) to extract tobacco plant information. Although this method can obtain spatial distribution, it usually processes offline or large-area survey images. For high-speed picking operations that require real-time and individual plant response, the processing speed and stability under complex environments (such as light changes and leaf shielding) are challenging. Some advanced picking robotic arm solutions, although the end effector is designed with precision (such as including a cutting and scratch prevention component), its initial positioning relies on sensors such as binocular vision. In the case of severe light changes, there may be a risk of insufficient stability. In addition, some researches focus on improving the path planning algorithm of the picking robotic arm itself, but the premise is to know the target position, and the fundamental problem of how to first quickly and anti-interference locate the tobacco plants on the mobile platform is not solved.

[0003] Therefore, there is a lack of a tobacco plant positioning and picking method and device in the prior art that can adapt to complex field lighting conditions, respond quickly, have high reliability, and closely cooperate with the mobile picking platform. SUMMARY

[0004] The present application provides a tobacco plant positioning and picking method, device and system based on infrared laser sensing to solve the problems of tobacco plant positioning being easily disturbed by the environment and light, insufficient reliability, and poor coordination between the mobile platform and the picking mechanism in the prior art, thereby realizing efficient and reliable automated tobacco leaf picking. The specific technical solutions are as follows: In a first aspect, a tobacco plant positioning and picking method based on infrared laser sensing is provided, which is applied to a tobacco plant positioning and picking device. The tobacco plant positioning and picking device includes a control unit, a mobile platform, an infrared laser sensor, and at least one picking robotic arm. The picking robotic arm and the infrared laser sensor are arranged on the mobile platform. The mobile platform, the picking robotic arm, and the infrared laser sensor are all in communication connection with the control unit. The method includes: S1: controlling the mobile platform to advance at a set speed between the tobacco rows by the control unit, while the infrared laser sensor continuously emits laser light in the vertical direction of the advancing direction of the mobile platform; S2: When there is a tobacco plant in the detection range of the infrared laser sensor, the laser emitted by the infrared laser sensor is reflected by the tobacco plant, at this time the infrared laser sensor receives the laser reflected by the tobacco plant and generates a DI signal; S3: The control unit controls the mobile platform to stop according to the DI signal, and calculates the distance between the tobacco plant and the infrared laser sensor; S4: According to the position of the mobile platform and the distance between the tobacco plant and the infrared laser sensor, the position of the tobacco plant in the horizontal plane is obtained; S5: According to the position of the tobacco plant in the horizontal plane, the picking mechanical arm is controlled to execute the picking action; S6: After the picking action is completed, the control unit instructs the mobile platform to continue to advance and repeat S1-S5 until the picking of all tobacco plants is completed.

[0005] As a further improvement of the above technical solution: The control unit in S3 controls the mobile platform to stop according to the DI signal, comprising: The infrared laser sensor generates a corresponding DI signal every time it receives the laser reflected by the tobacco plant, and sends it to the control unit; The control unit according to the number of picking mechanical arms, when there is only one picking mechanical arm, the control unit directly controls the mobile platform to stop when receiving the DI signal; when the number of picking mechanical arms is ≥2, the control unit counts the DI signal, and controls the mobile platform to stop when the count matches the number of picking mechanical arms.

[0006] As a further improvement of the above technical solution: When the picking mechanical arm executes the picking action, it picks from the bottom blade of the tobacco plant to the top blade in the order of the starting height; The starting height is located 100mm above the laser emitted by the infrared laser sensor, and is 50mm away from the upper surface of the conveying belt.

[0007] As a further improvement of the above technical solution: According to the position of the tobacco plant in the horizontal plane, the picking mechanical arm is controlled to execute the picking action, comprising: Step 1: The control unit sends a picking instruction to each picking mechanical arm in the initial position, and each picking mechanical arm executes a picking program on the corresponding tobacco plant at the same time; Step 2: The end effector of the picking mechanical arm moves to the position of the tobacco plant in the horizontal plane and the starting height; Step 3: After the end effector of the picking mechanical arm clamps the tobacco plant, it moves upward from the starting height, and the blade of the end effector cuts the tobacco leaf to realize leaf removal; Step 4: when the end effector of the picking mechanical arm reaches the preset height, the end effector is opened, and the picking mechanical arm returns to the initial position, thus completing the whole picking action.

[0008] In a second aspect, the application provides a tobacco plant positioning and picking device based on infrared laser sensing, comprising: a moving platform configured to move at a set speed along the tobacco ridge; an infrared laser sensor arranged on the moving platform and configured to emit laser light in a direction perpendicular to the moving direction of the moving platform; at least one picking mechanical arm arranged on the moving platform and located in the laser emission direction of the infrared laser sensor, the picking mechanical arm comprising a mechanical arm body and an end effector arranged at the end of the mechanical arm body, the mechanical arm body being configured to move the end effector to the position of the tobacco plant to be picked, and the end effector being configured to hold the tobacco plant and cut the tobacco leaves; a control unit, the moving platform, the picking mechanical arm and the infrared laser sensor being communicatively connected to the control unit.

[0009] As a further improvement of the above technical solution: the moving platform is a gantry type electric track chassis capable of moving along the tobacco ridge and automatically aligning, the gantry type electric track chassis comprising a gantry, a tobacco conveying belt and a tobacco storage bag; the middle part of the gantry is configured to allow the tobacco plant to pass through during movement, and the bottom part of the gantry is provided with an electric track capable of moving along the tobacco ridge and automatically aligning; the tobacco storage bag is arranged on both sides of the gantry and is configured to store the picked tobacco leaves; the tobacco conveying belt comprises a first conveying panel and a second conveying panel connected to each other, the first conveying panel is arranged at the bottom part of the gantry and is configured to place the picked tobacco leaves and convey them to the second conveying panel, and the second conveying panel is arranged along the side of the gantry and is configured to convey the tobacco leaves from the first conveying panel to the tobacco storage bag.

[0010] As a further improvement of the above technical solution: each of the two sides of the gantry is provided with a set of tobacco conveying belts, and the two sets of tobacco conveying belts are separated by an interval channel for allowing the tobacco plant to pass through during movement.

[0011] As a further improvement of the above technical solution: the bottom part of the tobacco conveying belt is provided with a reserved hole, and the infrared laser sensor is fixedly connected to the reserved hole through an infrared laser sensor mounting base.

[0012] As a further improvement of the above technical solution: The infrared laser sensor is a diffuse reflection type infrared laser sensor with adjustable detection distance, and its response time is less than 1 millisecond, and the effective detection distance is within 100 mm.

[0013] As a further improvement of the above technical solution: The mechanical arm body is fixed on the top beam of the gantry through the mechanical arm mounting base, and is used for picking tobacco plants passing through the middle part of the gantry and placing them on the first conveying panel of the tobacco conveying belt.

[0014] As a further improvement of the above technical solution: The actuator includes a scratch prevention device for clamping or guiding and a cutting device for cutting petioles.

[0015] As a further improvement of the above technical solution: When a plurality of picking mechanical arms are arranged, the plurality of picking mechanical arms are arranged at intervals of 50 cm along the advancing direction of the moving platform.

[0016] In a third aspect, a computer system is provided, comprising a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the processor executes the computer program to implement the tobacco plant positioning and picking method based on infrared laser sensing as described above.

[0017] Compared with the prior art, the present application has the following advantages: (1) High anti-interference and reliability: the infrared laser is used for detection, and its physical characteristics of active light emission and single wavelength make it not easy to be disturbed by environmental factors such as natural light change and shadow, and compared with the traditional visual recognition method, the stability is significantly improved under complex light in the field.

[0018] (2) Rapid positioning response: the infrared laser sensor has fast response speed, and combined with simple and clear trigger logic, it can realize rapid discovery of tobacco plants and immediate braking of the moving platform, thereby creating conditions for accurate picking.

[0019] (3) High efficiency of cooperative work: through the closed-loop control process of "detection-stop-picking-start", the efficient cooperation of the moving platform and the picking mechanical arm is realized, and the optimization control strategy for the multi-picking mechanical arm system further taps the potential of the equipment and improves the overall harvesting efficiency.

[0020] (4) Relative controllability of system cost: the infrared laser sensing technology used is mature, and the cost is more advantageous than some high-precision visual systems or complex three-dimensional sensing schemes, which is conducive to popularization and application. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1A flow chart of a tobacco plant positioning and picking method based on infrared laser sensing for an embodiment of the present application; Figure 2 A structural diagram of a tobacco plant positioning and picking device based on infrared laser sensing for an embodiment of the present application; Figure 3 For Figure 2 A local enlarged view at A-A; Figure 4 A structural diagram of a picking mechanical arm and end effector for an embodiment of the present application; Figure 5 A flow diagram of a picking mechanical arm performing a picking action for an embodiment of the present application.

[0022] In the figure: 1, mobile platform, 1-1, gantry, 1-2, tobacco conveying belt, 1-3, tobacco storage bag; 2, picking mechanical arm, 2-1, effector, 2-2, mechanical arm body; 3, infrared laser sensor; 4, control unit. DETAILED DESCRIPTION

[0023] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0024] As Figure 1 shown, in the present embodiment, a tobacco plant positioning and picking method based on infrared laser sensing is provided, which is applied to a tobacco plant positioning and picking device, the tobacco plant positioning and picking device comprising a control unit 4, a mobile platform 1, an infrared laser sensor 3, and at least one picking mechanical arm 2, the picking mechanical arm 2 and the infrared laser sensor 3 being arranged on the mobile platform 1, the mobile platform 1, the picking mechanical arm 2, and the infrared laser sensor 3 all being in communication connection with the control unit 4, and the method comprising: S1: controlling the mobile platform 1 to advance at a set speed between tobacco rows through the control unit 4, while the infrared laser sensor 3 continuously emits laser light in the vertical direction of the advancing direction of the mobile platform 1; S2: when there is a tobacco plant within the detection range of the infrared laser sensor 3, the laser light emitted by the infrared laser sensor 3 is reflected by the tobacco plant, at which time the infrared laser sensor 3 receives the laser light reflected back by the tobacco plant and generates a DI signal; The control unit 4 serves as the system control core, receives and processes the DI signal of the infrared laser sensing, the DI signal (digital input signal) refers to a discrete signal input, usually only two states, high level (representing "1" or "ON") and low level (representing "0" or "OFF"). It is often used to detect the on-off state, button press or release, etc. discrete events, for example, a limit switch will close when the device reaches a certain position, outputting a high-level signal. The processing of the DI signal is relatively simple, because it does not require analog-to-digital conversion, the controller can directly read its state.

[0025] When the mobile platform 1 runs forward, the infrared laser sensor 3 continuously emits laser, when the tobacco plant enters the detection range of the sensor (within 100mm from the emission point), that is, the tobacco plant blocks the laser and forms effective reflection, the sensor triggers, the high and low levels of the sensor signal line change, the signal line is connected to the control unit 4, and the control unit 4 converts the change into a DI signal.

[0026] S3: The control unit 4 controls the mobile platform 1 to stop according to the DI signal, and calculates the distance between the tobacco plant and the infrared laser sensor 3; The infrared laser sensor 3 generates a corresponding DI signal each time it receives the laser reflected by the tobacco plant, and sends it to the control unit 4; According to the number of picking mechanical arms 2, when there is only one picking mechanical arm 2, the control unit 4 directly controls the mobile platform 1 to stop when receiving the DI signal; when the number of picking mechanical arms 2 is ≥2, the control unit 4 counts the DI signal, and controls the mobile platform 1 to stop when the count matches the number of picking mechanical arms 2.

[0027] S4: According to the position of the mobile platform 1 and the distance between the tobacco plant and the infrared laser sensor 3, the position of the tobacco plant in the horizontal plane is obtained; In this embodiment, the forward direction of the mobile platform 1 is the y-axis, the vertical direction of the forward direction of the mobile platform 1 is the x-axis, that is, the direction of emitting laser, and the vertical direction is the z-axis.

[0028] The infrared laser sensor 3 receives the laser reflected by the tobacco plant and generates a DI signal, and the control unit 4 controls the mobile platform 1 to stop according to the DI signal. When the mobile platform 1 stops, the infrared laser sensor 3 and the detected tobacco plant have the same y coordinate. Further, the picking mechanical arm 2 is arranged on the mobile platform 1, especially arranged in the laser emission direction of the infrared laser sensor 3. At this time, the picking mechanical arm 2 also has the same y coordinate with the detected tobacco plant, so that the y coordinate of the picking mechanical arm 2 when picking the tobacco plant is obtained. By calculating the distance between the tobacco plant and the infrared laser sensor 3, and since the relative position of the picking mechanical arm 2 and the infrared laser sensor 3 on the mobile platform 1 is fixed, the x coordinate of the picking mechanical arm 2 when picking the tobacco plant is obtained, and the position (x, y) of the tobacco plant in the horizontal plane is obtained.

[0029] S5: According to the position of the tobacco plant in the horizontal plane, the picking mechanical arm 2 performs picking action; When the picking mechanical arm 2 performs the picking action, the picking is performed in sequence from the bottom leaves to the top leaves of the tobacco plant at a starting height, which is 100 mm above the laser emitted by the infrared laser sensor 3 and 50 mm from the upper surface of the conveying belt. In this way, the starting height coordinate z of the picking mechanical arm 2 when picking the tobacco plant is determined, and the spatial position (x, y, z) of the picking mechanical arm 2 when working is completely determined. In this embodiment, only the x coordinate of the three coordinates of the picking mechanical arm 2 when working is obtained by calculating the emission distance of the infrared laser, and the other two parameters are directly obtained based on the preset position of the infrared laser sensor 3 after parking. The point position of the tobacco plant detection is relatively fixed to the preset point position of the picking mechanical arm 2 and fluctuates within a certain range. The point position is determined by a physical method and does not need to be converted in real time by an algorithm or a model. The end effector 2-1 has a certain fault tolerance space, which can ensure successful grabbing within the fluctuation range of the tobacco plant position positioned by the infrared laser. The picking mechanical arm 2 can complete the picking work according to the preset point as long as the tobacco plant can trigger the infrared laser sensor 3 and start the working program. This does not require complicated calculation and program, greatly improves the efficiency and reliability of tobacco plant positioning, and can be realized by a simple structure, saving cost and effectively reducing the occurrence of faults.

[0030] As shown in Figure 5 Based on the above obtained position (x, y, z), the specific steps of the picking mechanical arm 2 performing the picking action are as follows: Step 1: The control unit 4 sends a picking instruction to each picking mechanical arm 2 in the initial position, and each picking mechanical arm 2 synchronously performs the picking program on the corresponding tobacco plant; Step 2: The end effector 2-1 of the picking mechanical arm 2 moves to the position of the tobacco plant in the horizontal plane and the starting height; Step 3: After the end effector 2-1 of the picking mechanical arm 2 clamps the tobacco plant, it moves upward from the starting height, and the blade of the end effector 2-1 cuts the tobacco leaves to realize leaf detachment; According to the overall structure and the tobacco leaf picking process (picking from bottom to top), the position height z is located 100 mm above the light emitted by the infrared laser sensor 3 and about 50 mm from the upper surface of the conveying belt, which ensures that the end effector 2-1 of the picking mechanical arm 2 can reach the bottom of the stem to pick the lower tobacco leaves without colliding with the conveying belt.

[0031] Step 4: After the end effector 2-1 of the picking mechanical arm 2 reaches the preset height, the end effector 2-1 is opened, and the picking mechanical arm 2 returns to the initial position to complete the entire picking action.

[0032] The harvesting robotic arm 2 moves vertically upwards by wrapping around the tobacco stalks from bottom to top, cutting the mature tobacco leaves within the range to achieve precise layered harvesting. The harvesting process does not damage the unharvested tobacco leaves above, which can reduce the tobacco leaf damage rate.

[0033] Each time the infrared laser sensor 3 receives a laser beam reflected back from a tobacco plant, it generates a corresponding DI signal. The control unit 4 counts the DI signals, and when the count matches the number of harvesting robotic arms 2, it controls the moving platform 1 to stop. The intervals between the multiple harvesting robotic arms 2 are set according to the standard tobacco plant spacing in tobacco planting. After the infrared laser sensor 3 has accumulated the number of tobacco plants detected corresponding to the number of harvesting robotic arms 2, the moving platform 1 is controlled to stop. At this time, the infrared laser sensor 3 and the foremost harvesting robotic arm 2 correspond to the last tobacco plant, and the other harvesting robotic arms 2 naturally correspond one-to-one with the y-coordinates of the other detected tobacco plants. Based on the laser distance when detecting each tobacco plant, the coordinates (x, y) of the tobacco plants to be harvested by the multiple harvesting robotic arms 2 can be obtained.

[0034] This embodiment uses the simultaneous harvesting of two tobacco plants by two robotic arms 2 as an example. The system is initialized, and the required number of tobacco plants to be harvested collaboratively is set to N=2 (corresponding to the two robotic arms 2). The mobile platform 1 moves forward, and the infrared laser sensor 3 detects the tobacco plants sequentially. A counter is set inside the control unit 4. When a tobacco plant is detected for the first time, the counter increments by 1 (current value = 1), but the platform does not stop and continues moving. When the second tobacco plant is detected, the counter increments to 2 (equal to the set value N). The control unit 4 immediately commands the mobile platform 1 to stop. Subsequently, the control unit 4 performs task allocation: for example, instructing robotic arm 2A to harvest the first located tobacco plant, and simultaneously or shortly thereafter instructing robotic arm 2B to harvest the second tobacco plant. The control unit 4 waits for both robotic arms 2 to report that harvesting is complete, then resets the counter to zero and commands the mobile platform 1 to start moving forward.

[0035] It should be noted that the simultaneous harvesting by the multiple harvesting robotic arms 2 is based on the premise of tobacco planting standards, that is, the distance between tobacco plants is a standard 50cm, the arrangement interval of the harvesting robotic arms 2 is also set to 50cm, and the preset gripping points are also spaced 50cm apart. The working principle of the single harvesting robotic arm 2 is a modular replication mode, so theoretically, as long as the planting standards are met, multi-arm collaborative operation can be implemented to further improve work efficiency.

[0036] S6: After the picking action is completed, the control unit 4 instructs the moving platform 1 to continue moving forward and repeat S1~S5 until all tobacco plants are picked.

[0037] like Figures 2-4 As shown, this embodiment also provides a tobacco plant positioning and harvesting device based on infrared laser sensing, including: A mobile platform 1 is used to advance along the tobacco ridge at a set speed; An infrared laser sensor 3 is arranged on the mobile platform 1 and the laser emission direction is perpendicular to the advancing direction of the mobile platform 1; At least one picking mechanical arm 2 is arranged on the mobile platform 1 and located in the laser emission direction of the infrared laser sensor 3, the picking mechanical arm 2 comprises a mechanical arm body 2-2 and an executor 2-1 arranged at the end of the mechanical arm body 2-2, the mechanical arm body 2-2 is used to drive the executor 2-1 to move to the position of the tobacco plant to be picked, and the executor 2-1 is used to clamp the tobacco plant and cut the tobacco leaves; A control unit 4, the mobile platform 1, the picking mechanical arm 2 and the infrared laser sensor 3 are all in communication connection with the control unit 4.

[0038] The mobile platform 1 is a gantry type electric track chassis capable of advancing along the tobacco ridge and having the function of automatically aligning the row, which comprises a gantry 1-1, a tobacco conveying belt 1-2 and a tobacco storage bag 1-3; The middle part of the gantry 1-1 is used for the tobacco plant to pass through during the advancing process, and the bottom of the gantry 1-1 is provided with an electric track capable of advancing along the tobacco ridge and automatically aligning the row; The tobacco storage bag 1-3 is fixed on the uppermost side of the gantry 1-1 by bolts and is used for storing the picked tobacco leaves; The tobacco conveying belt 1-2 is L-shaped and is fixed symmetrically on the two sides of the gantry 1-1 by bolt connection, comprising a first conveying panel and a second conveying panel connected with each other, the first conveying panel is arranged at the bottom of the gantry 1-1 and is used for placing the picked tobacco leaves and conveying them to the second conveying panel, and the second conveying panel is arranged along the two side surfaces of the gantry 1-1 and is used for conveying the tobacco leaves from the first conveying panel to the tobacco storage bag 1-3.

[0039] Each of the two groups of tobacco conveying belts 1-2 is provided with an interval channel with a width of 100 mm in the middle part and is used for the tobacco plant to pass through during the advancing process.

[0040] The bottom front end of the tobacco conveying belt 1-2 is provided with a reserved hole position, and the infrared laser sensor 3 is fixedly connected to the reserved hole position through an infrared laser sensor 3 mounting base. The infrared laser sensor 3 is fixedly connected to the fixed hole position on the infrared laser sensor 3 mounting base through bolt connection to form an integral whole, and the integral whole is fixedly connected to the reserved hole position on the lower front end of the tobacco conveying belt 1-2 through bolt connection. The ear piece provided with the reserved mounting hole is also provided with a through hole for the laser to pass through, and the laser emitted by the infrared laser sensor 3 can pass through the through hole and be shot towards the tobacco plant.

[0041] The infrared laser sensor 3 is installed at the bottom of the mobile platform 1 near one side of the middle of the tobacco leaf conveying belt 1-2. The infrared laser sensor 3 is a diffuse reflection type infrared laser sensor 3 with adjustable detection distance, and its response time is less than 1 millisecond, and the effective detection distance is within 100 mm.

[0042] In this embodiment, the sensor installation height is: placed in the middle baffle below the tobacco leaf conveying belt 1-2, and the field test verification shows that this height is the closest position of the mobile platform 1 to the tobacco plant, and is exactly the position of the bottom of the tobacco plant stem. Usually, when tobacco is harvested, there is no tobacco leaf left at the bottom of the stem, and the tobacco rod is in an "exposed" state, which is conducive to the identification and positioning of the tobacco plant. At the same time, the sensor is installed in this way, which makes full use of the protection of the conveying belt frame and wraps it in a "natural barrier", reducing the risk of shielding and false touch of the sensor.

[0043] Sensor installation angle: the light emitted by the laser sensor needs to be perpendicular to the direction of movement of the mobile platform 1 and parallel to the horizontal plane. The purpose of this installation is to ensure that the light emitted by the laser is the shortest distance to detect the tobacco plant. Combined with the working principle of the sensor, the emitted laser receives the reflected light as the trigger signal, so this angle can ensure the accuracy and speed of detection.

[0044] The diffuse reflection type infrared laser sensor 3 is in a continuous laser emission state under the condition of being powered on, that is, it is always emitting laser when working. When detecting, the effective detection distance needs to be set (the effective detection distance refers to one half of the distance from the emitted laser to the reflected obstacle. The effective detection distance of the laser sensor on the market is usually 30mm-300mm, and only within the effective detection distance can the signal be triggered). According to the installation position of the sensor, the effective detection distance set in this embodiment is 100mm, that is, the tobacco plants within 100mm of the light emitted can be detected. The basis for setting 100mm is that the interval between the two conveying belts is 120mm, which is used for the passage of tobacco plants during the movement of the mobile platform 1. According to the research data, the diameter of the bottom of the current mature tobacco plant stem is >20mm, so the effective detection distance is set to 100mm.

[0045] The mechanical arm body 2-2 is fixed on the top beam of the gantry 1-1 through the mechanical arm mounting base, and is used for picking the tobacco plants passing through the middle of the gantry 1-1 and placing them on the first conveying panel of the tobacco leaf conveying belt 1-2.

[0046] The actuator 2-1 includes a scratch-proof device for clamping or guiding and a cutting device for cutting the petiole. At the same time, according to the installation position of the infrared laser sensor 3 and the effective trigger point range, the center point position of the clamping jaw of the end effector 2-1 of the picking mechanical arm 2 is preset in advance.

[0047] In the embodiment, the end effector 2-1 is connected to the end interface of the mechanical arm body 2-2 by a flange in a bolted manner, so as to be fixed firmly and become an integral whole, thereby constituting the picking mechanical arm 2. The end effector 2-1 comprises a driving motor, a connecting module, two groups of symmetrical cutting knife modules and a ball module which together constitute a mechanical gripper, and a flange.

[0048] The driving motor on the end effector 2-1 is connected to the mechanical arm body 2-2 through a flange, and the driving motor is connected together with the two groups of cutting knife modules and the ball module through the connecting module. The ball module is the anti-scratching device; and the cutting knife module is the cutting device for cutting leaf stalks.

[0049] The left half mechanical gripper mainly comprises an upper half part and a lower half part, the upper half part is the cutting knife module, and the lower half part is the ball module, and the two parts are concentrically arranged in a vertical direction. The left mechanical gripper mainly comprises a cutting knife, a cutting knife fixing bolt, a cutting knife mounting seat, a knife seat clamping ear piece, a knife clamping bolt, a ball mounting seat, an anti-scratching ball, an extension spring, a ball fixing bolt, a ball seat clamping ear piece and a ball module clamping bolt. The mechanical gripper comprises two groups of symmetrical semicircular cutting knife modules and anti-scratching ball modules. The cutting knife is semicircular, has a blade at an upward end to be sharp, and is beneficial to cutting off tobacco leaves. The lower end of the blade is uniformly holed, the blade is fixed to the inner side of the knife seat through the bolt, the balls are connected together through the spring, and are installed in the ball seat to have rolling and extension capabilities. The upper and lower half modules are connected to the connecting module through the ear pieces and the bolts in a communicating manner.

[0050] When the picking mechanical arm 2 is provided in plurality, the plurality of picking mechanical arms 2 are arranged at intervals of 50 cm along the advancing direction of the moving platform 1.

[0051] The embodiment also provides a computer system, which comprises a processor, a memory and a computer program stored in the memory and executable by the processor. The processor executes the computer program to implement the tobacco plant positioning and picking method based on infrared laser sensing.

[0052] The computer system can be a mobile phone, a desktop computer, a notebook computer, a palm computer, a cloud server and other computing devices. The computer system can comprise, but is not limited to, a processor and a memory. For example, the computer system can also comprise an input / output device, a network access device, a bus and the like.

[0053] The above description is only preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Improvements and changes made by those skilled in the art without departing from the technical concept of the present application should also be considered as falling within the protection scope of the present application.

Claims

1. A tobacco plant positioning and picking method based on infrared laser sensing, characterized in that, The application is applied to a tobacco plant positioning and picking device, which comprises a control unit, a moving platform, an infrared laser sensor and at least one picking mechanical arm, the picking mechanical arm and the infrared laser sensor are arranged on the moving platform, the moving platform, the picking mechanical arm and the infrared laser sensor are in communication connection with the control unit, and the method comprises the following steps: S1: the moving platform advances at a set speed between tobacco rows by controlling the control unit, and the infrared laser sensor continuously emits laser to the vertical direction of the advancing direction of the moving platform; S2: when there is a tobacco plant in the detection range of the infrared laser sensor, the laser emitted by the infrared laser sensor is reflected by the tobacco plant, at this time, the infrared laser sensor receives the laser reflected by the tobacco plant and generates a DI signal; S3: the control unit controls the moving platform to stop according to the DI signal, and calculates the distance between the tobacco plant and the infrared laser sensor; S4: the position of the tobacco plant in the horizontal plane is obtained according to the parking position of the moving platform and the distance between the tobacco plant and the infrared laser sensor; S5: the picking mechanical arm is controlled to perform a picking action according to the position of the tobacco plant in the horizontal plane; S6: after the picking action is completed, the control unit instructs the moving platform to continue to advance and repeat S1-S5 until the picking of all tobacco plants is completed.

2. The tobacco plant positioning and picking method based on infrared laser sensing according to claim 1, characterized in that, In S3, the control unit controls the moving platform to stop according to the DI signal, which comprises: The infrared laser sensor generates a corresponding DI signal every time it receives the laser reflected by the tobacco plant and sends it to the control unit; According to the number of picking mechanical arms, when there is only one picking mechanical arm, the control unit directly controls the moving platform to stop when it receives the DI signal; when the number of picking mechanical arms is greater than or equal to 2, the control unit counts the DI signals, and controls the moving platform to stop when the count matches the number of picking mechanical arms.

3. The tobacco plant positioning and picking method based on infrared laser sensing according to claim 1, characterized in that, When the picking mechanical arm performs the picking action, it picks from the bottom blade of the tobacco plant to the top blade in the order of the starting height; The starting height is 100 mm above the laser emitted by the infrared laser sensor and 50 mm away from the upper surface of the conveying belt.

4. The tobacco plant positioning and picking method based on infrared laser sensing according to claim 3, characterized in that, According to the position of the tobacco plant in the horizontal plane, the picking mechanical arm is controlled to perform a picking action, which comprises: Step 1: the control unit sends a picking instruction to each picking mechanical arm in the initial position, and each picking mechanical arm synchronously performs a picking program on the corresponding tobacco plant; Step 2: the actuator at the end of the picking mechanical arm moves to the position of the tobacco plant in the horizontal plane and the starting height; Step 3: after the actuator at the end of the picking mechanical arm clamps the tobacco plant, it moves upward from the starting height, and the blade of the actuator cuts the tobacco leaf to realize leaf removal; Step 4: after the actuator at the end of the picking mechanical arm reaches the preset height, the actuator is opened, and the picking mechanical arm returns to the initial position, completing the whole picking action.

5. A tobacco plant positioning and picking device based on infrared laser sensing, characterized in that, It comprises: a moving platform for advancing at a set speed between tobacco rows; an infrared laser sensor arranged on the moving platform and having a laser emission direction perpendicular to the advancing direction of the moving platform; at least one picking mechanical arm arranged on the moving platform and located in the laser emission direction of the infrared laser sensor, the picking mechanical arm comprising a mechanical arm body and an executor arranged at the end of the mechanical arm body, the mechanical arm body being used to drive the executor to move to the position of the tobacco plant to be picked, and the executor being used to clamp the tobacco plant and cut the tobacco leaves; a control unit, the moving platform, the picking mechanical arm and the infrared laser sensor being in communication connection with the control unit.

6. The tobacco plant positioning and picking device based on infrared laser sensing according to claim 5, characterized in that, The moving platform is a gantry type electric track chassis capable of advancing along the tobacco ridge and having the function of automatically aligning, the gantry type electric track chassis comprising a gantry, a tobacco conveying belt and a tobacco storage bag; The middle part of the gantry is used for the tobacco plant to pass through during the advancing process, and the bottom of the gantry is provided with an electric track capable of advancing along the tobacco ridge and automatically aligning; The tobacco storage bag is arranged on both sides of the gantry and is used for storing the picked tobacco leaves; The tobacco conveying belt comprises a first conveying panel and a second conveying panel connected with each other, the first conveying panel is arranged at the bottom of the gantry and is used for placing the picked tobacco leaves and conveying them to the second conveying panel, and the second conveying panel is arranged along the side of the gantry and is used for conveying the tobacco leaves from the first conveying panel to the tobacco storage bag.

7. The tobacco plant positioning and picking device based on infrared laser sensing according to claim 6, characterized in that, The tobacco conveying belt is provided with a group of tobacco conveying belts on both sides of the gantry, and an interval passage for the tobacco plant to pass through during the advancing process is left between the two groups of tobacco conveying belts. 8.The tobacco plant positioning and picking device based on infrared laser sensing of claim 6, wherein, The bottom of the tobacco conveying belt is provided with a reserved hole position, and the infrared laser sensor is fixedly connected to the reserved hole position through an infrared laser sensor mounting base.

9. The tobacco plant positioning and picking device based on infrared laser sensing according to claim 8, characterized in that, The infrared laser sensor is a diffuse reflection type infrared laser sensor with adjustable detection distance, and its response time is less than 1 millisecond, and the effective detection distance is within 100 mm.

10. The tobacco plant positioning and picking device based on infrared laser sensing according to claim 6, characterized in that, The mechanical arm body is fixed on the top cross beam of the gantry through a mechanical arm mounting base and is used for picking the tobacco plant passing through the middle part of the gantry and placing it on the first conveying panel of the tobacco conveying belt.

11. The tobacco plant positioning and picking device based on infrared laser sensing according to claim 5, characterized in that, The executor comprises a scratch-proof device for clamping or guiding and a cutting device for cutting the leaf stalk.

12. The tobacco plant positioning and picking device based on infrared laser sensing according to claim 5, characterized in that, When a plurality of picking mechanical arms are arranged, the plurality of picking mechanical arms are arranged at intervals of 50 cm along the advancing direction of the moving platform.

13. A computer system, characterized by The computer program comprises a processor, a memory and a computer program stored on the memory and executable by the processor, and the processor executes the computer program to realize the tobacco plant positioning and picking method based on the infrared laser sensor according to any one of claims 1-4.

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