Visual identification-based agave leaf acquisition device and acquisition method thereof

Abstract

The agave leaf collecting device comprises a walking vehicle body, a mechanical arm, a clamping mechanism, a cutting mechanism, a visual unit and a controller, the mechanical arm and the visual unit are installed on the walking vehicle body, the clamping mechanism is installed at the movable end of the mechanical arm, the clamping mechanism comprises two arc-shaped clamping jaws, and the two arc-shaped clamping jaws are arranged on the walking vehicle body. An arc-shaped limiting sliding groove is formed in the upper side of the clamping jaw, the cutting mechanism comprises a driving assembly and a cutting edge, the driving assembly is installed in the limiting sliding groove in a guiding and sliding mode, and the cutting edge is installed at the top of the driving assembly; the controller is electrically connected with the walking vehicle body, the mechanical arm, the clamping mechanism, the cutting mechanism and the visual unit. According to the agave cutting device, the agave is clamped through the two clamping jaws on the clamping mechanism, then the cutting mechanism on the clamping jaws moves, accordingly, agave blades are cut through the cutting edges on the cutting mechanism, and the whole device is simpler in structure.

Description

Technical Field

[0001] The present invention relates to the technical field of agave leaf collection, and in particular to an agave leaf collection device based on visual recognition and a collection method thereof. Background Art

[0002] Agave is a perennial plant. The fiber of agave leaves is widely used in many industrial applications due to its strength and toughness. Agave leaves also have medicinal value. At present, the collection of agave leaves is mostly done manually. However, since the edges of agave leaves are very sharp, it is easy to cut workers. The harvesting process requires a lot of physical labor. Therefore, a mechanical device that can be used to collect agave leaves is needed.

[0003] In the prior art, there are also devices for collecting plant leaves, such as Chinese patent document CN116897684A, published (announcement) date: 2023.10.20, which discloses a Curacao aloe harvesting vehicle and a harvesting method thereof. The document discloses clamping the aloe leaves by a clamping mechanism, cutting the clamped aloe leaves by a cutting mechanism, and driving the picking device and the opening and closing device to rotate by a rotating motor to peel off the aloe leaves, thereby realizing the picking of aloe leaves; however, its structure is complex and the equipment is large. When in use, a very wide road needs to be reserved for the movement of the equipment, but this greatly reduces the planting area. In addition, the structure of its cutting mechanism is also very complex. Summary of the invention

[0004] The purpose of the present invention is to provide an agave leaf collection device and a collection method based on visual recognition, in which the agave is clamped by two clamping claws on the clamping mechanism, and then the cutting mechanism on the clamping claws moves, so that the agave leaves are cut by the cutting blade on the cutting mechanism, and the structure of the entire device is simpler.

[0005] To achieve the above-mentioned objectives, the present invention provides an agave leaf collection device based on visual recognition, comprising a walking body, a robotic arm, a clamping mechanism, a cutting mechanism, a visual unit and a controller, wherein the robotic arm and the visual unit are respectively mounted on the walking body, the clamping mechanism is mounted on the movable end of the robotic arm, the clamping mechanism comprises two arc-shaped clamping jaws, an arc-shaped limiting groove is arranged on the upper side of the clamping jaws, the cutting mechanism comprises a driving assembly and a cutting blade, the driving assembly is guided and slidably mounted in the limiting groove, and the cutting blade is mounted on the top of the driving assembly; the controller is respectively electrically connected to the walking body, the robotic arm, the clamping mechanism, the cutting mechanism and the visual unit.

[0006] The driving assembly includes a slider, a slide and a driving motor, the driving motor is installed in the slide, the output shaft of the driving motor is rotatably connected to the slider, the cutting blade is installed on the slide, and a transmission gear is also fixedly installed on the output shaft of the driving motor; a guide bar and a rack are provided in the middle of the limiting slide groove, the slider is directional slidably installed in the limiting slide groove and is located below the guide bar and the rack, the slide is directional slidably installed in the limiting slide groove and is located above the guide bar and the rack, and the transmission gear is meshed with the rack for transmission.

[0007] The guide bar and the rack are installed in the limiting sliding groove through bolts.

[0008] The traveling vehicle body is also provided with a lighting lamp.

[0009] A box body is also installed on the traveling vehicle body.

[0010] A support seat is installed on the walking vehicle body, and the mechanical arm is installed on the support seat.

[0011] A boss is provided in the middle of the support seat, and the mechanical arm includes a first arm and a second arm, a first steering gear is installed on the first arm, a transmission shaft of the first steering gear is fixedly connected to the center hole of the boss, a second steering gear is installed on the second arm, a driving synchronous wheel is installed on the output shaft of the second steering gear, a driven shaft is installed inside one end of the second arm, a driven synchronous wheel is installed on the driven shaft, the driving synchronous wheel and the driven synchronous wheel are connected for transmission through a synchronous belt, one end of the driven shaft is fixedly connected to the boss on the first arm, and the other end of the second arm is connected to the clamping mechanism.

[0012] A support and a third steering gear are installed on one side of the clamping mechanism connected to the mechanical arm, and the end of the output shaft of the third steering gear is rotatably connected to the support. A fixing ring is installed on the other end of the second arm rod, and the fixing ring is located between the support and the third steering gear and is fixedly mounted on the output shaft of the third steering gear.

[0013] The clamping mechanism comprises a fixed frame, a fourth steering gear, a driving gear and a driven gear, wherein the fourth steering gear is installed in the fixed frame; The fourth steering gear has a dual output shaft, and the dual output shafts of the fourth steering gear respectively pass through the upper side and the lower side of the fixed frame, the two driving gears are respectively installed on the output shafts on both sides of the fourth steering gear, and the two driven gears are respectively rotatably installed on the upper side and the lower side of the fixed frame, and the driven gear on each side is meshed with the driving gear for transmission; A driving connecting rod is arranged on the driving gear, a driven connecting rod is arranged on the driven gear, and the clamping jaw is also provided with an extension section. The driving connecting rod and the driven connecting rod are pivotally connected to the extension sections of the two clamping jaws respectively. The first auxiliary rod and the second auxiliary rod are also rotatably installed on the upper and lower sides of the fixed frame. The first auxiliary rod and the second auxiliary rod are pivotally connected to the two clamping jaws respectively. The driving connecting rod is parallel to the first auxiliary rod, and the driven connecting rod is parallel to the second auxiliary rod.

[0014] The collection method using the agave leaf collection device based on visual recognition comprises the following steps: S1, the acquisition device identifies the location of the agave through the visual unit; S2, the walking vehicle body approaches the agave, and stops after adjusting its position according to the posture of the agave leaves, and the two clamping claws of the clamping mechanism open; S3, after the robotic arm drives the two clamping claws of the clamping mechanism to move to the lowermost leaf of the agave, the two clamping claws of the clamping mechanism clamp the stem of the agave; S4, the cutting mechanism is started, and the cutting mechanism moves from one end of the limiting slide groove of the clamping jaw to the other end, and in the process of moving, the leaves of the agave are cut by the cutting blade; S5. The jaws of the cutting mechanism are opened, and the clamping mechanism is moved to the upper layer of leaves, and then clamped to cut, or the collecting device is moved to the next pearl agave to cut the leaves.

[0015] Compared with the prior art, the present invention has the following technical effects: 1. The walking vehicle of the present invention is used to carry the mechanical arm, the clamping mechanism, the cutting mechanism, the visual unit and the controller for walking. The mechanical arm is used to carry the clamping mechanism and the cutting mechanism. The position and posture of the clamping mechanism are adjusted by the mechanical arm. The clamping mechanism is used to clamp the stem of the agave. The cutting mechanism is used to cut the leaves of the agave. The visual unit is used to identify the position of the agave and enable the walking vehicle to walk automatically. The visual unit also needs to identify the position of the stem and leaves of the agave so that the clamping mechanism can accurately clamp the agave. The controller is used to control the coordinated operation of the walking vehicle, the mechanical arm, the clamping mechanism, the cutting mechanism and the visual unit. When in use, the position of the agave is identified by the visual unit, the movement of the walking vehicle is controlled by the controller, the agave is clamped by the two clamps on the clamping mechanism, and then the cutting mechanism on the clamp moves, so that the agave leaves are cut by the cutting blade on the cutting mechanism, and the structure of the whole device is simpler.

[0016] 2. A box is also installed on the traveling vehicle body of the present invention. After the cutting mechanism cuts the leaves of the agave, the leaves fall to the ground. The leaves on the ground can be clamped and picked up by two clamping claws of the clamping mechanism and then placed in the box for collection.

[0017] 3. Based on visual recognition technology, the collection device can automatically collect data. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description: Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 A schematic diagram of a three-dimensional structure from another viewing angle of the present invention; Figure 3 It is a schematic diagram of the front view of the mechanical arm and the clamping mechanism of the present invention; Figure 4 It is a three-dimensional structural schematic diagram of the mechanical arm and the clamping mechanism of the present invention; Figure 5 It is a three-dimensional structural schematic diagram of the mechanical arm and the clamping mechanism of the present invention from another perspective; Figure 6 It is a three-dimensional structural schematic diagram of the clamping mechanism 4 of the present invention; Figure 7 A schematic diagram of the three-dimensional structure of one example of the cutting mechanism of the present invention; Figure 8 It is a three-dimensional structural schematic diagram of another example of the cutting mechanism of the present invention; Fig. 9 It is a schematic diagram of the cross-sectional structure of the clamping jaw of the present invention located at the cutting mechanism; Fig.10 It is a schematic diagram of the cutting mechanism cutting the agave leaves after the clamp of the present invention clamps the agave.

[0019] Reference numerals: Walking vehicle body 10, support seat 11, boss 12; Box 20; Mechanical arm 30, first arm 31, convex seat 311, second arm 32, driven shaft 321, first steering gear 33, transmission shaft 331, second steering gear 34, driving synchronous wheel 341, synchronous belt 342, fixing ring 35; Clamping mechanism 40, support 401, third steering gear 402, clamping claw 41, limiting slide groove 411, extension section 412, fixing frame 42, fourth steering gear 421, driving gear 422, driven gear 423, driving connecting rod 424, driven connecting rod 425, first auxiliary rod 426, second auxiliary rod 427; Cutting mechanism 50, slider 51, carriage 52, driving motor 53, transmission gear 54, cutting blade 55, guide bar 56, rack 57; Visual unit 60; lighting 70; Tequila 80. DETAILED DESCRIPTION

[0020] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0021] Embodiment 1: See also Figure 1-10 A agave leaf collection device based on visual recognition includes a walking body 10, a mechanical arm 30, a clamping mechanism 40, a cutting mechanism 50, a visual unit 60 and a controller, wherein the mechanical arm 30 and the visual unit 60 are respectively mounted on the walking body 10, the clamping mechanism 40 is mounted on the movable end of the mechanical arm 30, the clamping mechanism 40 includes two arc-shaped clamping claws 41, and an arc-shaped limiting groove 411 is arranged on the upper side of the clamping claw 41, the cutting mechanism 50 includes a driving component and a cutting blade 55, the driving component is guided and slidably mounted in the limiting groove 411, and the cutting blade 55 is mounted on the top of the driving component; the controller is electrically connected to the walking body 10, the mechanical arm 30, the clamping mechanism 40, the cutting mechanism 50 and the visual unit 60 respectively.

[0022] The walking body 10 is used to carry the mechanical arm 30, the clamping mechanism 40, the cutting mechanism 50, the visual unit 60 and the controller for walking. The mechanical arm 30 is used to carry the clamping mechanism 40 and the cutting mechanism 50. The position and posture of the clamping mechanism 40 are adjusted by the mechanical arm 30. The clamping mechanism 40 is used to clamp the stem of the agave 80. The cutting mechanism 50 is used to cut the leaves of the agave 80. The visual unit 60 is used to position the agave 80 and enable the walking body 10 to walk automatically. The visual unit 60 also needs to identify the position of the stem and leaves of the agave 80 so that the clamping mechanism 40 can accurately clamp the agave 80. The controller is used to control the coordinated operation of the walking body 10, the mechanical arm 30, the clamping mechanism 40, the cutting mechanism 50 and the visual unit 60.

[0023] In specific application, the traveling vehicle body 10 is provided with a storage battery. The traveling vehicle body adopts the existing technology, and the traveling vehicle body can be wheeled or crawler-type.

[0024] When in use, the position of the agave 80 is identified by the visual unit 60, the walking body 10 is controlled to move by the controller, the agave 80 is clamped by the two clamping claws 41 on the clamping mechanism 40, and then the cutting mechanism 50 on the clamping claw 41 moves, so that the agave leaves are cut by the cutting blade 55 on the cutting mechanism 50, and the structure of the whole device is simpler.

[0025] In this embodiment, see Figure 7-9 The driving assembly includes a slider 51, a slide 52 and a driving motor 53. The driving motor 53 is installed in the slide 52. The output shaft of the driving motor 53 is rotatably connected to the slider 51. The cutting blade 55 is installed on the slide 52. A transmission gear 54 is also fixedly installed on the output shaft of the driving motor 53. A guide bar 56 and a rack 57 are provided in the middle of the limiting slide groove 411. The slider 51 is directional and slidably installed in the limiting slide groove 411 and is located below the guide bar 56 and the rack 57. The slide 52 is directional and slidably installed in the limiting slide groove 411 and is located above the guide bar 56 and the rack 57. The transmission gear 54 is meshed with the rack 57 for transmission.

[0026] See also Fig. 9 The guide bar 56 and the rack 57 divide the limiting slide 41 into a lower slide and an upper slide. The slider 51 slides in the lower slide, and the carriage 52 slides in the upper slide. The output shaft of the driving motor 53 is connected to the slider 51 through a bearing. When the output shaft of the driving motor 53 rotates, the transmission gear 54 is driven to rotate, so that the slider 51 and the carriage 52 slide in a directional manner. When the carriage 52 moves, the cutting blade 55 is driven to move. The driving motor 53 can be powered by a spiral cable, and the cable is inserted from the carriage 52 to connect with the driving motor 53.

[0027] exist Figure 7 , 8 In FIG. 5 , two embodiments of the cutting blade 55 are shown. In addition to the above-mentioned structure, the cutting blade 55 may also adopt a transverse structure, that is, the cutting edge of the cutting blade is facing the stem of the agave 80 .

[0028] Further, in order to facilitate the installation of the guide bar 56 and the rack 57, it is also convenient to install the cutting mechanism 50. Fig. 9 The guide bar 56 and the rack 57 are respectively installed in the limiting sliding groove 411 by bolts.

[0029] See also Figure 1 A lighting lamp 70 is also installed on the walking vehicle body 10 to provide supplementary light for the visual unit 60.

[0030] See also Figure 1 , 2 The box 20 is also installed on the walking vehicle body 10. After the cutting mechanism 50 cuts the leaves of the agave 80, the leaves fall to the ground. The leaves on the ground can be clamped and picked up by the two clamping claws 41 of the clamping mechanism 40 and then placed in the box 20 for collection.

[0031] In this embodiment, see Figure 2A support base 11 is installed on the walking vehicle body 10, and the mechanical arm 30 is installed on the support base 11. The support base 11 provides an installation foundation and support for the mechanical arm 30, and plays a role of counterweight.

[0032] In this embodiment, see Figure 2-5 A boss 12 is provided in the middle of the support seat 11, and the mechanical arm 30 includes a first arm 31 and a second arm 32. A first steering gear 33 is installed on the first arm 31, and a transmission shaft 331 of the first steering gear 33 is fixedly connected to the center hole of the boss 12. A second steering gear 34 is installed on the second arm 32, and a driving synchronous wheel 341 is installed on the output shaft of the second steering gear 34. A driven shaft 321 is installed inside one end of the second arm 32, and a driven synchronous wheel is installed on the driven shaft 321. The driving synchronous wheel 341 and the driven synchronous wheel are connected for transmission through a synchronous belt 342. One end of the driven shaft 321 is fixedly connected to the boss 311 on the first arm 31, and the other end of the second arm 32 is connected to the clamping mechanism 40. Through the first steering gear 33, when the transmission shaft 331 rotates, the clamping mechanism 40 is rotated to adjust the left and right position. Through the second steering gear 34, the second steering gear 34 drives the synchronous belt 342 to rotate, thereby driving the driven shaft 321 to rotate, thereby driving the second arm 32 to rotate, so as to adjust the height of the clamping mechanism 40.

[0033] For further information, see Figure 4 A support 401 and a third steering gear 402 are installed on one side of the clamping mechanism 40 connected to the mechanical arm 30. The output shaft end of the third steering gear 402 is rotatably connected to the support 401. A fixing ring 35 is installed on the other end of the second arm 32. The fixing ring 35 is located between the support 401 and the third steering gear 402 and is fixedly mounted on the output shaft of the third steering gear 402. Through the third steering gear 402, when the output shaft of the third steering gear 402 rotates, the pitch angle of the clamping mechanism 40 is adjusted.

[0034] See also Figure 6The clamping mechanism 40 includes a fixed frame 42, a fourth steering engine 421, a driving gear 422 and a driven gear 423. The fourth steering engine 421 is installed in the fixed frame 42. The fourth steering engine 421 has a double output shaft. The double output shafts of the fourth steering engine 421 pass through the upper side and the lower side of the fixed frame 42 respectively. The two driving gears 422 are respectively installed on the output shafts on both sides of the fourth steering engine 421. The two driven gears 423 are respectively rotatably installed on the upper side and the lower side of the fixed frame 42. The driven gear 423 on each side is meshed with the driving gear 422 for transmission. The driving gear The wheel 422 is provided with a driving link 424, the driven gear 423 is provided with a driven link 425, the clamping jaw 41 is also provided with an extension section 412, the driving link 424 and the driven link 425 are respectively pivotally connected to the extension sections 412 of the two clamping jaws 41, and the upper and lower sides of the fixed frame 42 are also rotatably mounted with a first auxiliary rod 426 and a second auxiliary rod 427, the first auxiliary rod 426 and the second auxiliary rod 427 are respectively pivotally connected to the two clamping jaws 41, the driving link 424 is parallel to the first auxiliary rod 426, and the driven link 425 is parallel to the second auxiliary rod 427. Through the above structure, when the dual output shafts of the fourth steering engine 421 rotate, the two clamping jaws 41 are driven to synchronously approach and move away from each other, and when the two clamping jaws 41 are synchronously approached, the stem of the agave 80 is held and fixed.

[0035] Embodiment 2: The collection method using the agave leaf collection device based on visual recognition comprises the following steps: S1. The collecting device identifies the position of the agave 80 through the visual unit 60. The agave 80 is located through the visual unit 60 to confirm the position of the agave 80, the position of the leaves, and the size of the stem.

[0036] S2, the traveling vehicle body 10 approaches the agave 80, adjusts its position according to the posture of the leaves of the agave 80, and then stops, and the two clamping claws 41 of the clamping mechanism 40 are opened.

[0037] S3 , after the robot arm 30 drives the two clamping claws 41 of the clamping mechanism 40 to move to the lowermost leaf of the agave 80 , the two clamping claws 41 of the clamping mechanism 40 clamp the stem of the agave 80 .

[0038] S4, the cutting mechanism 50 is started, and the cutting mechanism 50 moves from one end of the limiting slide groove 411 of the clamping jaw 41 to the other end. During the movement, the leaves of the agave 80 are cut by the cutting blade 55.

[0039] S5. The clamping claw 41 of the cutting mechanism 50 is opened, and the clamping mechanism 40 moves to the upper layer of leaves, and then clamps to cut, or the collecting device moves to the next pearl agave 80 to cut the leaves.

[0040] When the box 20 is also installed on the traveling vehicle body 10, after the cutting mechanism 50 cuts the leaves of the agave 80, the leaves fall to the ground. The leaves on the ground can be clamped and picked up by the two clamping claws 41 of the clamping mechanism 40 and then placed in the box 20 for collection.

Claims

1. A device for collecting agave leaves based on visual recognition, characterized in that: The invention comprises a walking vehicle body (10), a mechanical arm (30), a clamping mechanism (40), a cutting mechanism (50), a visual unit (60) and a controller, wherein the mechanical arm (30) and the visual unit (60) are respectively mounted on the walking vehicle body (10), the clamping mechanism (40) is mounted on the movable end of the mechanical arm (30), the clamping mechanism (40) comprises two arc-shaped clamping claws (41), and an arc-shaped limiting sliding groove (411) is arranged on the upper side of the clamping claws (41), the cutting mechanism (50) comprises a driving component and a cutting blade (55), the driving component is guided and slidably mounted in the limiting sliding groove (411), and the cutting blade (55) is mounted on the top of the driving component; and the controller is respectively electrically connected to the walking vehicle body (10), the mechanical arm (30), the clamping mechanism (40), the cutting mechanism (50) and the visual unit (60).

2. The agave leaf collection device based on visual recognition according to claim 1, characterized in that: The driving assembly comprises a slider (51), a slide (52) and a driving motor (53); the driving motor (53) is mounted in the slide (52); the output shaft of the driving motor (53) is rotatably connected to the slider (51); the cutting blade (55) is mounted on the slide (52); and a transmission gear (54) is fixedly mounted on the output shaft of the driving motor (53); a guide bar (56) and a rack (57) are arranged in the middle of the limiting slide groove (411); the slider (51) is directional and slidably mounted in the limiting slide groove (411) and is located below the guide bar (56) and the rack (57); the slide (52) is directional and slidably mounted in the limiting slide groove (411) and is located above the guide bar (56) and the rack (57); and the transmission gear (54) is meshed with the rack (57) for transmission.

3. The agave leaf collection device based on visual recognition according to claim 2, characterized in that: The guide bar (56) and the rack (57) are installed in the limiting sliding groove (411) by means of bolts.

4. The agave leaf collection device based on visual recognition according to claim 1, characterized in that: The traveling vehicle body (10) is also equipped with an illumination lamp (70).

5. The agave leaf collection device based on visual recognition according to claim 1, characterized in that: A box body (20) is also installed on the traveling vehicle body (10).

6. The agave leaf collection device based on visual recognition according to claim 1, characterized in that: A support seat (11) is mounted on the walking vehicle body (10), and a mechanical arm (30) is mounted on the support seat (11).

7. The agave leaf collection device based on visual recognition according to claim 6, characterized in that: A boss (12) is provided in the middle of the support seat (11); the mechanical arm (30) comprises a first arm (31) and a second arm (32); a first steering gear (33) is mounted on the first arm (31); a transmission shaft (331) of the first steering gear (33) is fixedly connected to the center hole of the boss (12); a second steering gear (34) is mounted on the second arm (32); a driving synchronous wheel (341) is mounted on the output shaft of the second steering gear (34); a driven shaft (321) is mounted inside one end of the second arm (32); a driven synchronous wheel is mounted on the driven shaft (321); the driving synchronous wheel (341) and the driven synchronous wheel are connected for transmission via a synchronous belt (342); one end of the driven shaft (321) is fixedly connected to a boss (311) on the first arm (31); and the other end of the second arm (32) is connected to a clamping mechanism (40).

8. The agave leaf collection device based on visual recognition according to claim 7, characterized in that: A support (401) and a third steering gear (402) are installed on one side of the clamping mechanism (40) connected to the mechanical arm (30); the end of an output shaft of the third steering gear (402) is rotatably connected to the support (401); a fixing ring (35) is installed on the other end of the second arm (32); the fixing ring (35) is located between the support (401) and the third steering gear (402), and is fixedly sleeved on the output shaft of the third steering gear (402).

9. The agave leaf collection device based on visual recognition according to claim 1, characterized in that: The clamping mechanism (40) comprises a fixed frame (42), a fourth steering gear (421), a driving gear (422) and a driven gear (423), wherein the fourth steering gear (421) is installed in the fixed frame (42); The fourth steering gear (421) has dual output shafts, the dual output shafts of the fourth steering gear (421) respectively pass through the upper side and the lower side of the fixed frame (42), the two driving gears (422) are respectively mounted on the output shafts on both sides of the fourth steering gear (421), the two driven gears (423) are respectively rotatably mounted on the upper side and the lower side of the fixed frame (42), and the driven gears (423) on each side are meshed with the driving gears (422) for transmission; The driving gear (422) is provided with a driving connecting rod (424), the driven gear (423) is provided with a driven connecting rod (425), the clamping jaw (41) is further provided with an extension section (412), the driving connecting rod (424) and the driven connecting rod (425) are respectively pivotally connected to the extension sections (412) of the two clamping jaws (41), and the fixing frame (42) is further rotatably mounted with a first auxiliary rod (426) and a second auxiliary rod (427) on the upper and lower sides, the first auxiliary rod (426) and the second auxiliary rod (427) are respectively pivotally connected to the two clamping jaws (41), the driving connecting rod (424) is parallel to the first auxiliary rod (426), and the driven connecting rod (425) is parallel to the second auxiliary rod (427).

10. A collection method using the agave leaf collection device based on visual recognition as described in any one of claims 1 to 9, characterized in that: The following steps are involved: S1, the acquisition device identifies the position of the agave (80) through the visual unit (60); S2, the walking vehicle body (10) approaches the agave (80), adjusts its position according to the posture of the leaves of the agave (80), and then stops, and the two clamping claws (41) of the clamping mechanism (40) are opened; S3, after the mechanical arm (30) drives the two clamping claws (41) of the clamping mechanism (40) to move to the lowermost leaf of the agave (80), the two clamping claws (41) of the clamping mechanism (40) clamp the stem of the agave (80); S4, the cutting mechanism (50) is started, and the cutting mechanism (50) moves from one end of the limiting slide groove (411) of the clamping claw (41) to the other end, and in the process of moving, the leaves of the agave (80) are cut by the cutting blade (55); S5. The clamping claw (41) of the cutting mechanism (50) is opened, and the clamping mechanism (40) is moved to the upper layer of leaves, and then clamped to cut, or the collecting device is moved to the next pearl agave (80) to cut the leaves.

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