A tobacco leaf picking and collecting device and method

Abstract

This invention relates to a tobacco leaf harvesting and collection device and method, comprising a collection mechanism, a cutting mechanism, a moving mechanism, and a control mechanism. A rotating base is installed inside a collection box, and a robotic arm is mounted on the rotating base. The robotic arm includes a main body and a collection component. The collection component is installed at the end of the main body, and includes two tobacco leaf collection bins and two collection blades. The collection blades are installed on the inner side of the tobacco leaf collection bins. A camera is mounted on the main body of the robotic arm and is communicatively connected to the robotic arm. The cutting mechanism is used to cut the tobacco stalks after the tobacco leaves have been collected. The moving mechanism is used to drive the collection box to move. The technical solution of this application, on the one hand, achieves a high degree of automation by moving the collection box to the tobacco stalks to be collected through the cooperation of the moving mechanism and the control mechanism. On the other hand, the cooperation of the camera and the robotic arm enables the automatic collection of all tobacco leaves from the tobacco stalks to be collected into the collection box in one go, improving harvesting efficiency.

Description

Technical Field

[0001] This invention relates to the field of tobacco leaf harvesting and collection, and particularly to a tobacco leaf harvesting and collection device and method. Background Technology

[0002] Currently, tobacco leaves are generally harvested manually, which has limited efficiency. Therefore, in order to reduce labor intensity and improve tobacco leaf harvesting efficiency, some tobacco leaf harvesting and collection devices have begun to be used.

[0003] For example, patent CN217336488U, entitled "A Small Automatic Tobacco Leaf Harvesting Vehicle," describes a device that drives the vehicle to automatically travel along the paths between the rows of tobacco fields, while workers follow closely behind to harvest the tobacco leaves and place them in collection bags. Although this reduces labor intensity, it requires manual harvesting in conjunction with the machine, resulting in very low efficiency.

[0004] The patent with publication number CN221127986U, entitled "A Tobacco Leaf Harvesting Robot," uses a depth camera to accurately identify the position of tobacco leaves on each tobacco plant, enabling an articulated robot to lead an electric gripper to individually remove each leaf. While this method offers a high degree of automation, the efficiency of harvesting tobacco leaves one by one by the robotic arm is too low. Summary of the Invention

[0005] Therefore, there is a need to provide a tobacco leaf picking and collecting device and method to solve the technical problem of low picking efficiency of existing tobacco leaf picking and collecting devices.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a tobacco leaf picking and collecting device, comprising:

[0007] The collection mechanism includes a collection box, a rotating base, a robotic arm, and a camera. The rotating base is installed inside the collection box, and the robotic arm is installed on the rotating base. The rotating base is used to drive the robotic arm to rotate 360°. The robotic arm includes a robotic arm body and a collection component. The collection component is installed at the end of the robotic arm body. The collection component includes two tobacco leaf collection bins and two collection blades. The collection blades are installed on the inner side of the tobacco leaf collection bins. The two collection blades are arranged opposite to each other. The camera is installed on the robotic arm body and is communicatively connected to the robotic arm. The robotic arm is used to control the collection component to collect tobacco leaves based on the image data collected by the camera in real time.

[0008] The cutting mechanism is installed at the bottom of the collection box and is used to cut the tobacco stems after the tobacco leaves have been collected.

[0009] The moving mechanism is installed on both sides of the collection box and is used to drive the collection box to move.

[0010] The control mechanism is communicatively connected to the acquisition mechanism, the cutting mechanism, and the moving mechanism.

[0011] In one embodiment of the present invention, the cutting mechanism includes a cutting fixing plate, a cutting connecting rod, a cutting base, two or more cutting blades, and a cutting power assembly. The cutting fixing plate is installed at the bottom of the collection box. The cutting connecting rod is L-shaped, with one end connected to the bottom of the cutting fixing plate and the other end connected to the cutting base. The cutting base is located at the front end of the collection box, and two or more cutting blades are evenly distributed around its circumference. The cutting power assembly is connected to the cutting base and is used to drive the cutting base to rotate so that the two or more cutting blades cut the tobacco stems after the tobacco leaves have been collected.

[0012] In one embodiment of the present invention, the cutting power assembly includes a first cutting motor, which is mounted on a cutting chassis and is used to drive the cutting chassis to rotate.

[0013] In one embodiment of the present invention, the cutting power assembly further includes a second cutting motor, a first connecting rod, a first bevel gear, a second bevel gear, a second connecting rod, a third bevel gear, and a fourth bevel gear. The second cutting motor is installed at the bottom of the cutting fixed plate and is connected to the first connecting rod. The first connecting rod is connected to the first bevel gear, the first bevel gear meshes with the second bevel gear, the second bevel gear is connected to the second connecting rod, the second connecting rod is connected to the third bevel gear, the third bevel gear is connected to the fourth bevel gear, and the fourth bevel gear is installed on the cutting chassis. The second cutting motor is used to drive the cutting chassis to rotate.

[0014] In one embodiment of the present invention, the moving mechanism includes two sets of moving components, which are respectively installed on both sides of the collection box. Each moving component includes a frame, two tires, a moving motor, a rotating shaft, two drive sprockets, two chains, and two driven sprockets. A tire is installed at the front end and the rear end of the frame. The moving motor is installed inside the frame and is connected to the rotating shaft. A drive sprocket is installed on each side of the rotating shaft. The drive sprockets are connected to the driven sprockets via chains. The driven sprockets are installed on the tires. The moving motor is used to drive the tires to rotate, thereby moving the collection box.

[0015] In one embodiment of the present invention, the moving mechanism further includes a connecting shaft, with its two sides respectively hinged to two sets of moving components, and the connecting shaft is used to allow the two sets of moving components to rotate around it respectively.

[0016] In one embodiment of the present invention, the acquisition component further includes two acquisition sensors, which are installed on the inner side of the acquisition blade and are communicatively connected to the robotic arm. The robotic arm is used to control the closing of the acquisition blade based on the position data of the acquisition blade and the cigarette rod detected by the acquisition sensors.

[0017] In one embodiment of the present invention, the collection mechanism further includes a weighing sensor, which is installed at the bottom of the collection box and is communicatively connected to the control mechanism. The control mechanism is used to control the movement of the moving mechanism based on the weight data of the tobacco leaves in the collection box detected by the weighing sensor.

[0018] In one embodiment of the present invention, the control mechanism includes a control box and a battery box. The control box is communicatively connected to the acquisition mechanism, the cutting mechanism, the moving mechanism and the battery box, respectively. The battery box is connected to the acquisition mechanism, the cutting mechanism and the moving mechanism, respectively.

[0019] To achieve the above objectives, in a second aspect, the inventors provide a method for harvesting and collecting tobacco leaves, comprising the tobacco leaf harvesting and collecting device as described in any of the above-mentioned claims, and further comprising the following steps:

[0020] S01: Set the initial position of the robotic arm and camera to be in the forward direction of the collection box;

[0021] S02: The control mechanism controls the movement of the mobile mechanism, and the mobile mechanism drives the collection box to move to the location of the smoke rod to be collected;

[0022] S03: The robotic arm controls the two tobacco leaf collection chambers to open and align with the root and stem of the tobacco stalk to be collected based on the image data collected in real time by the camera. After alignment, it controls the two tobacco leaf collection chambers to close. After closing, it controls the two collection blades to cut all the tobacco leaves on the tobacco stalk from bottom to top along the height direction of the tobacco stalk to be collected. The cut tobacco leaves automatically fall into the tobacco leaf collection chamber.

[0023] S04: After collecting all the tobacco leaves on the tobacco stem to be collected, the robotic arm rotates to the backward direction of the collection box, and then flips the collection component, so that the tobacco leaves collected in the tobacco leaf collection chamber fall into the collection box.

[0024] S05: The robotic arm and camera return to their initial positions. At the same time, the control mechanism starts the cutting mechanism and moves the moving mechanism. While the moving mechanism drives the collection box forward, the cutting mechanism cuts the tobacco stem after the tobacco leaves have been collected.

[0025] S06: The control mechanism controls the cutting mechanism to close and controls the moving mechanism to continue moving. The moving mechanism drives the collection box to move to the next tobacco stalk to be collected.

[0026] S07: Repeat steps S03 to S06 until the collection box is full of tobacco leaves.

[0027] Unlike existing technologies, the technical solution of this application, on the one hand, achieves a high degree of automation by using a combination of a moving mechanism and a control mechanism to move the collection box to the tobacco stalk to be collected. On the other hand, the combination of a camera and a robotic arm enables the automatic collection of all tobacco leaves from the stalk to be collected into the collection box in one go, improving harvesting efficiency. In addition, by setting up a cutting mechanism to cut the tobacco stalk after the tobacco leaves have been collected, the need for subsequent manual cutting of the stalk is avoided, reducing labor costs.

[0028] The above description of the invention is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0029] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of this application and other related content, and should not be considered as limitations on this application.

[0030] In the accompanying drawings of the instruction manual:

[0031] Figure 1 This is a schematic diagram of the structure of a tobacco leaf harvesting and collecting device according to an embodiment of this application. Figure 1 ;

[0032] Figure 2 This is a schematic diagram of the structure of a tobacco leaf harvesting and collecting device according to an embodiment of this application. Figure 2 ;

[0033] Figure 3 This is a schematic diagram of the structure of a data acquisition component according to an embodiment of this application;

[0034] Figure 4 This is a schematic diagram of the cutting mechanism according to one embodiment of this application;

[0035] Figure 5 This is another structural schematic diagram of the cutting mechanism according to one embodiment of this application;

[0036] Figure 6 This is a schematic diagram of the structure of a control mechanism mounted on a moving mechanism according to one embodiment of this application;

[0037] Figure 7 This is a schematic diagram of the structure of a tobacco leaf harvesting and collecting device according to an embodiment of this application. Figure 3 ;

[0038] Figure 8 This is a schematic diagram of the structure of a tobacco leaf harvesting and collecting device according to an embodiment of this application. Figure 4 .

[0039] The reference numerals used in the above figures are explained as follows:

[0040] 100-Tobacco leaf picking and collecting device; 1-Collection mechanism; 11-Collection box; 12-Rotating base; 13-Robotic arm; 131-Robotic arm body; 132-Collection component; 1321-Tobacco leaf collection bin; 1322-Collection blade; 1323-Collection sensor; 14-Camera; 2-Cutting mechanism; 21-Cutting fixing plate; 22-Cutting connecting rod; 23-Cutting chassis; 24-Cutting blade; 25-Cutting power component; 251-First cutting motor; 252-Second cutting... Motor; 253-First connecting rod; 254-First bevel gear; 255-Second bevel gear; 256-Second connecting rod; 257-Third bevel gear; 258-Fourth bevel gear; 3-Moving mechanism; 31-Moving assembly; 311-Frame; 312-Tire; 313-Moving motor; 314-Rotating shaft; 315-Driving sprocket; 316-Chain; 317-Driven sprocket; 32-Connecting shaft; 4-Control mechanism; 41-Control box; 42-Battery box; X-Direction of movement of the collection box. Detailed Implementation

[0041] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0042] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0043] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0044] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0045] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0046] Unless otherwise specified, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0047] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0048] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0049] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0050] According to some embodiments of this application, please refer to Figures 1 to 8 This embodiment relates to a tobacco leaf picking and collecting device 100, including a collecting mechanism 1, a cutting mechanism 2, a moving mechanism 3, and a control mechanism 4. The collecting mechanism 1 includes a collecting box 11, a rotating base 12, a robotic arm 13, and a camera 14. The rotating base 12 is installed inside the collecting box 11, and the robotic arm 13 is installed on the rotating base 12. The rotating base 12 is used to drive the robotic arm 13 to rotate 360°. The robotic arm 13 includes a robotic arm body 131 and a collecting component 132. The collecting component 132 is installed at the end of the robotic arm body 131. The collecting component 132 includes two tobacco leaf collecting bins 1321 and two collecting blades. 1322, A collection blade 1322 is installed on the inner side of the tobacco leaf collection bin 1321. The two collection blades 1322 are arranged opposite each other. A camera 14 is installed on the main body 131 of the robotic arm and is communicatively connected to the robotic arm 13. The robotic arm 13 is used to control the collection component 132 to collect tobacco leaves according to the image data collected in real time by the camera 14. A cutting mechanism 2 is installed at the bottom of the collection box 11 and is used to cut the tobacco stems after the tobacco leaves have been collected. A moving mechanism 3 is installed on both sides of the collection box 11 and is used to drive the collection box 11 to move. A control mechanism 4 is communicatively connected to the collection mechanism 1, the cutting mechanism 2 and the moving mechanism 3 respectively.

[0051] The collection box 11 is hollow inside, and the rotating base 12 is conical and installed at the bottom inside the collection box 11. Preferably, the rotating base 12 is installed in the middle of the bottom inside the collection box 11 to ensure the stability of the collection box 11. The rotating base 12 is provided with a rotating shaft 314 bearing, so it can drive the robotic arm 13 mounted on it to rotate. The robotic arm 13 is an existing industrial robotic arm 13, including joints, links, drivers, sensors, controllers, and end effectors. Among them, the joints have built-in servo motors to control the pitch and rotation movements of each segment of the robotic arm 13. In this embodiment, the end effector is the acquisition component 132. The robotic arm body 131 controls the rotation and position movement of the acquisition component 132, or controls the relative opening or closing of the two tobacco leaf collection chambers 1321, through image data fed back by the camera 14, so that the acquisition blade 1322 collects the tobacco leaves on the tobacco stem into the tobacco leaf collection chamber 1321. Among them, the acquisition blade 1322 is semi-circular, which can fit well with the tobacco stem.

[0052] The cutting mechanism 2 can be an existing cutting device. The cutting end of the cutting mechanism 2 is located at the front end of the collection box 11 and faces the forward direction X of the collection box.

[0053] The control mechanism 4 works in conjunction with the moving mechanism 3. The control mechanism 4 can control the moving mechanism 3 to move to a designated position using image data captured in real time by the camera 14.

[0054] The technical solution of this application, on the one hand, enables the collection box 11 to be moved to the tobacco stem to be collected through the cooperation of the moving mechanism 3 and the control mechanism 4, achieving a high degree of automation. On the other hand, through the cooperation of the camera 14 and the robotic arm 13, all tobacco leaves on the tobacco stem to be collected can be automatically collected into the collection box 11 in one go, improving harvesting efficiency.

[0055] According to some embodiments of this application, optionally, such as Figure 4 and Figure 5 As shown, the cutting mechanism includes a cutting fixing plate 21, a cutting connecting rod 22, a cutting base 23, two or more cutting blades 24, and a cutting power assembly 25. The cutting fixing plate 21 is installed at the bottom of the collection box 11. The cutting connecting rod 22 is L-shaped. One end of the cutting connecting rod 22 is connected to the bottom of the cutting fixing plate 21, and the other end of the cutting connecting rod 22 is connected to the cutting base 23. The cutting base 23 is located at the front end of the collection box 11. Two or more cutting blades 24 are evenly distributed around the edge of the cutting base 23. The cutting power assembly 25 is connected to the cutting base 23 and is used to drive the cutting base 23 to rotate so that the two or more cutting blades 24 cut the tobacco stems after the tobacco leaves have been collected.

[0056] like Figure 4As shown in this embodiment, six cutting blades 24 are evenly distributed around the edge of the cutting chassis 23. The cutting blades 24 are sharp and are connected to the cutting chassis 23 by bolts and have certain mobility characteristics, so that the cutting blades 24 can swing slightly when subjected to a large external force. That is, when encountering a hard object (such as a stone), the impact force can be reduced, protecting the cutting blades 24 and the cutting chassis 23.

[0057] By setting up a cutting mechanism 2 to cut the tobacco stems after the tobacco leaves have been harvested, the manual cutting of the tobacco stems can be avoided, thus reducing labor costs.

[0058] According to some embodiments of this application, optionally, such as Figure 4 As shown, the cutting power assembly 25 includes a first cutting motor 251, which is mounted on the cutting chassis 23 and is used to drive the cutting chassis 23 to rotate.

[0059] The cutting base 23 can be driven to rotate directly by the first cutting motor 251, thereby causing the cutting blade 24 mounted on the cutting base 23 to rotate synchronously to cut the tobacco stems after the tobacco leaves have been collected.

[0060] According to some embodiments of this application, optionally, such as Figure 5 As shown, the cutting power assembly 25 also includes a second cutting motor 252, a first connecting rod 253, a first bevel gear 254, a second bevel gear 255, a second connecting rod 256, a third bevel gear 257, and a fourth bevel gear 258. The second cutting motor 252 is installed at the bottom of the cutting fixing plate 21. The second cutting motor 252 is connected to the first connecting rod 253. The first connecting rod 253 is connected to the first bevel gear 254. The first bevel gear 254 meshes with the second bevel gear 255. The second bevel gear 255 is connected to the second connecting rod 256. The second connecting rod 256 is connected to the third bevel gear 257. The third bevel gear 257 is connected to the fourth bevel gear 258. The fourth bevel gear 258 is installed on the cutting chassis 23. The second cutting motor 252 is used to drive the cutting chassis 23 to rotate.

[0061] The second cutting motor 252 transmits power to the cutting chassis 23 via a bevel gear drive, thereby driving the cutting chassis 23 to rotate at high speed. Because the cutting blade 24 is connected to the cutting chassis 23, the rotation of the cutting chassis 23 directly drives the cutting blade 24 to rotate synchronously, achieving cutting. Compared to the direct drive of the first cutting motor 251, the second cutting motor 252 is located behind the cutting blade 24, avoiding interference with the cutting process of the cutting blade 24.

[0062] According to some embodiments of this application, optionally, such as Figure 2 and Figures 6 to 8As shown, the moving mechanism 3 includes two sets of moving components 31, which are respectively installed on both sides of the collection box 11. Each moving component 31 includes a frame 311, two tires 312, a moving motor 313, a rotating shaft 314, two drive sprockets 315, two chains 316, and two driven sprockets 317. A tire 312 is installed at the front end and the rear end of the frame 311. The moving motor 313 is installed inside the frame 311 and is connected to the rotating shaft 314. A drive sprocket 315 is installed on each side of the rotating shaft 314. The drive sprockets 315 are connected to the driven sprockets 317 via chains 316. The driven sprockets 317 are installed on the tires 312. The moving motor 313 is used to drive the tires 312 to rotate, so that the collection box 11 moves.

[0063] The mobile motor 313 transmits power to the rotating shaft 314 via bevel gears or gear transmission. Drive sprockets 315 are mounted on both sides of the rotating shaft 314. Therefore, the rotation of the rotating shaft 314 drives the drive sprockets 315 to rotate synchronously, which in turn drives the corresponding driven sprockets 317 via a chain 316, ultimately driving the two tires 312 to rotate, thus moving the collection box 11. Each side of the collection box 11 is equipped with a set of moving components 31, each driven by a separate mobile motor 313, ensuring the independence of both sides of the collection box 11. Steering can be achieved by adjusting the speed difference between the two mobile motors 313. Preferably, the tires 312 are large-diameter, coarse-tread tires, and the high ground clearance allows the tobacco leaf picking and collecting device 100 to traverse complex terrain such as stone blocks.

[0064] According to some embodiments of this application, optionally, such as Figure 2 and Figures 6 to 8 As shown, the moving mechanism 3 also includes a connecting shaft 32, with its two sides hinged to two sets of moving components 31 respectively. The connecting shaft 32 is used to make the two sets of moving components 31 rotate around it respectively.

[0065] The two sets of moving components 31 are connected by a connecting shaft 32, and both sides can rotate freely around the connecting shaft 32, ensuring the stability of the tobacco leaf picking and collecting device 100. Therefore, as Figure 7 and Figure 8 As shown, the tobacco leaf picking and collecting device 100 can be used in complex terrain (such as hilly areas) and has a wider range of applications.

[0066] According to some embodiments of this application, optionally, such as Figure 3As shown, the acquisition component 132 also includes two acquisition sensors 1323. The acquisition sensors 1323 are installed on the inner side of the acquisition blade 1322. The acquisition sensors 1323 are communicatively connected to the robotic arm 13. The robotic arm 13 is used to control the closing of the acquisition blade 1322 based on the position data of the acquisition blade 1322 and the cigarette rod detected by the acquisition sensors 1323.

[0067] By setting the sensor 1323 to detect the position data of the collecting blade 1322 and the tobacco stem, it can be determined whether the tobacco collection chamber 1321 is fully closed. If it is fully closed, tobacco collection begins; if it is not fully closed, the robotic arm 13 continues to control the tobacco collection chamber 1321 to close to the designated position, thereby ensuring that the collecting blade 1322 can be used on tobacco stems of different thicknesses, so that the collecting blade 1322 can effectively cut the tobacco. Optionally, the collecting sensor 1323 can be an infrared sensor, a position sensor, or a limit switch, etc.

[0068] According to some embodiments of this application, optionally, the collection mechanism 1 further includes a weighing sensor, which is installed at the bottom of the collection box 11. The weighing sensor is communicatively connected to the control mechanism 4, which controls the movement of the moving mechanism 3 based on the weight data of the tobacco leaves in the collection box 11 detected by the weighing sensor.

[0069] By setting a weighing sensor, the moving mechanism 3 is controlled to move to a designated position when the tobacco leaves in the collection box 11 reach a specified weight, and then the tobacco leaves in the collection box 11 are removed by the staff. After the tobacco leaves in the collection box 11 are emptied, the control mechanism 4 controls the moving mechanism 3 to move to the tobacco rod to be collected.

[0070] According to some embodiments of this application, optionally, such as Figure 1 and Figure 6 As shown, the control mechanism 4 includes a control box 41 and a battery box 42. The control box 41 is communicatively connected to the acquisition mechanism 1, the cutting mechanism 2, the moving mechanism 3 and the battery box 42, respectively. The battery box 42 is connected to the acquisition mechanism 1, the cutting mechanism 2 and the moving mechanism 3, respectively.

[0071] The control box 41 and the battery box 42 are respectively installed on both sides of the collection box 11. The battery box 42 provides power to various motors, while the control box 41 enables remote control and automated operation of the tobacco leaf picking and collecting device 100. Optionally, the control box 41 and the battery box 42 are also installed above the two sets of moving components 31.

[0072] To achieve the above objectives, in a second aspect, the inventors provide a method for harvesting and collecting tobacco leaves, including a tobacco leaf harvesting and collecting device 100, and further comprising the following steps:

[0073] S01: Set the initial position of the robotic arm 13 and the camera 14 to the forward direction X of the collection box;

[0074] S02: Control mechanism 4 controls the movement mechanism 3 to move, and the movement mechanism 3 drives the collection box 11 to move to the location of the smoke rod to be collected;

[0075] S03: The robotic arm 13 controls the two tobacco leaf collection chambers 1321 to open and align with the root part of the tobacco stem to be collected based on the image data collected in real time by the camera 14. After alignment, the robotic arm 13 controls the two tobacco leaf collection chambers 1321 to close. After closing, the robotic arm 13 controls the two collection blades 1322 to cut all the tobacco leaves on the tobacco stem from bottom to top along the height direction of the tobacco stem to be collected. The cut tobacco leaves automatically fall into the tobacco leaf collection chamber 1321.

[0076] S04: After collecting all the tobacco leaves on the tobacco stem to be collected, the robotic arm 13 rotates to the backward direction of the collection box 11, and then flips the collection component 132, so that the tobacco leaves collected in the tobacco leaf collection chamber 1321 fall into the collection box 11.

[0077] S05: The robotic arm 13 and camera 14 return to their initial positions. At the same time, the control mechanism 4 controls the cutting mechanism 2 to start and controls the moving mechanism 3 to move. While the moving mechanism 3 drives the collection box 11 to move forward, the cutting mechanism 2 cuts the tobacco stem after the tobacco leaves have been collected.

[0078] S06: Control mechanism 4 controls the cutting mechanism 2 to close and controls the moving mechanism 3 to continue moving. The moving mechanism 3 drives the collection box 11 to move to the next tobacco stalk to be collected.

[0079] S07: Repeat steps S03 to S06 until the collection box 11 is full of tobacco leaves.

[0080] In S02, it is important to note that the control mechanism 4 can control the movement of the moving mechanism 3 through the image data collected in real time by the camera 14, so that the tobacco leaf picking and collecting device 100 can move to the tobacco stem to be collected.

[0081] In S03, it is important to note that the image data collected in real time by the camera 14 can be used to determine whether the collecting blade 1322 cuts from the bottom to the top along the height direction of the tobacco stem to be collected, thereby ensuring that all tobacco leaves on the tobacco stem are collected.

[0082] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of the present invention. Therefore, any changes and modifications made to the embodiments described herein based on the innovative concept of the present invention, or equivalent structural or procedural transformations made using the content of the present invention's specification and drawings, directly or indirectly applying the above technical solutions to other related technical fields, are all included within the scope of patent protection of the present invention.

Claims

1. A tobacco leaf harvesting and collecting device, characterized in that, include: A collection mechanism includes a collection box, a rotating base, a robotic arm, and a camera. The rotating base is installed inside the collection box, and the robotic arm is installed on the rotating base. The rotating base is used to drive the robotic arm to rotate 360°. The robotic arm includes a robotic arm body and a collection component. The collection component is installed at the end of the robotic arm body. The collection component includes two tobacco leaf collection chambers and two collection blades. The collection blades are installed on the inner side of the tobacco leaf collection chambers and are arranged opposite to each other. The camera is installed on the robotic arm body and is communicatively connected to the robotic arm. The robotic arm is used to control the collection component to collect tobacco leaves based on the image data collected by the camera in real time. A cutting mechanism is installed at the bottom of the collection box and is used to cut the tobacco stems after the tobacco leaves have been collected. A moving mechanism is installed on both sides of the collection box, and the moving mechanism is used to drive the collection box to move; A control mechanism is provided, which is communicatively connected to the acquisition mechanism, the cutting mechanism, and the moving mechanism.

2. The tobacco leaf harvesting and collecting device according to claim 1, characterized in that, The cutting mechanism includes a cutting fixing plate, a cutting connecting rod, a cutting base, two or more cutting blades, and a cutting power assembly. The cutting fixing plate is installed at the bottom of the collection box. The cutting connecting rod is L-shaped, with one end connected to the bottom of the cutting fixing plate and the other end connected to the cutting base. The cutting base is located at the front end of the collection box, and two or more cutting blades are evenly distributed around its circumference. The cutting power assembly is connected to the cutting base and is used to drive the cutting base to rotate so that the two or more cutting blades cut the tobacco stems after the tobacco leaves have been collected.

3. The tobacco leaf harvesting and collecting device according to claim 2, characterized in that, The cutting power assembly includes a first cutting motor, which is mounted on the cutting chassis and is used to drive the cutting chassis to rotate.

4. The tobacco leaf harvesting and collecting device according to claim 2, characterized in that, The cutting power assembly further includes a second cutting motor, a first connecting rod, a first bevel gear, a second bevel gear, a second connecting rod, a third bevel gear, and a fourth bevel gear. The second cutting motor is mounted on the bottom of the cutting fixed plate. The second cutting motor is connected to the first connecting rod, the first connecting rod is connected to the first bevel gear, the first bevel gear meshes with the second bevel gear, the second bevel gear is connected to the second connecting rod, the second connecting rod is connected to the third bevel gear, the third bevel gear is connected to the fourth bevel gear, and the fourth bevel gear is mounted on the cutting chassis. The second cutting motor is used to drive the cutting chassis to rotate.

5. The tobacco leaf harvesting and collecting device according to claim 1, characterized in that, The moving mechanism includes two sets of moving components, which are respectively installed on both sides of the collection box. Each moving component includes a frame, two tires, a moving motor, a rotating shaft, two drive sprockets, two chains, and two driven sprockets. A tire is installed at the front end and the rear end of the frame. The moving motor is installed inside the frame and is driven by the rotating shaft. A drive sprocket is installed on each side of the rotating shaft and is driven by the chains. The driven sprockets are installed on the tires. The moving motor drives the tires to rotate, thereby moving the collection box.

6. The tobacco leaf harvesting and collecting device according to claim 5, characterized in that, The moving mechanism further includes a connecting shaft, with its two sides respectively hinged to the two sets of moving components. The connecting shaft is used to allow the two sets of moving components to rotate around it respectively.

7. The tobacco leaf harvesting and collecting device according to claim 1, characterized in that, The acquisition component also includes two acquisition sensors, which are installed on the inside of the acquisition blade and are communicatively connected to the robotic arm. The robotic arm is used to control the closing of the acquisition blade based on the position data of the acquisition blade and the cigarette rod detected by the acquisition sensors.

8. The tobacco leaf harvesting and collecting device according to claim 1, characterized in that, The data collection mechanism also includes a weighing sensor, which is installed at the bottom of the collection box. The weighing sensor is communicatively connected to the control mechanism, which controls the movement of the moving mechanism based on the weight data of the tobacco leaves in the collection box detected by the weighing sensor.

9. The tobacco leaf harvesting and collecting device according to claim 1, characterized in that, The control mechanism includes a control box and a battery box. The control box is communicatively connected to the acquisition mechanism, the cutting mechanism, the moving mechanism, and the battery box, respectively. The battery box is connected to the acquisition mechanism, the cutting mechanism, and the moving mechanism, respectively.

10. A method for harvesting and collecting tobacco leaves, characterized in that, The tobacco leaf harvesting and collecting device as described in any one of claims 1 to 9 further includes the following steps: S01: Set the initial position of the robotic arm and the camera to be in the forward direction of the collection box; S02: The control mechanism controls the movement of the moving mechanism, and the moving mechanism drives the collection box to move to the location of the smoke rod to be collected; S03: The robotic arm controls the two tobacco leaf collection chambers to open and align with the root and stem of the tobacco stem to be collected based on the image data collected in real time by the camera. After alignment, the robotic arm controls the two tobacco leaf collection chambers to close. After closing, the robotic arm controls the two collection blades to cut all the tobacco leaves on the tobacco stem from bottom to top along the height direction of the tobacco stem to be collected. The cut tobacco leaves automatically fall into the tobacco leaf collection chamber. S04: After collecting all the tobacco leaves on the tobacco rod to be collected, the robotic arm rotates to the reversing direction of the collection box, and then flips the collection component, so that the tobacco leaves collected in the tobacco leaf collection chamber fall into the collection box; S05: The robotic arm and the camera return to their initial positions. At the same time, the control mechanism controls the cutting mechanism to start and the moving mechanism to move. While the moving mechanism drives the collection box to move forward, the cutting mechanism cuts the tobacco stem after the tobacco leaves have been collected. S06: The control mechanism controls the cutting mechanism to close and controls the moving mechanism to continue moving. The moving mechanism drives the collection box to move to the next tobacco stalk to be collected. S07: Repeat steps S03 to S06 until the collection box is full of tobacco leaves.

Images