Small tobacco leaf harvesting machine and method capable of achieving lossless harvesting

Abstract

The small tobacco leaf harvesting machine comprises a chassis, a front-end mechanical arm and a rear-end mechanical arm are arranged at the two ends of the upper side of the chassis respectively, the front-end mechanical arm and the rear-end mechanical arm are connected with clamping jaws respectively, and each clamping jaw is provided with a depth camera; an electrical cabinet is arranged on the lower side of the chassis and electrically connected with the front-end mechanical arm and the rear-end mechanical arm. The invention relates to the technical field of tobacco leaf harvesting equipment, in particular to a small tobacco leaf harvesting machine and method capable of achieving lossless harvesting, the design that double mechanical arms are matched with a depth camera is adopted, the position and posture of tobacco leaves can be rapidly and accurately positioned, and damage to the tobacco leaves caused by blind actions of the mechanical arms is avoided through accurate detection of the depth camera; the tobacco leaves are directly picked by the flexible gripper at the tail end of the mechanical arm, tobacco stems and the tobacco leaves are not damaged, the harvesting action is flexible, the tobacco stems do not need to be clamped, and tobacco plants are not lodged.

Description

Technical Field

[0001] The present invention relates to the technical field of tobacco leaf harvesting equipment, and in particular to a small tobacco leaf harvester and method capable of achieving lossless harvesting. Background Art

[0002] Currently, tobacco harvesting relies primarily on manual picking or traditional mechanical harvesting. Manual picking is inefficient, labor-intensive, and subject to human error, leading to leaf damage and delayed harvesting, making it difficult to meet the harvesting needs of large-scale tobacco cultivation. Even the latest tobacco harvesters are typically bulky, weighing hundreds of kilograms, making them difficult to transport and operate in and out of the fields (where fields are low). Most harvesters still use rotating rubber blades to beat the leaves, which not only damages the leaves but also damages the stems (impacting the subsequent growth of the middle and top leaves) and causes the plants to fall. An investigation revealed that only one harvester used a robotic arm, but instead of directly picking the leaves, a claw grasped the stem and moved upward, where the blades on the claws cut the petiole, freeing the leaves from the stem. All harvesters require a conveyor belt or other device to collect the leaves that fall from the base into a higher basket. This not only increases the complexity of the harvester structure but also results in some leaves not being able to enter the basket.

[0003] Almost all harvesters lack a ridge-shifting function. After harvesting one ridge, they must retreat to their starting position, turn, and then reenter the adjacent ridge to continue harvesting. This often crushes many tobacco plants, impacting subsequent processing and economic benefits. Therefore, developing a tobacco harvester suitable for small tobacco fields that can achieve damage-free harvesting has become an urgent problem for the industry. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a small tobacco leaf harvester and method that can achieve lossless harvesting. The design of dual robotic arms and depth cameras can quickly and accurately locate the posture of tobacco leaves. The robotic arms drive the grippers to achieve automatic picking, which greatly improves the harvesting efficiency compared to manual picking. At the same time, the precise detection of the depth camera avoids the damage to the tobacco leaves caused by the blind movement of the robotic arms, meets the requirements of lossless harvesting, and ensures the quality of tobacco leaves. The flexible grippers at the end of the robotic arms directly pick tobacco leaves without causing damage to the tobacco stems and leaves. The harvesting action is flexible, and there is no need to clamp the tobacco stems, which will not cause the tobacco plants to fall over. Even if the tobacco plants (growth) are not arranged neatly, it will not affect the harvesting effect. The tobacco leaves can also be directly placed in the tobacco basket without the need for a conveyor belt mechanism.

[0005] A small tobacco leaf harvester capable of achieving lossless harvesting comprises a chassis, wherein a front end mechanical arm and a rear end mechanical arm are respectively provided at both ends of the upper side of the chassis, the front end mechanical arm and the rear end mechanical arm are respectively connected to a clamping jaw, and each of the clamping jaws is respectively provided with a depth camera; An electrical cabinet is provided on the lower side of the chassis, and the electrical cabinet is electrically connected to the front-end mechanical arm and the rear-end mechanical arm; The gripper is used to pick and release tobacco leaves, and the depth camera is used to detect the position and posture of the tobacco leaves; A tobacco basket is fixedly provided on the upper side of the chassis, and the tobacco basket can accommodate tobacco leaves picked by the clamping claws.

[0006] As a further limitation of the present technical solution, a pair of driving wheels is provided at one end of the lower side of the chassis, and a pair of follower wheels is provided at the other end of the lower side of the chassis, the driving wheels are respectively mounted on the driving wheel brackets, the driving wheel brackets are rotatably connected to the chassis via cross bearings, the driving wheel brackets are further connected to a driving wheel yaw drive unit, and the driving wheel yaw drive unit is used to drive the rotation and steering of the driving wheels; The follower wheels are respectively mounted on the follower wheel brackets, the follower wheel brackets are rotatably connected to the chassis via cross bearings, and the follower wheel brackets are also connected to a follower wheel yaw drive unit, which is used to drive the follower wheel to steer.

[0007] As a further limitation of the present technical solution, fixed ends of the robotic arm height adjustment units are respectively fixedly provided at both ends of the upper side of the chassis, the movable end of one robotic arm adjustment unit is fixedly connected to the front robotic arm, and the movable end of the other robotic arm adjustment unit is fixedly connected to the rear robotic arm.

[0008] As a further limitation of the present technical solution, a battery and a controller are also provided in the electrical cabinet, the controller is electrically connected to the battery, the controller and the depth camera transmit data, and the controller is electrically connected to the active wheel yaw drive unit, the follower wheel yaw drive unit, the front end robotic arm and the rear end robotic arm.

[0009] As a further limitation of this technical solution, the following steps are included: Step 1: Place the harvester at a suitable location in the tobacco field; Step 2: Start the device, and the depth camera starts working, detecting the position and posture of the tobacco leaves in real time and transmitting the data to the controller; Step 3: After analyzing and processing the data, the controller generates control instructions to drive the front-end and rear-end robotic arms to move the grippers to the tobacco leaf position. The grippers perform the picking action to grab the tobacco leaves and release the tobacco leaves into the tobacco basket after picking is completed.

[0010] Step 4: After completing the harvesting task, turn off the power of the equipment, clean and maintain the harvester, and prepare it for the next use.

[0011] As a further limitation of the present technical solution, during the harvesting process, the controller controls the driving wheel yaw drive unit and the follower wheel yaw drive unit according to a preset path or the operator's instructions, and adjusts the direction of the driving wheel and the follower wheel through the cross bearing to realize the forward, backward, turning and other actions of the harvester, so that the harvester moves and harvests in the tobacco field according to the planned path.

[0012] As a further limitation of the present technical solution, when harvesting tobacco leaves of different growth heights, such as bottom leaves, middle leaves and top leaves, the initial heights of the front and rear robotic arms are manually adjusted through the robotic arm height adjustment unit according to the actual situation of the tobacco field and the growth height of the tobacco leaves. After the adjustment, when harvesting, the robotic arm will control the movement trajectory of the gripper according to the position of the tobacco leaves detected by the depth camera to ensure that the gripper can accurately reach the position of the tobacco leaves for picking.

[0013] Compared with the prior art, the advantages and positive effects of the present invention are: The design of dual robotic arms combined with a depth camera can quickly and accurately locate the position of tobacco leaves. The robotic arms drive the grippers to achieve automated picking, which greatly improves the harvesting efficiency compared to manual picking. At the same time, the precise detection of the depth camera avoids damage to the tobacco leaves caused by the blind movement of the robotic arms, meets the requirements of lossless harvesting, and ensures the quality of the tobacco leaves. The flexible grippers at the end of the robotic arms directly pick the tobacco leaves without damaging the tobacco stems and leaves. The harvesting action is flexible, and there is no need to clamp the tobacco stems, which will not cause the tobacco plants to fall over. Even if the tobacco plants (growth) are not arranged neatly, it will not affect the harvesting effect. The tobacco leaves can also be directly placed in the tobacco basket without the need for a conveyor belt mechanism.

[0014] The active and follower wheels under the chassis work together, combined with the yaw drive unit and cross bearings, giving the harvester flexible steering capabilities. This allows it to move freely in small tobacco fields with complex terrain and adapt to different operating paths, effectively solving the problem of traditional large-scale harvesting equipment having difficulty operating in complex terrain. The height adjustment unit of the robotic arm can be flexibly adjusted according to the actual growth height of the tobacco leaves, so that the gripper can accurately reach the position of the tobacco leaves, expanding the adaptability of the harvester to tobacco leaves of different growth heights and further ensuring damage-free harvesting; The driving wheel yaw drive unit and the driven wheel yaw drive unit can accurately control the speed and steering angle under the control of the controller to ensure the smooth operation of the harvester and avoid damage to the tobacco leaves due to inaccurate movement. The harvester is small and portable, which is not only convenient for going up and down the field, but also can move flexibly in the tobacco field. Through the water diversion ditch around the ridge, the harvester can easily enter any ridge, that is, it will not crush the tobacco plants when moving ridges. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of this application and constitute a part of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation on this application. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without inventive effort. In the drawings: Figure 1 The present invention is a three-dimensional Figure 1 ; Figure 2 It is a front view of the present invention; Figure 3 is a side view of the present invention; Figure 4 The present invention is a three-dimensional Figure 2 .

[0016] In the figure: 1. Cigarette basket; 2. Front-end robotic arm; 3. Depth camera; 4. Gripper; 5. Robotic arm height adjustment unit; 6. Cross bearing; 7. Active wheel yaw drive unit; 8. Active wheel; 9. Active wheel bracket; 10. Chassis; 11. Electrical cabinet; 12. Follower wheel; 13. Follower wheel bracket; 14. Follower wheel yaw drive unit; 16. Rear-end robotic arm height adjustment unit; 17. Rear-end robotic arm; 18. First horizontal plate; 19. Second horizontal plate; 20. Inclined rod; 21. Worm gear reducer. DETAILED DESCRIPTION

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] A small tobacco leaf harvester capable of achieving lossless harvesting includes a chassis 10, with a front-end mechanical arm 2 and a rear-end mechanical arm 17 respectively provided at both ends of the upper side of the chassis 10. The front-end mechanical arm 2 and the rear-end mechanical arm 17 are respectively connected to a clamping jaw 4, and each of the clamping jaws 4 is respectively provided with a depth camera 3; An electrical cabinet 11 is provided on the lower side of the chassis 10 , and the electrical cabinet 11 is electrically connected to the front-end robotic arm 2 and the rear-end robotic arm 17 .

[0019] The gripper 4 is used to pick and release tobacco leaves (put tobacco leaves into the tobacco basket), and the depth camera 3 is used to detect the position and posture of the tobacco leaves; A tobacco basket 1 is fixedly provided on the upper side of the chassis 10 , and the tobacco basket 1 can accommodate tobacco leaves picked by the clamping claws 4 .

[0020] In this embodiment, the disk serves as the basic supporting structure of the harvester, carrying components such as the front-end robotic arm 2 and the rear-end robotic arm 17. The front-end and rear-end robotic arms 17 adjust their spatial positions through joint movements. The gripper 4 is installed at the end of the robotic arm to perform picking actions. The depth camera 3 calculates the three-dimensional spatial position of the object by emitting and receiving light based on the principle of optical imaging, thereby detecting the position of the tobacco leaves. The electrical cabinet 11 provides power and signal transmission channels for the entire system, connecting the front-end robotic arm 2 and the rear-end robotic arm 17 to ensure their normal operation. The dual-robotic arm design expands the working range of the harvester, can cover more tobacco leaves, and improve harvesting efficiency. The application of the depth camera 3 realizes accurate detection of the position of the tobacco leaves, provides data support for the precise operation of the robotic arm, avoids blind movement of the robotic arm to damage the tobacco leaves, and meets the needs of lossless harvesting. The electrical cabinet 11 centrally manages power and signals, making the system structure compact and easy to maintain and manage. After picking, the gripper 4 can put the tobacco leaves into the tobacco basket 1 for storage.

[0021] The depth camera 3 uses optical imaging principles such as structured light and binocular vision to collect three-dimensional spatial data of tobacco leaves, including position coordinates, shape outlines, and other information. The collected data is first filtered to remove noise interference, and then normalized and other preprocessing operations are performed to convert the data into a format suitable for algorithm processing so that the controller can accurately identify and analyze it. The controller uses a deep learning-based target recognition algorithm, such as a convolutional neural network (CNN), to analyze the pre-processed data. Through the trained model, it identifies the specific position and posture information of the tobacco leaves and calculates the target coordinates that the gripper 4 needs to reach. The controller uses the tobacco leaf position information obtained by the target recognition algorithm and the current position and posture of the harvester to plan the motion path of the robotic arm using a path planning algorithm (such as the A* algorithm, Dijkstra algorithm, etc.), ensuring that the robotic arm can reach the target position with the shortest path and optimal posture while avoiding collisions with surrounding tobacco leaves or other obstacles.

[0022] A pair of driving wheels 8 are provided at one end of the lower side of the chassis 10, and a pair of follower wheels 12 are provided at the other end of the lower side of the chassis 10. The driving wheels 8 are respectively mounted on the driving wheel brackets 9. The driving wheel brackets 9 are rotatably connected to the chassis 10 through cross bearings 6. The driving wheel brackets 9 are also connected to the driving wheel yaw drive unit 7, and the driving wheel yaw drive unit 7 is used to drive the rotation and steering of the driving wheel 8. The follower wheels 12 are respectively mounted on the follower wheel brackets 13 , and the follower wheel brackets 13 are rotatably connected to the chassis 10 via the cross bearings 6 . The follower wheel brackets 13 are also connected to the follower wheel yaw drive unit 14 , and the follower wheel yaw drive unit 14 is used to drive the follower wheel 12 to steer.

[0023] The driving wheel bracket 9 and the driven wheel bracket 13 have the same structure, and respectively include a horizontal plate 18, a horizontal plate 2 19 and a vertical plate 20. One side of the horizontal plate 18 and the horizontal plate 2 19 are respectively fixed to the vertical plate, and the other side of the horizontal plate 18 and the horizontal plate 2 19 are respectively fixed to another vertical plate 20. The driven wheel 12 and the driving wheel 8 are respectively rotatably connected to the corresponding vertical plate 20. The active wheel yaw drive unit 7 and the driven wheel yaw drive unit 14 respectively include a worm gear reducer 21 and a motor connected to the worm gear reducer 21, the motor is fixed on the flange of the worm gear reducer 21, the output shaft of the motor is fixedly connected to the input end of the worm gear reducer 21, the worm gear reducer 21 is fixedly installed between the horizontal plate 18 and the horizontal plate 2 19, and the worm gear reducer 21 is rotatably connected to the chassis 10.

[0024] In this embodiment, the input and output shafts of the worm gear reducer 21 are orthogonal: the output shaft is vertical and the input shaft is horizontal, which facilitates the arrangement of the motor. The axis of the cross bearing 6 is also vertical, but it is hollow, and its axis coincides with the axis of the output shaft of the worm gear reducer 21. The output shaft of the worm gear reducer 21 passes through the center hole of the cross bearing 6. In order to enhance the rigidity of the yaw drive unit 14, when the output shaft of the motor rotates, the corresponding entire driving wheel yaw drive unit 7 and the driven wheel yaw drive unit 14 can rotate in the opposite direction (the worm gear reducer 21 and the motor also rotate simultaneously), and the worm gear reducer will drive the corresponding driving wheel yaw drive unit 7 or the driven wheel yaw drive unit 14 to reverse direction. The driving wheel 8 is driven by the driving wheel yaw drive unit 7, which rotates the bracket relative to the chassis 10 via the cross bearing 6, thereby changing the direction and movement trajectory of the driving wheel 8. The follower wheel 12, under the action of the follower wheel yaw drive unit 14, also adjusts its direction via the cross bearing 6 and follows the movement of the driving wheel 8. The driving wheel 8 provides forward propulsion, and the follower wheel 12 assists in steering and supporting. The two work together to achieve the movement of the harvester. The coordination between the driving wheel 8 and the follower wheel 12, as well as the design of the yaw drive unit and the cross bearing 6, gives the harvester flexible steering capabilities, allowing it to move freely in complex field environments and adapt to different working path requirements. At the same time, this structural design improves the stability and maneuverability of the harvester, ensuring smooth harvesting operations.

[0025] Among them, the controller calculates the required speed and steering angle of the driving wheel 8 and the following wheel 12 through the kinematic model according to the planned harvesting path, and sends control instructions to the servo motor driving wheel yaw drive unit 7 and the following wheel yaw drive unit 14 to achieve precise movement and steering of the harvester.

[0026] The fixed ends of the robot arm height adjustment units 5 are respectively fixedly provided at both ends of the upper side of the chassis 10, the movable end of one of the robot arm adjustment units is fixedly connected to the front robot arm 2, and the movable end of the other robot arm adjustment unit is fixedly connected to the rear robot arm 17.

[0027] In this embodiment, the fixed end of the robotic arm height adjustment unit 5 is fixed on the chassis 10, and the movable end is connected to the robotic arm. The movable end is extended or raised and lowered by electric or manual adjustment, thereby adjusting the vertical height of the front robotic arm 2 and the rear robotic arm 17. In the present invention, the robotic arm height adjustment unit 5 adopts manual adjustment. Since the height of tobacco leaves varies during the growth process, the robotic arm height adjustment unit 5 can flexibly adjust the robotic arm height according to actual conditions, so that the clamping claw 4 reaches the tobacco leaf position for picking, thereby expanding the adaptability of the harvester to tobacco leaves of different growth heights and further ensuring lossless harvesting.

[0028] The electrical cabinet 11 is also provided with a battery and a controller, the controller is electrically connected to the battery, the controller and the depth camera 3 transmit data, and the controller is electrically connected to the active wheel yaw drive unit 7, the follower wheel yaw drive unit 14, the front end robotic arm 2 and the rear end robotic arm 17.

[0029] In this embodiment, the battery provides power for the entire harvester system. The controller serves as the core control component, receives the tobacco leaf position data detected by the depth camera 3, and after algorithm processing, sends control instructions to the active wheel yaw drive unit 7, the follower wheel yaw drive unit 14, the front manipulator 2 and the rear manipulator 17 to control the coordinated operation of each component.

[0030] The controller automates all functional components of the harvester, controlling the machine's travel speed and the yaw of the driving wheel 8 and the following wheel 12. It ensures seamless coordination between the depth camera 3, the movement of the front and rear manipulator arms 2 and 17, and the driving and following wheel yaw drive units 7 and 14, forming a highly efficient automated harvesting system. Battery power ensures the harvester's mobility, eliminating the need for an external power source and enhancing its flexibility and adaptability.

[0031] The method of using the present invention is as follows: placing the harvester at a suitable location in the tobacco field, and manually adjusting the initial heights of the front-end robotic arm 2 and the rear-end robotic arm 17 through the robotic arm height adjustment unit 5 according to the actual situation of the tobacco field and the growth height of the tobacco leaves; The equipment is started, and the depth camera 3 begins working, detecting the position and posture of the tobacco leaves in real time and transmitting the data to the controller. After analyzing and processing the data, the controller generates control instructions to drive the front-end manipulator 2 and the rear-end manipulator 17 to drive the gripper 4 to move to the tobacco leaf position. The gripper 4 performs the picking action to grab the tobacco leaves and releases the tobacco leaves into the tobacco basket 1 after picking is completed. During the harvesting process, the controller controls the driving wheel yaw drive unit 7 and the follower wheel yaw drive unit 14 according to the preset path or the operator's instructions, and adjusts the direction of the driving wheel 8 and the follower wheel 12 through the cross bearing 6 to realize the forward, backward, and turning movements of the harvester, so that the harvester moves and harvests according to the planned path in the tobacco field. When encountering tobacco leaves with different growth postures, the depth camera 3 detects the posture of the tobacco leaves and feeds back to the controller. The controller controls the front-end manipulator 2 and the rear-end manipulator 17 to adjust to ensure that the gripper 4 can accurately reach the tobacco leaf picking position for picking. After completing the harvesting task, the equipment power is turned off, and the harvester is cleaned and maintained to prepare for the next use.

[0032] The present invention also discloses a method for using a small tobacco leaf harvester capable of achieving lossless harvesting, comprising the following steps: Step 1: Place the harvester at a suitable location in the tobacco field; Step 2: Start the device, and the depth camera 3 starts working, detecting the position and posture of the tobacco leaves in real time and transmitting the data to the controller; Step 3: After analyzing and processing the data, the controller generates a control instruction to drive the front-end robotic arm 2 and the rear-end robotic arm 17 to move the gripper 4 to the tobacco leaf position. The gripper 4 performs a picking action to grab the tobacco leaves, and releases the tobacco leaves into the tobacco basket 1 after picking is completed.

[0033] Step 4: After completing the harvesting task, turn off the power of the equipment, clean and maintain the harvester, and prepare it for the next use.

[0034] During the harvesting process, the controller controls the driving wheel yaw drive unit 7 and the follower wheel yaw drive unit 14 according to the preset path or the operator's instructions, and adjusts the direction of the driving wheel 8 and the follower wheel 12 through the cross bearing 6 to realize the forward, backward, turning and other actions of the harvester, so that the harvester moves and harvests in the tobacco field according to the planned path.

[0035] Among them, when harvesting tobacco leaves of different growth heights, such as bottom leaves, middle leaves and top leaves, the initial heights of the front-end robotic arm 2 and the rear-end robotic arm 17 are manually adjusted through the robotic arm height adjustment unit 5 according to the actual situation of the tobacco field and the growth height of the tobacco leaves. After the adjustment, when harvesting, the robotic arm will control the movement trajectory of the gripper according to the tobacco leaf posture detected by the depth camera 3 to ensure that the gripper 4 can accurately reach the tobacco leaf position for picking.

[0036] The above disclosure is only a specific embodiment of the present invention, but the present invention is not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present invention.

Claims

1. A small tobacco leaf harvester capable of achieving lossless harvesting, comprising a chassis (10), characterized in that: A front-end mechanical arm (2) and a rear-end mechanical arm (17) are respectively provided at both ends of the upper side of the chassis (10), the front-end mechanical arm (2) and the rear-end mechanical arm (17) are respectively connected to the grippers (4), and each of the grippers (4) is respectively provided with a depth camera (3); An electrical cabinet (11) is provided on the lower side of the chassis (10), and the electrical cabinet (11) is electrically connected to the front-end mechanical arm (2) and the rear-end mechanical arm (17); The gripper (4) is used to pick and release tobacco leaves, and the depth camera (3) is used to detect the position and posture of the tobacco leaves; A tobacco basket (1) is fixedly provided on the upper side of the chassis (10), and the tobacco basket (1) can accommodate tobacco leaves picked by the clamping claws (4).

2. A small tobacco leaf harvester capable of achieving lossless harvesting according to claim 1, characterized in that: A pair of driving wheels (8) is provided at one end of the lower side of the chassis (10), and a pair of follower wheels (12) is provided at the other end of the lower side of the chassis (10). The driving wheels (8) are respectively mounted on the driving wheel brackets (9). The driving wheel brackets (9) are rotatably connected to the chassis (10) via cross bearings (6). The driving wheel brackets (9) are also connected to a driving wheel yaw drive unit (7). The driving wheel yaw drive unit (7) is used to drive the self-rotation and steering of the driving wheel (8). The follower wheels (12) are respectively mounted on the follower wheel brackets (13). The follower wheel brackets (13) are rotatably connected to the chassis (10) via cross bearings (6). The follower wheel brackets (13) are also connected to a follower wheel yaw drive unit (14). The follower wheel yaw drive unit (14) is used to drive the follower wheel (12) to steer.

3. The small tobacco leaf harvester capable of achieving lossless harvesting according to claim 1, characterized in that: Fixed ends of a mechanical arm height adjustment unit (5) are respectively fixedly provided at both ends of the upper side of the chassis (10), a movable end of the mechanical arm adjustment unit is fixedly connected to the front-end mechanical arm (2), and the movable end of the other mechanical arm adjustment unit is fixedly connected to the rear-end mechanical arm (17).

4. A small tobacco leaf harvester capable of achieving lossless harvesting according to any one of claims 1 to 3, characterized in that: A battery and a controller are also provided in the electrical cabinet (11). The controller is electrically connected to the battery. The controller and the depth camera (3) perform data transmission. The controller is electrically connected to the active wheel yaw drive unit (7), the follower wheel yaw drive unit (14), the front end mechanical arm (2), and the rear end mechanical arm (17).

5. The method for using a small tobacco leaf harvester capable of achieving lossless harvesting according to claim 4, characterized in that: The following steps are involved: Step 1: Place the harvester at a suitable location in the tobacco field; Step 2: Start the device, the depth camera (3) starts working, detects the position and posture of the tobacco leaves in real time, and transmits the data to the controller; Step 3: After analyzing and processing the data, the controller generates a control instruction to drive the front-end robot arm (2) and the rear-end robot arm (17) to drive the gripper (4) to move to the tobacco leaf position. The gripper (4) performs a picking action to grab the tobacco leaves and releases the tobacco leaves into the tobacco basket (1) after the picking is completed.

6. Step 4: After completing the harvesting task, turn off the power of the equipment, clean and maintain the harvester, and prepare it for the next use.

7. The method for using a small tobacco leaf harvester capable of achieving lossless harvesting according to claim 5, characterized in that: During the harvesting process, the controller controls the driving wheel yaw drive unit (7) and the follower wheel yaw drive unit (14) according to a preset path or an operator's instruction, and adjusts the directions of the driving wheel (8) and the follower wheel (12) through the cross bearing (6) to realize the forward, backward, and turning movements of the harvester, so that the harvester moves and harvests in the tobacco field according to the planned path.

8. The method for using a small tobacco leaf harvester capable of achieving lossless harvesting according to claim 6, characterized in that: When harvesting tobacco leaves of different growth heights, such as bottom leaves, middle leaves, and top leaves, the initial heights of the front-end robotic arm (2) and the rear-end robotic arm (17) are manually adjusted through the robotic arm height adjustment unit (5) according to the actual situation of the tobacco field and the growth height of the tobacco leaves. After the adjustment, when harvesting, the robotic arm controls the movement trajectory of the gripper according to the posture of the tobacco leaves detected by the depth camera (3), ensuring that the gripper (4) can accurately reach the position of the tobacco leaves for picking.

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