A tobacco leaf intelligent harvesting machine and harvesting method

Abstract

A tobacco leaf intelligent harvesting machine and a harvesting method, the harvesting machine comprising: a machine frame; a controller arranged in a power supply and control box; a walking driving mechanism installed at the bottom of the machine frame and connected with the power supply and control box; an image acquisition device installed on the machine frame and connected with the controller, used for acquiring images of tobacco leaves to be harvested to determine the tobacco leaves to be harvested and determine the minimum lower stop point and the maximum upper stop point of the vertical coordinates of the tobacco leaves to be harvested; a flexible harvesting mechanism comprising a fixing frame, a picking mechanical arm and a harvesting component, the picking mechanical arm being installed on the fixing frame and connected with the controller, and the harvesting component being installed on the picking mechanical arm and connected with the controller; the controller controls the picking mechanical arm to drive the harvesting component to reach the stems of tobacco plants, and the harvesting component cuts from the minimum lower stop point to the maximum upper stop point to complete the leaf removal of the tobacco leaves to be harvested; and a conveying device installed on the inside of the machine frame and connected with the controller. The application also provides a tobacco leaf intelligent harvesting method.

Description

Technical Field

[0001] This invention relates to a harvesting machine, and more particularly to an intelligent tobacco harvester and harvesting method that enables automatic identification and flexible harvesting of tobacco leaves. Background Technology

[0002] Existing tobacco harvesting machines suffer from problems such as high leaf breakage rate and poor uniformity of harvest maturity. Current tobacco harvesting machines employ a mechanical beating method for leaf removal, where high-speed rotating harvesting components beat the leaves off the tobacco plant. This method can only achieve a fixed harvesting height and cannot determine whether the harvested leaves are mature, and the beating process easily causes leaf breakage. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent tobacco harvester and harvesting method that addresses the above-mentioned deficiencies of the prior art.

[0004] To achieve the above objectives, the present invention provides an intelligent tobacco harvester, comprising:

[0005] The frame is a gantry-type symmetrical structure. The front two sides of the frame are symmetrically arranged with dividers. The inner side of the divider is provided with a guide vane plate, and the outer side of the frame is provided with a leaf collection box.

[0006] The controller is located inside the power supply and control box, which is mounted on the frame.

[0007] A walking drive mechanism is installed at the bottom of the frame and connected to the power supply and control box;

[0008] An image acquisition device is installed on the frame and connected to the controller. It is used to acquire images of tobacco leaves to be harvested to determine the mature tobacco leaves to be harvested. The controller calculates and obtains the vertical coordinates of the mature tobacco leaves to be harvested on the tobacco plant stem and determines the lower endpoint of the minimum value and the upper endpoint of the maximum value of the vertical coordinates of the mature tobacco leaves to be harvested.

[0009] At least one set of flexible harvesting mechanisms includes a fixed frame, a harvesting robotic arm, and harvesting components. The fixed frame is mounted on the machine frame, the harvesting robotic arm is mounted on the fixed frame and connected to the controller, and the harvesting components are mounted on the harvesting robotic arm and connected to the controller. The controller controls the harvesting robotic arm to move the harvesting components to the tobacco plant stalks. The harvesting components cut from the lower stop point of the minimum value to the upper stop point of the maximum value, completing the defoliation of the mature tobacco leaves to be harvested.

[0010] A conveying device, corresponding to the flexible harvesting mechanism, is installed on both sides of the frame and connected to the controller, for conveying the threshed tobacco leaves into the leaf collection box.

[0011] The aforementioned intelligent tobacco harvester also includes a lidar unit mounted on the frame and connected to the controller, used in conjunction with the image acquisition device to achieve accurate positioning of tobacco plants.

[0012] The aforementioned intelligent tobacco harvester includes a harvesting component comprising a support plate, a servo motor, a connecting rod, and a ring cutter. The support plate is mounted at the end of the harvesting robotic arm. The servo motor is mounted on the support plate and connected to the controller. The ring cutter is symmetrically mounted on the support plate via the connecting rod. The servo motor drives the ring cutter to open or close via the connecting rod.

[0013] In the aforementioned intelligent tobacco harvester, the conveying device includes a conveying frame and a conveying drive mechanism and a conveying mechanism mounted on the conveying frame. The conveying drive mechanism is connected to the conveying mechanism. The conveying mechanism includes a conveyor belt roller and a transverse conveyor belt and a lifting conveyor belt tensioned on the conveyor belt roller. The transverse conveyor belt is located below the flexible harvesting mechanism. The starting end of the lifting conveyor belt is connected to the transverse conveyor belt, and the end of the lifting conveyor belt is located corresponding to the leaf collection box.

[0014] In the aforementioned intelligent tobacco harvester, the conveyor frame includes a front fixed plate, a rear fixed plate, a baffle, and a rear baffle. The front fixed plate and the rear fixed plate are installed parallel and vertically on one side of the frame. The baffle is located at the edge of the starting end of the transverse conveyor belt, and the rear baffle is located on one side of the transverse conveyor belt corresponding to the rear fixed plate.

[0015] The aforementioned intelligent tobacco harvester also includes a flexible leak-proof strip located below the baffle.

[0016] In the aforementioned intelligent tobacco harvester, the guide plate is installed on the other side of the transverse conveyor belt. A detection rod and an angle sensor are provided below the guide plate. The detection rod is connected to the angle sensor, and the angle sensor is connected to the controller. The controller completes the alignment through the walking drive mechanism so that the tobacco plants to be harvested are aligned with the center line of the frame.

[0017] In the aforementioned intelligent tobacco harvester, the conveying drive mechanism includes a motor and a coupling. The motor is mounted on the front fixed plate and connected to the drive roller of the conveyor belt roller via the coupling. The two ends of the conveyor belt roller are respectively mounted on the front fixed plate and the rear fixed plate via bearing seats.

[0018] In the aforementioned intelligent tobacco harvesting machine, the image acquisition device is a depth camera, which is installed on the inner front side of the frame to identify the maturity of tobacco leaves and locate the picking point of the tobacco plant.

[0019] To better achieve the above objectives, the present invention also provides a method for intelligent tobacco harvesting, wherein the above-mentioned intelligent tobacco harvesting machine is used for tobacco harvesting, and the method includes the following steps:

[0020] S100. Start the intelligent tobacco harvester, align the center line of the frame with the tobacco to be harvested, and drive the intelligent tobacco harvester forward.

[0021] S200: The image acquisition device and lidar work together to identify the maturity of the tobacco leaves to be harvested and to accurately locate the tobacco plants.

[0022] S300: Acquire images of the tobacco leaves to be harvested using a depth camera and determine whether the tobacco leaves to be harvested are mature;

[0023] S400. If the mature tobacco leaves to be harvested are to be obtained, the vertical coordinates of the mature tobacco leaves to be harvested on the tobacco plant stem are obtained, and the lower endpoint of the minimum value and the upper endpoint of the maximum value of the vertical coordinates of the mature tobacco leaves to be harvested are determined.

[0024] S500: Align the flexible harvesting mechanism with the corresponding tobacco plant. The servo motor drives the connecting rod to open the annular cutter to reach the tobacco plant stem. At the minimum lower stop point, the annular cutter closes and hugs the tobacco plant stem, cutting upwards from the minimum lower stop point to the maximum upper stop point, completing the defoliation of the mature tobacco leaves to be harvested; and

[0025] S600, the detached mature tobacco leaves are collected into a leaf collection box by a conveying device, thus completing the harvesting of tobacco leaves.

[0026] The technical advantages of this invention are as follows:

[0027] The intelligent tobacco harvester of this invention adopts autonomous image maturity recognition, autonomous picking point positioning, and three-dimensional multi-leaf synchronous flexible leaf removal. The harvesting uses a ring cutter to cut upward at the connection between the petiole and the tobacco stem, without damaging the tobacco leaves. It realizes the separation, transportation and collection of mature tobacco leaves. It has a compact structure, can achieve flexible and efficient leaf removal, has high working efficiency and good harvesting effect, can greatly reduce labor intensity, improve operation quality, save farming time, reduce labor consumption and save production costs.

[0028] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of an intelligent tobacco harvester according to an embodiment of the present invention;

[0030] Figure 2 for Figure 1 The main view;

[0031] Figure 3 This is a schematic diagram of harvesting according to an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the harvesting component structure according to an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the conveying device structure according to an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram illustrating the working principle of intelligent tobacco harvesting according to an embodiment of the present invention.

[0035] Among them, the attached diagram is labeled 1, which is the frame.

[0036] 2 Walking drive mechanism

[0037] 3 Image acquisition device 4 Conveying device

[0038] 41 Conveyor Frame

[0039] 411 front fixing plate

[0040] 412 rear fixing plate

[0041] 413 baffle

[0042] 414 rear tailgate

[0043] 42 Conveyor Drive Mechanism

[0044] 421 motor

[0045] 422 Coupling

[0046] 423 mounted bearing

[0047] 43 Conveying Mechanism

[0048] 431 Conveyor Roller

[0049] 432 Horizontal conveyor belt; 433 Lifting conveyor belt; 44 Flexible leak-proof strip

[0050] 45-degree angle sensor

[0051] 46 probe rods and 5 flexible harvesting mechanisms

[0052] 51 Fixture

[0053] 52 harvesting robotic arms

[0054] 53 Harvesting Components

[0055] 531 support plate

[0056] 532 servo

[0057] 533 Link

[0058] 534 ring cutter 6 LiDAR

[0059] 7 Power Supply and Control Box

[0060] 8-stage leaf box

[0061] 9 guide vanes

[0062] 10-point harvester

[0063] A lower endpoint

[0064] B, top dead center

[0065] C tobacco plant

[0066] D1, D2, and D3 tobacco leaves

[0067] E Tobacco Ridge Detailed Implementation

[0068] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0069] See Figures 1-3 , Figure 1 This is a schematic diagram of the structure of an intelligent tobacco harvester according to an embodiment of the present invention. Figure 2 for Figure 1 The main view, Figure 3This is a schematic diagram of a harvesting process according to an embodiment of the present invention. The intelligent tobacco harvester of the present invention includes: a frame 1, which is a gantry-type symmetrical structure, with dividers 10 symmetrically arranged on both sides of the front end of the frame 1 for guiding and separating tobacco leaves; a guide plate 9 is arranged on the inner side of the divider 10; and a leaf collection box 8 is arranged on the outer side of the frame 1; a controller, which is located in a power supply and control box 7, which is mounted on the frame 1; a walking drive mechanism 2, which is installed at the bottom of the frame 1 and connected to the power supply and control box 7, wherein the drive component is preferably located at the front end of the gantry-type frame 1 to realize chassis walking and other drive functions; an image acquisition device 3, which is installed on the frame 1 and connected to the controller, for acquiring images of tobacco leaves to be harvested to determine the mature tobacco leaves to be harvested; the controller calculates and obtains the vertical coordinates of the mature tobacco leaves to be harvested on the stem of the tobacco plant C, and determines the lower stop point of the minimum value and the upper stop point of the maximum value of the vertical coordinates of the mature tobacco leaves to be harvested; and at least one set of flexible harvesting... The harvesting mechanism 5 includes a fixed frame 51, a harvesting robotic arm 52, and a harvesting component 53. The fixed frame 51 is mounted on the frame 1 and can be fixed to the fixed beam of the gantry frame 1 by U-bolts. The harvesting robotic arm 52 is mounted on the fixed frame 51 and connected to the controller. The harvesting component 53 is mounted on the harvesting robotic arm 52 and connected to the controller. In this embodiment, each set of flexible harvesting mechanisms 5 is symmetrically arranged on both sides inside the gantry frame 1 to realize flexible harvesting of tobacco leaves. The controller controls the harvesting robotic arm 52 to drive the harvesting component 53 to the stem of the tobacco plant C. The harvesting component 53 cuts from the lower stop point of the minimum value to the upper stop point of the maximum value to complete the leaf removal work of the mature tobacco leaves to be harvested. The conveying device 4 is installed on both sides of the frame 1 corresponding to the flexible harvesting mechanism 5 and connected to the controller. It is used to convey the removed tobacco leaves to the leaf collection boxes 8 on both sides. The controller can control the movement of the motors 421 of the drive components, image acquisition device 3, flexible harvesting mechanism 5 and conveying device 4 respectively to achieve control functions such as speed and position.

[0070] In this embodiment, a lidar 6 is also included, mounted on the frame 1 and connected to the controller, for use in conjunction with the image acquisition device 3 to accurately locate the tobacco plant C. The image acquisition device 3 is preferably a depth camera, installed on the inner front side of the frame 1, for identifying tobacco leaf maturity and locating the tobacco plant harvesting point. Automatic identification and autonomous positioning are performed by the image acquisition device 3. Automatic identification is used to determine the maturity of the tobacco leaves, classifying them as mature or immature. The depth camera acquires images of the tobacco leaves, compares these images with a mature tobacco leaf model to determine maturity. If the leaf is determined to be mature, the depth camera acquires the vertical position information at the connection between the leaf and the stem, thus obtaining the minimum vertical value of the mature leaf petiole and stem connection on tobacco plant C as the lower endpoint A and the maximum vertical value as the upper endpoint B, achieving autonomous positioning of the mature tobacco leaf. This allows the vertical trajectory of the flexible harvesting component 53 moving on tobacco plant C to be determined.

[0071] See Figure 4 , Figure 4 This is a schematic diagram of the harvesting component 53 according to an embodiment of the present invention. The harvesting component 53 in this embodiment includes a support plate 531, a servo motor 532, a connecting rod 533, and an annular cutter 534. The support plate 531 is installed at the end of the harvesting robotic arm 52. The servo motor 532 is installed on the support plate 531 and connected to the controller. The annular cutter 534 is symmetrically installed on the support plate 531 through the connecting rod 533. The servo motor 532 drives the annular cutter 534 to open or close through the connecting rod 533.

[0072] See Figure 5 , Figure 5This is a schematic diagram of the conveying device 4 according to an embodiment of the present invention. The conveying device 4 of this embodiment includes a conveying frame 41 and a conveying drive mechanism 42 and a conveying mechanism 43 mounted on the conveying frame 41. The conveying drive mechanism 42 is connected to the conveying mechanism 43. The conveying mechanism 43 includes a conveyor belt roller 431, a transverse conveyor belt 432 tensioned on the conveyor belt roller 431, and a lifting conveyor belt 433. The transverse conveyor belt 432 is disposed below the flexible harvesting mechanism 5. The starting end of the lifting conveyor belt 433 is connected to the transverse conveyor belt 432, and the end of the lifting conveyor belt 433 corresponds to the leaf collection box 8. The conveying drive mechanism 42 includes a motor 421 and a coupling 422. The motor 421 is mounted on the front fixed plate 411 and connected to the drive roller of the conveyor belt roller 431 via the coupling 422. The two ends of the conveyor belt roller 431 are respectively mounted on the front fixed plate 411 and the rear fixed plate 412 via bearing seats 423. The harvested tobacco leaves fall onto the transverse conveyor belt 432, which then transports them to the lifting conveyor belt 433 on both sides and upwards, where they fall into the leaf collection boxes 8 on both sides.

[0073] The conveyor frame 41 includes a front fixing plate 411, a rear fixing plate 412, a baffle 413, and a rear baffle 414. The front fixing plate 411 and the rear fixing plate 412 are installed parallel and vertically on one side of the frame 1. The baffle 413 is located at the edge of the starting end of the transverse conveyor belt 432, and the rear baffle 414 is located on one side of the transverse conveyor belt 432 corresponding to the rear fixing plate 412. A flexible leak-proof strip 44 may also be included, located below the baffle 413.

[0074] In this embodiment, the guide vane 9 is installed on the other side of the transverse conveyor belt 432. A detection rod 46 and an angle sensor 45 are provided below the guide vane 9. The detection rod 46 is connected to the angle sensor 45, and the angle sensor 45 is connected to the controller. The controller completes the alignment through the walking drive mechanism 2 so that the tobacco plant C to be harvested is directly opposite the center line of the frame 1.

[0075] During operation, after the harvester is powered on, the walking drive mechanism 2 drives the entire machine to move. The divider 10 separates the tobacco leaves between rows, and the guide plate 9 guides the tobacco leaves on tobacco plant C to the middle part of the machine. This intelligent tobacco harvester has an axisymmetric structure, and the chassis can adopt a tracked walking mechanism. The symmetrically arranged tracked walking mechanism moves along the rows, and the tobacco ridge E is exactly located on the center line of the entire machine. The image acquisition device 3 and the lidar 6 are integrated to enable the harvester to move in the tobacco field, and the flexible harvesting mechanism 5 is aligned with the corresponding tobacco plant C. The image acquisition device 3 performs image processing to determine the mature tobacco leaves to be harvested, and obtains the vertical coordinates of the mature tobacco leaves on the stem of tobacco plant C through an algorithm, thus determining the mature leaves on a tobacco plant C. The minimum vertical coordinate of the tobacco leaf is located at the lower stop point A and the maximum vertical coordinate is located at the upper stop point B. The flexible harvesting mechanism 5 drives the connecting rod 533 via the servo motor 532 to open the annular cutter 534. The cutter reaches the tobacco plant C stem according to the planned trajectory. At the lower stop point A, the annular cutter 534 wraps around the tobacco plant C stem and moves along the tobacco plant C stem from the lower stop point A to the upper stop point B. The harvesting robot arm 52 drives the annular cutter 534 to move upward to cut the tobacco leaves D1, D2, and D3. The cut leaves fall onto the transverse conveyor belt 432 of the conveying device 4. The transverse conveyor belt 432 transports the leaves laterally and then lifts them through the lifting conveyor belt 433. Finally, the leaves fall into the leaf collection box 8, completing the harvesting and collection of the tobacco leaves.

[0076] See Figure 6 , Figure 6 This is a schematic diagram illustrating the working principle of intelligent tobacco harvesting according to an embodiment of the present invention. The intelligent tobacco harvesting method of the present invention, using the aforementioned intelligent tobacco harvesting machine, includes the following steps:

[0077] Step S100: Start the intelligent tobacco harvester, align the center line of the frame 1 with the tobacco to be harvested, and drive the intelligent tobacco harvester forward.

[0078] Step S200: The maturity of the tobacco leaves to be harvested on tobacco plant C is identified and the tobacco plant C is accurately located by using the image acquisition device 3 and the lidar 6 in conjunction with the image acquisition device 3.

[0079] Step S300: Acquire images of the tobacco leaves to be harvested using a depth camera and determine whether the tobacco leaves to be harvested are mature;

[0080] Step S400: If it is a mature tobacco leaf to be harvested, obtain the vertical coordinates of the mature tobacco leaf to be harvested on the stem of tobacco plant C, and determine the lower endpoint of the minimum value and the upper endpoint of the maximum value of the vertical coordinates of the mature tobacco leaf to be harvested.

[0081] Step S500: Align the flexible harvesting mechanism 5 with the corresponding tobacco plant C. The servo motor 532 drives the connecting rod 533 to open the annular cutter 534 to reach the stem of tobacco plant C. At the minimum lower stop point, the annular cutter 534 closes and hugs the stem of tobacco plant C, and cuts upwards along the stem of tobacco plant C from the minimum lower stop point to the maximum upper stop point, completing the defoliation of the mature tobacco leaves to be harvested; and

[0082] Step S600: The detached mature tobacco leaves are collected into the leaf collection box 8 by the conveying device 4, thus completing the harvesting of tobacco leaves.

[0083] After the harvester is powered on, the walking drive mechanism 2 drives the entire machine to move and align with the row. The gantry frame 1 is aligned with the row of tobacco plants to be harvested. The intelligent tobacco harvester moves forward under the action of the walking drive mechanism 2. The divider 10 separates the tobacco leaves between rows, and the guide plate 9 assists in guiding the tobacco leaves from plant C to the middle of the harvester. The image acquisition device 3 and the lidar 6 are fused to achieve precise positioning of plant C and identification of the maturity of the leaves to be harvested on plant C. As the harvester moves through the tobacco field, due to the presence of plant C... There is a deviation in straightness. When the probe 46 touches the offset tobacco plant C, the angle sensor 45 generates an angular displacement. This is aligned by the walking drive mechanism 2, ensuring that the tobacco plant C is in the middle of the harvester. The flexible harvesting mechanism 5 is then aligned with the corresponding tobacco plant C. The image acquisition device 3 acquires an image of the tobacco leaf using a depth camera. This image is compared with a mature tobacco leaf model to determine if the leaf is mature. If the leaf is determined to be mature, the image acquisition device 3 obtains the vertical position information of the connection between the leaf and the stem. An algorithm is then used to determine the position. The vertical coordinates of mature tobacco leaves on the stem of tobacco plant C are determined, thereby obtaining the minimum and maximum values ​​of the vertical direction connecting the petiole and stem of mature tobacco leaves on tobacco plant C. The minimum value of the vertical coordinates of mature leaves on tobacco plant C is determined to be the lower stop point A, and the maximum value is determined to be the upper stop point B. The flexible harvesting mechanism 5 drives the connecting rod 533 through the servo motor 532 to open the annular cutter 534. Through trajectory planning, it reaches the stem of tobacco plant C. At the lower stop point A, the annular cutter 534 wraps around the stem of tobacco plant C and moves along the stem of tobacco plant C from the lower stop point A to the upper stop point B. The cutting blade 534 cuts upwards, removing tobacco leaves D1, D2, and D3. The tobacco leaves fall onto the transverse conveyor belt 432. The flexible anti-leak strip 44 prevents the tobacco leaves from falling to the ground in the middle. The motor 421 drives the conveyor belt roller 431 through the coupling 422, which in turn drives the transverse conveyor belt 432 to horizontally transport the tobacco leaves to the middle of the lifting conveyor belt 433 and the transverse conveyor belt 432. The two-stage conveyor belts clamp and lift the tobacco leaves to the top, and finally they fall into the leaf collection box 8 on the corresponding side, completing the picking and collection of tobacco leaves.

[0084] This invention enables automatic identification, autonomous positioning, flexible harvesting, and tobacco leaf collection operations. In particular, it enables stratified harvesting at different maturity levels, achieving automatic identification, autonomous positioning, and bottom-up three-dimensional multi-leaf flexible harvesting, providing technical support for intelligent flexible tobacco leaf harvesting.

[0085] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A smart tobacco harvester, characterized in that, include: The frame is a gantry-type symmetrical structure. The front two sides of the frame are symmetrically arranged with dividers. The inner side of the divider is provided with a guide vane plate, and the outer side of the frame is provided with a leaf collection box. The controller is located inside the power supply and control box, which is mounted on the frame. A walking drive mechanism is installed at the bottom of the frame and connected to the power supply and control box; An image acquisition device is installed on the frame and connected to the controller. It is used to acquire images of tobacco leaves to be harvested to determine the mature tobacco leaves to be harvested. The controller calculates and obtains the vertical coordinates of the mature tobacco leaves to be harvested on the tobacco plant stem and determines the lower endpoint of the minimum value and the upper endpoint of the maximum value of the vertical coordinates of the mature tobacco leaves to be harvested. At least one set of flexible harvesting mechanisms includes a fixed frame, a harvesting robotic arm, and harvesting components. The fixed frame is mounted on the machine frame, the harvesting robotic arm is mounted on the fixed frame and connected to the controller, and the harvesting components are mounted on the harvesting robotic arm and connected to the controller. The controller controls the harvesting robotic arm to move the harvesting components to the tobacco plant stalks. The harvesting components cut from the lower stop point of the minimum value to the upper stop point of the maximum value, completing the defoliation of the mature tobacco leaves to be harvested. A conveying device, corresponding to the flexible harvesting mechanism, is installed on both sides of the frame and connected to the controller, for conveying the threshed tobacco leaves into the leaf collection box.

2. The intelligent tobacco harvester as described in claim 1, characterized in that, It also includes a lidar, which is mounted on the frame and connected to the controller, for use in conjunction with the image acquisition device to achieve accurate positioning of tobacco plants.

3. The intelligent tobacco harvester as described in claim 1, characterized in that, The harvesting component includes a support plate, a servo motor, a connecting rod, and a ring cutter. The support plate is installed at the end of the harvesting robotic arm. The servo motor is installed on the support plate and connected to the controller. The ring cutter is symmetrically installed on the support plate via the connecting rod. The servo motor drives the ring cutter to open or close via the connecting rod.

4. The intelligent tobacco harvester as described in claim 1, characterized in that, The conveying device includes a conveying frame and a conveying drive mechanism and a conveying mechanism mounted on the conveying frame. The conveying drive mechanism is connected to the conveying mechanism. The conveying mechanism includes a conveyor belt roller and a transverse conveyor belt and a lifting conveyor belt tensioned on the conveyor belt roller. The transverse conveyor belt is located below the flexible harvesting mechanism. The starting end of the lifting conveyor belt is connected to the transverse conveyor belt, and the end of the lifting conveyor belt is located corresponding to the leaf collection box.

5. The intelligent tobacco harvester as described in claim 4, characterized in that, The conveyor frame includes a front fixed plate, a rear fixed plate, a baffle, and a rear baffle. The front fixed plate and the rear fixed plate are installed vertically and parallel to each other on one side of the frame. The baffle is located at the edge of the starting end of the transverse conveyor belt, and the rear baffle is located on one side of the transverse conveyor belt corresponding to the rear fixed plate.

6. The intelligent tobacco harvester as described in claim 5, characterized in that, It also includes a flexible leak-proof strip, which is installed below the baffle.

7. The intelligent tobacco harvester as described in claim 5, characterized in that, The guide vane is installed on the other side of the transverse conveyor belt. A detection rod and an angle sensor are provided below the guide vane. The detection rod is connected to the angle sensor, and the angle sensor is connected to the controller. The controller completes the alignment through the walking drive mechanism so that the tobacco plants to be harvested are aligned with the center line of the frame.

8. The intelligent tobacco harvester as described in claim 5, characterized in that, The conveying drive mechanism includes a motor and a coupling. The motor is mounted on the front fixed plate and connected to the drive roller of the conveyor belt roller via the coupling. The two ends of the conveyor belt roller are respectively mounted on the front fixed plate and the rear fixed plate via bearing seats.

9. The intelligent tobacco harvester as described in claim 1, characterized in that, The image acquisition device is a depth camera, which is installed on the inner front side of the frame to identify the maturity of tobacco leaves and locate the picking point of tobacco plants.

10. A method for intelligent harvesting of tobacco leaves, characterized in that, Tobacco leaf harvesting using the intelligent tobacco leaf harvester according to any one of claims 1-9 includes the following steps: S100. Start the intelligent tobacco harvester, align the center line of the frame with the tobacco to be harvested, and drive the intelligent tobacco harvester forward. S200: The image acquisition device and lidar work together to identify the maturity of the tobacco leaves to be harvested and to accurately locate the tobacco plants. S300: Acquire images of the tobacco leaves to be harvested using a depth camera and determine whether the tobacco leaves to be harvested are mature; S400. If the mature tobacco leaves to be harvested are to be obtained, the vertical coordinates of the mature tobacco leaves to be harvested on the tobacco plant stem are obtained, and the lower endpoint of the minimum value and the upper endpoint of the maximum value of the vertical coordinates of the mature tobacco leaves to be harvested are determined. S500: Align the flexible harvesting mechanism with the corresponding tobacco plant. The servo motor drives the connecting rod to open the annular cutter to reach the tobacco plant stem. At the minimum value lower stop point, the annular cutter closes and hugs the tobacco plant stem. It then cuts upwards along the tobacco plant stem from the minimum value lower stop point to the maximum value upper stop point, completing the defoliation of the mature tobacco leaves to be harvested. as well as S600, the detached mature tobacco leaves are collected into a leaf collection box by a conveying device, thus completing the harvesting of tobacco leaves.

Images