Due to the complex shape of the tea tree canopy and the large undulation of a tea garden terrain. the quality of fresh tea leaves harvested by existing tea harvesting machines is poor. This study proposed a tea canopy surface profiling method based on 2D LiDAR perception and investigated the extraction and fitting methods of canopy point clouds. Meanwhile. https://smokeysmountainfurnitureoutlets.shop/product-category/home-office-set/