A drum type multi-target safflower terrain adaptive unified harvesting robot and a control method thereof

Abstract

The application discloses a drum type multi-target safflower terrain adaptive unified collection robot and a control method, which comprises a shell, a sensing mechanism, a driving mechanism, a control mechanism, a collection mechanism, a picking mechanism fixed to the bottom of the shell, and a walking mechanism; the picking mechanism comprises a picking drum, a cutter assembly located in the picking drum, and a plurality of perforating assemblies fixed to the outer wall of the picking drum; the collection mechanism provides a negative pressure environment for the picking mechanism; during unified collection, the control mechanism controls the operation of each component; the sensing mechanism obtains real-time front road conditions and target safflower plant information; the driving mechanism is used to drive the picking drum and the cutting knife to rotate asynchronously; when the picking drum reaches the optimal picking position, the perforating assemblies are driven to rotate to fix the target safflower fruit ball, the flower filaments are sucked into the center hole of the perforating assemblies based on the negative pressure environment, the cutting knife cuts the flower filaments and stores them in a sealed chamber; and the collection mechanism is used for collecting the flower filaments. The application has the characteristics of high collection efficiency, high flower filament integrity, and terrain adaptability.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a roller-type multi-target safflower terrain-adaptive harvesting robot and its control method. Background Technology

[0002] Safflower, as an important medicinal and natural dye crop, possesses abundant medicinal and economic value. Existing safflower harvesting devices have several drawbacks in areas such as simultaneous harvesting of multiple targets, information sensing speed, unified harvesting and processing of safflower filaments, and terrain adaptability. The main drawback of existing safflower harvesting devices in terms of simultaneous harvesting of multiple targets is that they typically only operate on a single target, lacking synchronous coordination and unable to handle complex terrain, thus affecting operational accuracy. Furthermore, when processing safflower filaments, they lack the ability to automatically adjust operating parameters, increasing the need for manual intervention. Regarding unified safflower harvesting and processing, existing devices are inefficient, leading to cumbersome subsequent processing. Although breakthroughs have been made in automated harvesting technology, damage to safflower filaments is unavoidable during rapid operations. Robots also have low adaptability to different safflower plant densities, affecting their operational efficiency in fields with uneven plant density. Additionally, current safflower harvesting devices have limitations in adapting to complex terrain, failing to guarantee stability and harvesting results on uneven ground. Moreover, inaccurate synchronous control of multiple individual harvesting robotic arms reduces operational efficiency. While the publicly available netting-combination harvesting mechanism is innovative, it has shortcomings in intelligent decision support, such as the lack of automatic adjustment of harvesting force and angle, which can damage plants at different stages of maturity.

[0003] Therefore, existing safflower harvesting robots lack adaptability to different environments and plant conditions in terms of automated harvesting, and have low filament integrity, resulting in low harvesting efficiency, limited harvesting quality, and incompatibility with complex terrain. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to provide a roller-type multi-target safflower terrain-adaptive harvesting robot and its control method that features high harvesting efficiency, high filament integrity, and terrain adaptability.

[0005] Technical Solution: The roller-type multi-target safflower terrain-adaptive harvesting robot of the present invention includes a shell, a sensing mechanism, a driving mechanism, a control mechanism, a collection mechanism, a picking mechanism fixed to the bottom of the shell, and a walking mechanism; the picking mechanism includes a picking tube, a cutting assembly located inside the picking tube, and multiple perforation assemblies, the perforation assembly being fixed to the outer wall of the picking tube; wherein, the perforation assembly includes a fruit ball positioning auxiliary curved surface, a fruit ball positioning hole, a filament necking positioning hole, and a filament sealing ring nested from the outside to the inside, and multiple thin plates extending circumferentially inward and centripetally along the inner wall surface of the filament sealing ring, the front ends of the multiple thin plates converging at the center of the filament sealing ring and forming a central hole, with gaps formed between adjacent thin plates; the cutting assembly includes a handle and a cutting blade, the cutting blade being fixed to the side of the handle near the picking tube, and the cutting blade being attached to the inner wall of the picking tube;

[0006] The harvesting mechanism is provided with a first sealing plate and a second sealing plate at both ends. The first sealing plate and the second sealing plate have a collection hole in the center. The collection mechanism is connected to the harvesting mechanism through the collection hole to provide a negative pressure environment for the harvesting mechanism. Several knife handles, the inner wall of the harvesting cylinder, the first sealing plate and the second sealing plate form a sealed chamber.

[0007] The drive mechanism is used to drive the picking tube and the cutting blade assembly to rotate asynchronously.

[0008] Furthermore, the outer wall of the harvesting tube is provided with a plurality of assembly holes, and the perforated assembly is fixed to the harvesting tube through the assembly holes; and the distribution of the assembly holes is set according to the position of the safflower fruit ball on the safflower plant.

[0009] Furthermore, the thin sheet of the filament sealing ring is a triangular rubber, the diameter of the central hole is determined according to the diameter of the filament necking, the diameter of the fruit ball positioning hole is determined according to the diameter of the safflower fruit ball, and the diameter of the filament necking positioning hole is determined according to the diameter of the safflower plant filament necking.

[0010] Furthermore, the picking tube includes a first picking tube and a second picking tube that are symmetrical about the longitudinal section of the picking tube; the first picking tube has a funnel-shaped cylindrical structure and its diameter gradually increases from the center of the picking tube outward.

[0011] Furthermore, the harvesting tubes are provided in multiple quantities, which are distributed in parallel to each other and arranged in a serrated pattern in the direction of height extension.

[0012] Furthermore, the harvesting mechanism also includes a semi-enclosed envelope cylinder, the shape of which is adapted to the harvesting cylinder and fixed to the outside of the harvesting cylinder, and a harvesting opening is opened on the side wall to be aligned with the target safflower plant. When the harvesting cylinder rotates, the perforated component of the harvesting cylinder passes through the harvesting opening in sequence.

[0013] A transition plate is set between adjacent envelope tubes and is tangent to the outer wall of the envelope tube.

[0014] Furthermore, a first sealing plate is fixed at one end of the harvesting tube, and a second sealing plate is embedded at the other end; the cutting assembly extends multiple blade handles circumferentially along the radial direction from the inner side of the second sealing plate to the inner side of the first sealing plate.

[0015] The cutting assembly also includes a partition plate that is concentric and coaxial with the harvesting tube. At this time, the knife handle includes a first knife handle and a second knife handle. The second knife handle extends from the second sealing plate and is fixed to one side of the partition plate. The first knife handle extends from the other side of the partition plate to the inner side of the first sealing plate. The partition plate divides the sealing chamber into a first sealing chamber and a second sealing chamber.

[0016] Furthermore, the harvesting mechanism also includes a hollow shaft, which is located in the center of several knife handles. The hollow shaft is hollow inside and its two ends are connected to the collection holes. It also has a groove on its side wall, which is aligned with the target safflower plant.

[0017] The separator is annular, passes through the hollow shaft, and its outer wall is attached to the inner wall of the picking tube, while its inner wall is attached to the center of the hollow shaft.

[0018] The control method of the roller-type multi-target safflower terrain-adaptive harvesting robot of the present invention includes: real-time acquisition of road conditions ahead and target safflower plant information by the sensing mechanism; and adjusting the height of the robot to make the harvesting cylinder reach the optimal harvesting position when the target safflower plant is reached.

[0019] The picking tube drives the perforation assembly to rotate, thereby fixing the target safflower fruit ball. Based on the negative pressure environment, the filaments of the target safflower fruit ball are sucked into the central hole. The picking tube and the cutting assembly are driven to rotate asynchronously by the driving mechanism, so that the cutting blade cuts the filaments and stores them in the sealed chamber. The collecting mechanism collects the filaments.

[0020] Furthermore, the optimal picking position is achieved by adjusting the height of the walking mechanism; the control mechanism divides the target safflower plant into a first picking area, a transition area, and a second picking area along the height extension direction, so that the outer wall of the picking tube completely covers the first and second picking areas, thus achieving the optimal picking position.

[0021] Beneficial Effects: This invention has the following significant effects: 1. High harvesting efficiency: Based on the natural distribution characteristics of safflower filaments and fruit balls, this invention further optimizes and improves rapid multi-target zonal harvesting and adaptability to different plant densities, proposing a roller-based multi-target safflower terrain-adaptive harvesting robot. The harvesting mechanism's harvesting cylinder is designed to mimic the structure of the umbrella-shaped safflower corolla. Perforated components are installed on the outer wall of the harvesting cylinder through assembly holes. The harvesting cylinder is designed in an hourglass shape, forming a symmetrical first and second harvesting cylinder. The taper angle is set according to the spreading angle of the umbrella-shaped safflower fruit balls, effectively simulating the natural growth morphology of the umbrella-shaped safflower corolla layer. This allows the harvesting tubes to cover the safflower canopy, improving harvesting efficiency and accuracy, and enabling comprehensive harvesting of the safflower plants. When multiple harvesting tubes are used, they are arranged in a serrated pattern on the shell, allowing for zoned harvesting based on the height difference of the target safflower plants. Efficient regional harvesting is achieved based on the height difference of the safflower heads. For example, when using three harvesting tubes, considering that the number of high-lying heads in a safflower plant usually exceeds that of low-lying heads, harvesting tubes C1 and C3 are arranged in a V-shape to target the high-lying heads, facilitating secondary harvesting, reducing missed harvests, and improving overall harvesting efficiency. This invention also includes a highly efficient continuous cutting and filament collection system, employing a cutting assembly and a hollow... The hollow shaft not only ensures continuous and uniform cutting of safflower filaments, accelerating the harvesting speed, but also effectively gathers and transports the cut filaments through the hollow shaft with filament collection slots, conveying them to the filament storage box. This design prevents the filaments from scattering during the cutting process. In summary, based on the distribution pattern of umbrella-shaped safflower fruit balls, this invention divides the safflower plant into vertical sections for harvesting. Based on the high-low difference harvesting method, it achieves intelligent sensing, multi-target unified harvesting, and rapid harvesting and collection, improving the efficiency of safflower harvesting. 2. High filament integrity: The distribution design of the assembly holes on the outer wall of the harvesting cylinder in this invention is tailored to different varieties and different blooming stages of safflower, allowing for targeted replacement of different filaments. The perforated components of this invention, with their precise size and proportions, ensure high applicability during the harvesting process and a high fruit integrity rate. Furthermore, the perforated components of this invention are designed entirely according to the distribution structure of the fruit balls and stamens on the safflower plant. They feature a series of nested components from the outside inwards: a fruit ball positioning auxiliary curved surface, a fruit ball positioning hole, a stamen necking positioning hole, and a stamen sealing ring. Multiple thin sheets extend tightly inwards along the circumference of the stamen sealing ring, converging at the center of the ring and forming a central hole. Under internal negative pressure, this facilitates rapid positioning of the target fruit ball and stamen of the target plant, drawing the stamen into the harvesting tube and fixing it without damaging it. This facilitates subsequent cutting and harvesting, ensuring the integrity of the stamen.3. Terrain Adaptation: This invention exhibits excellent stability in complex terrain and features terrain adaptation capabilities. Equipped with multiple height-adjustable walking mechanisms that can steer, move forward, and reverse, the robot can operate stably in varying terrain conditions. Through independent control of the walking mechanisms, the robot can automatically adjust its posture based on ground unevenness, maintaining the optimal contact angle and pressure with the safflower plants, ensuring the harvesting tube reaches the optimal harvesting position. This improves stability and harvesting efficiency. In summary, it can adapt to safflower plants of different heights and various uneven field conditions, expanding the robot's application range. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the adaptive collection robot.

[0023] Figure 2 A top view of the adaptive control robot;

[0024] Figure 3 This is the front view of the adaptive collection robot.

[0025] Figure 4 This is a schematic diagram of the sensor mechanism structure;

[0026] Figure 5 A schematic diagram showing the installation of the sensing mechanism and the walking mechanism;

[0027] Figure 6 This is a schematic diagram of the shell and envelope structure;

[0028] Figure 7 This is a schematic diagram of the steering drive device.

[0029] Figure 8 This is a schematic diagram of the walking drive device.

[0030] Figure 9 Schematic diagram of the harvesting mechanism installation;

[0031] Figure 10 A half-section view of the harvesting facility;

[0032] Figure 11 This is a front view of the harvesting tube;

[0033] Figure 12 A schematic diagram showing the distribution of multiple picking tubes;

[0034] Figure 13 This is a schematic diagram of the perforated component structure;

[0035] Figure 14 Top view of the perforated assembly;

[0036] Figure 15 This is a schematic diagram of the cutter assembly structure;

[0037] Figure 16 This is a schematic diagram of a hollow shaft structure;

[0038] Figure 17 To collect schematic diagrams of the mechanism structure;

[0039] Figure 18 This is a schematic diagram of the drum drive device.

[0040] Figure 19 A schematic diagram showing the driving states of multiple picking tubes;

[0041] Figure 20 This is a schematic diagram of the cutter assembly drive device.

[0042] Figure 21 A schematic diagram showing the division of an umbrella-shaped safflower plant and the angle of its canopy spread;

[0043] Figure 22 This is a structural diagram of a single red flower;

[0044] Figure 23 This is a schematic diagram of the robot's operation on flat terrain.

[0045] Figure 24 This is a schematic diagram of a robot working on uneven terrain.

[0046] Figure 25 This is a schematic diagram of the robot's operation when the terrain is tilted.

[0047] Figure 26 This is a schematic diagram of the robot's operation when the terrain has potholes on one side.

[0048] Figure 27 This is a schematic diagram of the specific process of the control method.

[0049] Specifically, the component numbers are as follows:

[0050] 1. Sensor mechanism 1-1 Positioning, navigation and identification system

[0051] 1-1-1 Positioning receiving antenna; 1-1-2 Linear laser profile sensor

[0052] 1-1-3 Connecting bracket 1-2 Housing

[0053] 1-2-1 Envelope cylinder 1-2-2 Transition plate

[0054] 1-2-1-1 Picking point 2 Picking organization

[0055] 1-2-3 External fixing bracket; 1-2-4 Filament collection tube positioning hole

[0056] 1-2-5 Inner fixing bracket; 1-2-6 Roller positioning hole

[0057] 1-3 Walking Mechanism 1-3-1 Steering Drive Device

[0058] 1-3-1-1 Steering wheel support frame 1-3-1-2 Steering wheel

[0059] 1-3-1-3 Steering drive motor; 1-3-1-4 Cylindrical gear transmission gear set

[0060] 1-3-1-5 Steering worm gear lifting mechanism; 1-3-1-6 Steering lifting support rod

[0061] 1-3-2 Walking Drive Unit 1-3-2-1 Drive Wheel Support Frame

[0062] 1-3-2-2 Forward gear; 1-3-2-3 Bevel gear transmission gear set

[0063] 1-3-2-4 Forward drive motor; 1-3-2-5 Traveling worm gear lifting mechanism

[0064] 1-3-2-6 Traveling Lifting Support Rod 5 Sealed Chamber

[0065] 2-1 Harvesting Cylinder 2-1-1 Perforation Assembly

[0066] 2-1-1-1 Filigree sealing ring 2-2-1-1-1 Thin sheet

[0067] 2-2-1-1-2 Center Hole; 2-1-1-2 Filigree Neck Positioning Hole

[0068] 2-1-1-3 Fruit ball positioning hole 2-1-1-4 Fruit ball positioning auxiliary curved surface

[0069] 2-1-2 First Harvesting Cylinder 2-1-2-1 Assembly Hole

[0070] 2-1-2-2 Roller Drive Pulley 2-1-3 Cutter Assembly

[0071] 2-1-3-1 Cutting blade 2-1-3-2-1 First blade holder

[0072] 2-1-3-2 Handle 2-1-3-2-2 Second Handle

[0073] 2-1-3-3 Separator plate 2-1-3-4 Second sealing plate

[0074] 2-1-3-5 Cutter drive pulley; 2-1-4 Hollow shaft

[0075] 2-1-4-1 Groove 2-1-4-2 Chamber partition plate

[0076] 2-1-5 First sealing plate 2-1-4-4 Collection hole

[0077] 2-2 Drive Mechanism 2-2-1 Drum Drive Device

[0078] 2-2-1-1 Drum drive motor 2-2-1-2 Drum drive pulley

[0079] 2-2-1-3 Roller drive belt 2-2-1-4 Roller drive device fixing plate

[0080] 2-2-2 Cutter Drive Device 2-2-2-1 Cutter Drive Motor

[0081] 2-2-2-2 Cutter drive pulley 2-2-2-3 Cutter drive belt

[0082] 2-2-2-4 Cutter drive device fixing plate 3 Control mechanism

[0083] 3-1 Control Platform 3-2 Battery Pack

[0084] 4. Collection Mechanism 4-1 Filament Storage Box

[0085] 4-2 Sealing cap 4-3 Fixing bolts

[0086] 4-4 Negative pressure fan 4-5 Filament collection pipe

[0087] 5-1 Second Sealed Chamber Detailed Implementation

[0088] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0089] Please see Figures 1 to 5 , Figures 9 to 10As shown, the roller-type multi-target safflower terrain-adaptive harvesting robot of the present invention includes a shell 1-2, a sensing mechanism 1, a driving mechanism 2-2, a control mechanism 3, a collecting mechanism 4, a harvesting mechanism 2 fixed to the bottom of the shell 1-2, and a walking mechanism 1-3. The harvesting mechanism 2 includes a harvesting cylinder 2-1, a cutting blade assembly 2-1-3 located inside the harvesting cylinder, and multiple perforation assemblies 2-1-1. The perforation assemblies 2-1-1 are fixed to the outer wall of the harvesting cylinder 2-1. The perforation assemblies 2-1-1 include fruit ball positioning auxiliary curved surfaces 2-1-1-4 nested downwards from the outside to the inside, fruit ball positioning holes 2-1-1-3, and filament necking positioning holes 2-1. -1-2, Filigree sealing ring 2-1-1-1, multiple thin sheets 2-2-1-1-1 extend circumferentially inward and inward along the inner wall of the filigree sealing ring 2-1-1-1, the front ends of the multiple thin sheets 2-2-1-1-1 converge at the center of the filigree sealing ring 2-1-1-1 and form a central hole 2-2-1-1-2, and gaps are formed between adjacent thin sheets 2-2-1-1-1; the cutter assembly 2-1-3 includes a handle 2-1-3-2 and a cutting blade 2-1-3-1, the cutting blade 2-1-3-1 is fixed on the side of the handle 2-1-3-2 near the harvesting tube 2-1, and the cutting blade 2-1-3-1 is attached to the inner wall of the harvesting tube 2-1;

[0090] The harvesting tube 2-1 is provided with a first sealing plate 2-1-5 and a second sealing plate 2-1-3-4 at both ends. The first sealing plate 2-1-5 and the second sealing plate 2-1-3-4 have a collection hole 2-1-4-4 in the center. The collection mechanism 4 is connected to the harvesting mechanism 2 through the collection hole 2-1-4-4 to provide a negative pressure environment for the harvesting mechanism 2. Several knife handles 2-1-3-2, the inner wall of the harvesting tube 2-1, the first sealing plate 2-1-5 and the second sealing plate 2-1-3-4 form a sealed chamber 5.

[0091] The drive mechanism 2-2 is used to drive the picking tube 2-1 and the cutter assembly 2-1-3 to rotate asynchronously.

[0092] The control method of the roller-type multi-target safflower terrain-adaptive harvesting robot of the present invention includes: real-time acquisition of road conditions and target safflower plant information by the sensing mechanism 1; upon reaching the target safflower plant, adjusting the height of the robot to make the harvesting cylinder 2-1 reach the optimal harvesting position; driving the harvesting cylinder 2-1 to rotate the perforation assembly 2-1-1 to fix the target safflower fruit ball; drawing the stamens of the target safflower fruit ball into the central hole 2-2-1-1-2 based on a negative pressure environment; driving the harvesting cylinder 2-1 and the cutting assembly 2-1-3 to rotate asynchronously by the driving mechanism 2-2, so that the cutting blade 2-1-3-1 cuts the stamens and stores them in the sealed chamber 5; collecting the stamens by the collection mechanism 4; and controlling the operation of each component by the control mechanism 3.

[0093] Furthermore, the optimal picking position is achieved by adjusting the height of the walking mechanism 1-3; the control mechanism 3 divides the target safflower plant into a first picking area, a transition area and a second picking area in the direction of height extension, so that the outer wall of the picking tube 2-1 completely covers the first picking area and the second picking area, thus achieving the optimal picking position.

[0094] The adaptive collection robot and its control method are described in detail below.

[0095] In this embodiment, since the robot absorbs and collects filaments based on a negative pressure environment, airtightness is crucial. The collection mechanism 4 maintains airtightness by providing a sealing cover 4-2. The harvesting mechanism 2 maintains airtightness by providing a sealing sheet.

[0096] Please see Figures 11 to 14 As shown, a plurality of assembly holes 2-1-2-1 are distributed on the outer wall of the harvesting tube 2-1. The perforated assembly 2-1-1 is fixed to the harvesting tube 2-1 through the assembly holes 2-1-2-1. The distribution of the assembly holes 2-1-2-1 is set according to the position of the safflower fruit balls on the safflower plant. Specifically, the perforated assembly 2-1-1 is installed on the assembly holes 2-1-2-1. The assembly holes 2-1-2-1 are evenly arranged on the outer wall of the harvesting tube 2-1, and the arrangement position corresponds to the position of the umbrella-shaped safflower fruit balls. The centerline distance d2 between adjacent assembly holes 2-1-2-1 ranges from 50 to 70 mm, and the included angle α formed between the centerlines of two adjacent rows of assembly holes 2-1-2-1 ranges from 20° to 30°.

[0097] Please see Figures 13 to 14 , Figure 22 As shown, the perforation component 2-1-1 is designed according to the shape and size of the safflower fruit ball and filaments. Specifically, the thin sheet 2-2-1-1-1 of the filament sealing ring 2-1-1-1 is a triangular rubber sheet. The diameter of the central hole 2-2-1-1-2 is determined according to the diameter of the filament necking, the diameter of the fruit ball positioning hole 2-1-1-3 is determined according to the diameter of the safflower fruit ball, and the diameter of the filament necking positioning hole 2-1-1-2 is determined according to the diameter of the safflower plant's filament necking. In this embodiment, the filament sealing ring 2-1-1-1 is made of triangular thin rubber and arranged in a ring at the center of the perforation component 2-1-1; the filament sealing ring 2-1-1-1 is located at the center of the filament necking positioning hole 2-1-1-2, and the fruit ball positioning auxiliary curved surface 2-1-1-4 is located outside the fruit ball positioning hole 2-1-1-3. The diameter d5 of the fruit ball positioning hole 2-1-1-3 is 1.2 to 1.5 times the diameter d3 of the fruit ball of the red flower plant; the diameter d6 of the filament necking positioning hole 2-1-1-2 is 1.3 to 1.6 times the diameter d4 of the filament necking of the red flower plant; the diameter d7 of the central hole 2-2-1-1-2 of the filament sealing ring 2-1-1-1 is 0.8 to 1.0 times the diameter d4 of the filament necking of the red flower plant.

[0098] Please see Figure 11 As shown, the harvesting tube 2-1 is designed according to the growth characteristics of the safflower plant. The harvesting tube 2-1 includes a first harvesting tube 2-1-2 and a second harvesting tube symmetrical about its longitudinal section. The first harvesting tube 2-1-2 (or the second harvesting tube) has a funnel-shaped cylindrical structure, and its diameter gradually increases from the center of the harvesting tube 2-1 outwards. In this embodiment, the angle between the centerlines of the first harvesting tube 2-1-2 and the second harvesting tube is determined based on the canopy expansion of the safflower plant; the length of the first harvesting tube 2-1-2 (or the second harvesting tube) is determined based on the expanded diameter of the safflower plant. When the picking tube 2-1 rotates, it can make large-area contact with safflower plants at different positions and heights, and lock the fruit ball and stamen neck of the target safflower plant through the perforation component 2-1-1. Based on the pressure difference between the inside and outside of the robot, the stamen is sucked into the central hole 2-2-1-1-2, which in turn drives the cutting blade 2-1-3-1 of the cutting component 2-1-3 to rotate along the inner wall of the picking tube 2-1, cutting off the stamen on the stamen neck.

[0099] For details, please refer to Figure 21 As shown, the harvesting tube 2-1 is designed to mimic the growth pattern of the umbrella-shaped safflower. The canopy spread of the umbrella-shaped safflower is δ; therefore, the harvesting tube 2-1 is designed in an hourglass shape, i.e., two symmetrical frustum-shaped structures with larger diameters at both ends and gradually decreasing diameter towards the middle, namely the first harvesting tube 2-1-2 and the second harvesting tube. In this embodiment, the cutting blade 2-1-3-1 is attached to the inner walls of the first harvesting tube 2-1-2 and the second harvesting tube. The angle formed by the cutting blade 2-1-3-1 inside the first harvesting tube 2-1-2 and the second harvesting tube is θ, which is twice the taper angle λ of the harvesting tube 2-1. The diameter D at both ends of the harvesting tube 2-1 ranges from 620 to 640 mm, and the central diameter d ranges from 310 to 330 mm; the length L1 of the harvesting tube 2-1 ranges from 840 to 850 mm, which is the diameter of the umbrella-shaped safflower plant when it spreads. The taper ratio C of the picking tube 2-1 ranges from (1:7) to (1:8), and its taper angle is λ, which is 1.0 to 1.2 times the unfolding amplitude δ of the umbel-shaped red canopy. The specific formula is as follows:

[0100]

[0101]

[0102] Please see Figure 6As shown, the harvesting mechanism 2 also includes a semi-enclosed envelope cylinder 1-2-1. The shape of the envelope cylinder 1-2-1 is adapted to the harvesting cylinder 2-1 and fixed to the outside of the harvesting cylinder 2-1. A harvesting opening 1-2-1-1 is opened on its side wall to align with the target safflower plant. When the harvesting cylinder 2-1 rotates, the perforated component 2-1-1 of the harvesting cylinder 2-1 passes through the harvesting opening 1-2-1-1 in sequence. A transition plate 1-2-2 is provided between adjacent envelope cylinders 1-2-1, tangent to the outer wall of the envelope cylinder 1-2-1. In this embodiment, the shell 1-2 and the harvesting cylinder 2-1 are connected and fixed by the envelope cylinder 1-2-1 and the transition plate 1-2-2. The housing 1-2 includes an outer fixing frame 1-2-3, an inner fixing frame 1-2-5, a filament collecting tube positioning hole 1-2-4, and a roller positioning hole 1-2-6. The outer fixing frame 1-2-3 is used to fix the inner fixing frame 1-2-5, and the inner fixing frame 1-2-5 is used to fix the envelope tube 1-2-1 and the picking tube 2-1. Specifically, the outer fixing frame 1-2-3 is bolted to the outside of the inner fixing frame 1-2-5. Holes 1-2-4 for positioning the filament collecting tube are opened on both sides of the outer fixing frame 1-2-3, and holes 1-2-6 for positioning the roller are opened on both sides of the inner fixing frame 1-2-5. The harvesting cylinder 2-1 is horizontally fixed inside the envelope cylinder 1-2-1 through the roller positioning holes 1-2-6. The roller positioning holes 1-2-6 are located at both ends of the harvesting cylinder 2-1, and their centers coincide with the centers of both ends of the harvesting cylinder 2-1. The filament collecting tube positioning holes 1-2-4 and 1-2-6 correspond one-to-one and are concentric. A transition plate 1-2-2 is placed in the gap between adjacent envelope cylinders 1-2-1 and is tangent to the outer walls of both envelope cylinders 1-2-1, enhancing the structural stability.

[0103] Please see Figure 12 As shown, when multiple harvesting tubes 2-1 are provided, they are arranged in parallel with each other and in a serrated pattern along the height extension direction. The semi-enclosed structure of the envelope tube 1-2-1 and the roller positioning hole 1-2-6 are also arranged in a serrated pattern accordingly. Specifically, when three harvesting tubes 2-1 are provided, they are arranged in a V-shape. At this time, the envelope tube 1-2-1 and the roller positioning hole 1-2-6 are arranged in a V-shape on the inner fixing frame 1-2-5, and the filament collecting tube positioning hole 1-2-4 is arranged in a V-shape on the outer fixing frame 1-2-3. In this embodiment, the picking tubes 2-1 are numbered C1, C2 and C3 from the front to the rear of the shell 1-2. The line connecting the center points of the picking tubes 2-1 C1, C2 and C3 is arranged in a V-shape on the shell 1-2, and the angle γ between the center points is in the range of 145° to 155°. The horizontal distance L2 between the picking tubes 2-1 C1 and C3 and the middle picking tube C2 is in the range of 590 to 610 mm.

[0104] Please see Figure 15As shown, one end of the picking tube 2-1 is fixed with a first sealing plate 2-1-5, and the other end is embedded in a second sealing plate; the cutting assembly 2-1-3 extends a plurality of knife handles 2-1-3-2 circumferentially along the radial direction from the inner side of the second sealing plate 2-1-3-4 to the inner side of the first sealing plate 2-1-5. The cutting blade assembly 2-1-3 is tightly fitted to the inside of the harvesting tube 2-1, and the right side (or left side, opposite to the position of the first sealing plate 2-1-5) of the end of the blade handle 2-1-3-2 is fixed to the second sealing plate 2-1-3-4. The second sealing plate 2-1-3-4 is connected to the cutting blade driving device 2-2-2. When the second sealing plate 2-1-3-4 is driven to rotate, the blade handle 2-1-3-2 is driven to rotate, thereby causing the cutting blade 2-1-3-1 to rotate against the inner wall of the harvesting tube 2-1. It is mainly used to cut the safflower plant filaments fixed by the central hole 2-2-1-1-2 of the perforation assembly 2-1-1 and store them in the sealed chamber 5. The cutting assembly 2-1-3 includes a cutting blade 2-1-3-1, a handle 2-1-3-2, a separator 2-1-3-3, and a second sealing plate 2-1-3-4. The cutting blade 2-1-3-1 is fitted against the inner wall of the harvesting tube 2-1, while the handle 2-1-3-2 is evenly distributed circumferentially along the hollow shaft 2-1-4 and fixed at one end to the second sealing plate 2-1-3-4, and at the other end near the first sealing plate 2-1-5. Since the cutting blade 2-1-3-1 is fixed to the side of the handle 2-1-3-2 near the inner wall of the harvesting tube 2-1, the cross-section at the connection between the handle 2-1-3-2 and the cutting blade 2-1-3-1 is approximately T-shaped. In addition, to increase the pressure of the negative pressure environment and reduce the space of the sealed chamber 5 to decrease pressure difference loss, the cutter assembly 2-1-3 also includes a partition plate 2-1-3-3. To enhance the structural stability of the cutter assembly 2-1-3, the handle 2-1-3-2 includes a first handle 2-1-3-2-1 and a second handle 2-1-3-2-2. The second handle 2-1-3-2-2 extends from the second sealing plate 2-1-3-4 and is fixed to one side of the partition plate 2-1-3-3. The first handle 2-1-3-2-1 extends from the other side of the partition plate 2-1-3-3 to the inner side of the first sealing plate 2-1-5. The partition plate 2-1-3-3 divides the sealed chamber 5 into a first sealed chamber and a second sealed chamber 5-1. Each pair of adjacent handles 2-1-3-2, the first sealing plate 2-1-5, and the partition plate 2-1-3-3 form the first sealed chamber. Each pair of adjacent knife handles 2-1-3-2, the second sealing plate 2-1-3-4, and the separator 2-1-3-3 form a second sealing chamber 5-1.

[0105] Please see Figure 16As shown, the harvesting mechanism 2 also includes a hollow shaft 2-1-4, mainly used to absorb filaments from the sealed chamber 5 through the slot 2-1-4-1 and transfer them to the collection mechanism 4, thereby improving the efficiency of filament collection. The hollow shaft 2-1-4 is located in the center of several blade handles 2-1-3-2, is hollow inside and its two ends are connected to the collection holes 2-1-4-4, and has a slot 2-1-4-1 on its side wall, which is aligned with the target safflower plant. The outer wall of the hollow shaft 2-1-4, the inner wall of the harvesting cylinder 2-1, and the adjacent blade handles 2-1-3-2 divide the sealed chamber 5 into multiple small chambers, making the internal pressure difference transmission more accurate and preventing the pressure difference transmission efficiency from being affected by the excessive length of the hollow shaft 2-1-4. In addition, a chamber partition plate 2-1-4-2 can be set in the center of the hollow shaft 2-1-4 to separate the cavities of the hollow shaft 2-1-4.

[0106] When the hollow shaft 2-1-4 and the separator 2-1-3-3 are used simultaneously, the cutter assembly 2-1-3 and the hollow shaft 2-1-4 work together. In this case, the hollow shaft 2-1-4 is positioned at the center of the cutter assembly 2-1-3, and the harvesting tube 2-1, the cutter assembly 2-1-3, and the hollow shaft 2-1-4 are coaxially and concentrically distributed. The separator 2-1-3-3 is annular, passes through the hollow shaft 2-1-4, and its outer wall adheres to the inner wall of the harvesting tube 2-1, while its inner wall adheres to the center of the hollow shaft 2-1-4. Specifically, the separator 2-1-3-3 is located at the center of the cutter assembly 2-1-3. When the picking tube 2-1 is the first picking tube 2-1-2 and the second picking tube, the separator 2-1-3-3 is located at the center of the cutter assembly 2-1-3. The separator 2-1-3-3 has a certain thickness, and its outer wall is attached to the center of the picking tube 2-1, while its inner wall is attached to the outer wall of the hollow shaft 2-1-4. It is fixed at the junction of the first picking tube 2-1-2 and the second picking tube. The outer wall of the hollow shaft 2-1-4 divides the first sealing chamber and the second sealing chamber 5-1 separated by the separator 2-1-3-3 into multiple independent first sub-sealing chambers and second sub-sealing chambers. The first sub-sealed chamber is formed by the side of the partition plate 2-1-3-3, the inner wall of the picking tube 2-1, the outer wall of the hollow shaft 2-1-4, the adjacent knife handle 2-1-3-2, and the first sealing plate 2-1-5. The second sub-sealed chamber is formed by the side of the partition plate 2-1-3-3, the inner wall of the picking tube 2-1, the outer wall of the hollow shaft 2-1-4, the adjacent knife handle 2-1-3-2, and the second sealing plate 2-1-3-4. When the hollow shaft slot 2-1-4-1 is connected to one of the sub-sealed chambers, the slot 2-1-4-1 absorbs the filaments in the sub-sealed chamber of the cutter assembly 2-1-3 based on the pressure difference and transfers them to the interior of the hollow shaft 2-1-4. The collection hole 2-1-4-4 absorbs the filaments inside the hollow shaft 2-1-4 into the filament storage box 4-1 based on the pressure difference through the filament collection pipe 4-5. When the slot 2-1-4-1 is aligned with the target safflower plant, the freshly cut filaments are directly absorbed into the hollow shaft 2-1-4 based on the pressure difference. Furthermore, for ease of cutting, multiple cutting blades 2-1-3-1 and corresponding handles 2-1-3-2 are evenly distributed circumferentially along the partition plate 2-1-3-3, with each cutting blade 2-1-3-1 mounted on its corresponding handle 2-1-3-2. The slot 2-1-4-1 is located on any cut surface of the hollow shaft 2-1-4, and the partition plate 2-1-3-3 is located in the center of the hollow shaft 2-1-4, fitting tightly against it.

[0107] The adaptive harvesting robot also includes a walking mechanism 1-3 extending from the lower end of the shell 1-2. The height of each walking mechanism 1-3 is adjustable, and each walking mechanism 1-3 is independently controlled. The optimal harvesting position is achieved by adjusting the height of the walking mechanism 1-3. The walking mechanism 1-3 is driven by a steering drive device 1-3-1 and a walking drive device 1-3-2. The optimal harvesting position is determined by a control mechanism 3, which divides the target safflower plant into a first harvesting area, a transition area, and a second harvesting area along the height extension direction. The optimal harvesting position is achieved when the outer wall of the harvesting cylinder 2-1 completely covers both the first and second harvesting areas.

[0108] Please see Figure 17 As shown, the collection mechanism 4 includes a filament storage box 4-1, an upper sealing cover 4-2, a negative pressure fan 4-4, and a filament collection pipe 4-5. The upper sealing cover 4-2 is fixed to the upper surface of the filament storage box by fixing bolts 4-3. The negative pressure fan 4-4 is built into the filament storage box. The filament collection pipe 4-5 is symmetrically arranged on both sides of the filament storage box 4-1. One end of the filament collection pipe 4-5 is connected to the filament storage box 4-1, and the other end passes through the filament collection pipe positioning hole 1-2-4 and connects to the inside of the harvesting cylinder 2-1.

[0109] The sensing mechanism 1 includes a positioning receiving antenna 1-1-1, a line laser profile sensor 1-1-2, and a positioning navigation and recognition system 1-1, used to acquire information on the terrain type, undulation, surface elevation, shape, and location of the target safflower plant in the target area. In this embodiment, the sensor mechanism is fixed to the front of the housing 1-2 by bolts, and the walking mechanism 1-3 is fixed to the lower part of the four corners of the housing 1-2 by bolts. In the sensing mechanism 1, the positioning receiving antenna 1-1-1 is a GNSS positioning receiving antenna, the line laser profile sensor 1-1-2 is a 3D line laser profile sensor, and a connecting frame 1-1-3 fixed to the housing 1-2 is also included. The GNSS positioning receiving antenna is symmetrically arranged on both sides of the connecting frame 1-1-3, and the 3D line laser profile sensor is arranged at the center of the connecting frame 1-1-3, all connected by threads. The GNSS positioning receiving antenna receives signals from global navigation satellites to obtain the precise latitude and longitude coordinates of the safflower planting location. Combined with map data, it analyzes the terrain of the safflower planting location to obtain terrain type, undulation, and surface elevation information, which is used by the control mechanism 3 to make terrain-adaptive decisions. Please refer to... Figure 21 As shown, the 3D line laser contour sensor detects the height of the safflower plant and obtains the position information of the safflower fruit ball and filaments. Based on the control mechanism 3, the single safflower (A) is divided into the first picking area A1, the transition area A2 and the second picking area A3 in the vertical direction to provide the control mechanism 3 with filament and fruit ball information.

[0110] The control mechanism 3 controls the operation of each component and determines the optimal harvesting position. The target safflower plant is divided into a first harvesting area, a transition area, and a second harvesting area along its height extension direction. The optimal harvesting position is achieved when the outer wall of the harvesting cylinder 2-1 completely covers both the first and second harvesting areas. Specifically, the control mechanism 3 includes a control platform 3-1 and a battery pack 3-2. The control platform 3-1 is responsible for receiving and processing data fused from the GNSS positioning receiving antenna and the 3D line laser profile sensor. Based on the fused data, it makes terrain-adaptive decisions and controls and provides power to the robot's various drive motors and the working negative pressure fan 4-4. The drive motors include a roller drive motor 2-2-1-1, a steering drive motor 1-3-1-3, and a forward drive motor 1-3-2-4. The battery pack 3-2 provides continuous and stable power to the GNSS positioning receiving antenna, the 3D line laser profile sensor, and all drive motors and the working negative pressure fan 4-4. In this embodiment, the control platform 3-1 is fixed to the left side of the outer fixing frame 1-2-3 with bolts, and the battery pack 3-2 is fixed to the upper recess of the outer fixing frame 1-2-3 with bolts.

[0111] The drive mechanism 2-2 includes a steering drive device 1-3-1 and a walking drive device 1-3-2 that drive the walking mechanism 1-3, a roller drive device 2-2-1 that drives the picking cylinder 2-1, and a cutter drive device 2-2-2 that drives the cutter assembly 2-1-3 to rotate. For effective cutting, the picking cylinder 2-1 and the cutter 2-1-3-1 maintain different rotational speeds or directions. In this embodiment, the roller drive motor 2-2-1-1 in the roller drive device 2-2-1 and the cutter drive motor 2-2-1 in the cutter drive device 2-2-2 are started, with their driving directions set to be relatively opposite. The speed ratio between the roller drive motor 2-2-1-1 and the cutter drive motor 2-2-1 is in the range of (1:5) to (1:8). Specifically, the cutter drive device 2-2-2 is connected to the second sealing plate 2-1-3-4. Since the second sealing plate 2-1-3-4 is fixed to the end of the handle 2-1-3-2, it can drive the cutter 2-1-3-1 to rotate. Please see Figure 19As shown, a roller drive device 2-2-1 is connected to the first sealing plate 2-1-5 to drive the picking cylinder 2-1 to rotate. As described above, the first sealing plate 2-1-5 and the second sealing plate 2-1-3-4 are located on opposite sides of the picking cylinder 2-1. Therefore, when the roller drive device 2-2-1 is positioned on the left side of the picking mechanism 2, the cutter drive device 2-2-2 is positioned on the right side of the picking mechanism 2. The two drive devices are set to have different rotation speeds and directions, causing the first sealing plate 2-1-5 and the second sealing plate 2-1-3-4 to rotate asynchronously. This, in turn, causes the cutter 2-1-3-1 and the picking cylinder 2-1 to rotate asynchronously, achieving rapid cutting of the filaments. Simultaneously, the asynchronous rotation of the cutter 2-1-3-1 and the hollow shaft 2-1-4 aligns the slot 2-1-4-1 of the hollow shaft 2-1-4 with different sealing chambers 5, thus achieving rapid collection of the filaments.

[0112] For details, please refer to Figure 18 , Figure 20As shown, the roller drive device 2-2-1 includes a roller drive motor 2-2-1-1, a roller drive pulley 2-2-1-2, a roller drive belt 2-2-1-3, and a roller drive device fixing plate 2-2-1-4. It is driven by the roller drive pulley 2-1-2-2 mounted on the first sealing plate 2-1-5. The picking cylinder is powered by the roller drive motor 2-2-1-1 through the roller drive belt 2-2-1-3. The roller drive motor 2-2-1-1 is mounted on the roller drive device fixing plate 2-2-1-4, which is bolted to the outer fixing frame 1-2-3. The roller drive pulley 2-2-1-2 is connected to the roller drive belt 2-2-1-3, and the roller drive belt 2-2-1-3 is connected to the roller drive pulley 2-1-2-2. The roller drive belt 2-2-1-3 connects the two roller drive pulleys 2-1-2-2. In this embodiment, the roller drive pulley 2-1-2-2 is located on the left side of the picking cylinder 2-1. The cutter drive device 2-2-2 includes a cutter drive motor 2-2-1, a cutter drive pulley 2-2-2-2, a cutter drive belt 2-2-2-3, and a cutter drive device fixing plate 2-2-2-4. The cutter drive motor 2-2-1 is mounted on the cutter drive device fixing plate 2-2-2-4, which is fixed to the outer fixing frame 1-2-3 by bolts. The cutter drive pulley 2-2-2-2 is connected to the cutter drive belt 2-2-2-3, and the cutter drive belt 2-2-2-3 is connected to the cutter drive pulley 2-1-3-5. The cutter drive belt 2-2-2-3 connects to the three cutter drive pulleys 2-1-3-5. The cutter handle 2-1-3-2 is driven by a cutter drive pulley 2-2-2-2 mounted on the second sealing plate 2-1-3-4. The cutter assembly 2-1-3 is powered by a cutter drive motor 2-2-1 via the cutter drive pulley 2-2-2-2, and the robot begins cutting the filaments. In this embodiment, the cutter drive pulley is located at the right end of the picking cylinder 2-1.

[0113] Please see Figures 7 to 8As shown, the steering drive device 1-3-1 includes a steering wheel support frame 1-3-1-1, a steering wheel 1-3-1-2, a steering drive motor 1-3-1-3, a cylindrical gear transmission gear set 1-3-1-4, a steering worm gear lifting mechanism 1-3-1-5, and a steering lifting support rod 1-3-1-6. The steering drive motor 1-3-1-3 provides steering power to the steering wheel 1-3-1-2 through the cylindrical gear transmission gear set 1-3-1-4; the steering worm gear lifting mechanism 1-3-1-5 adjusts the robot's working height through the steering lifting support rod 1-3-1-6. The walking drive device 1-3-2 includes a drive wheel support frame 1-3-2-1, a forward wheel 1-3-2-2, a bevel gear transmission gear set 1-3-2-3, a forward drive motor 1-3-2-4, a walking worm gear lifting mechanism 1-3-2-5, and a walking lifting support rod 1-3-2-6. The steering drive motor 1-3-1-3 provides forward power to the forward wheel 1-3-2-2 through the bevel gear transmission gear set 1-3-2-3. The walking worm gear lifting mechanism 1-3-2-5 adjusts the robot's working height through the walking lifting support rod 1-3-2-6. The lifting support rods 1-3-1-6 of the steering drive device and 1-3-2-6 of the walking drive device operate independently, ensuring no interference when adjusting the overall height. The control mechanism 3 receives and processes information fused from the Honghua positioning and sensing system, and adjusts the lifting support rods 1-3-1-6 and 1-3-2-6 accordingly. The lifting height h of the lifting support rods 1-3-1-6 and 1-3-2-6 ranges from 100 to 300 mm. Due to the adjustment of the working height h of the lifting support rods 1-3-1-6 and 1-3-1-6, the working height H1 of the robot changes accordingly, maintaining it within the range of 600 to 800 mm.

[0114] Please see Figure 27 As shown, the adaptive collection robot proposed in this invention performs the following steps when carrying out collection:

[0115] S1. Area Perception and Precise Division: The adaptive harvesting robot straddles the safflower plant, aligning the harvesting opening 1-2-1-1 of the envelope cylinder 1-2-1 downwards with the target safflower plant, and simultaneously aligning the slot 2-1-4-1 of the hollow shaft 2-1-4 with the harvesting opening 1-2-1-1, thus aligning with the target plant. During system initialization, the GNSS positioning receiving antenna captures the terrain type, undulation, and surface elevation information of the safflower planting location. After initial alignment, the 3D line laser contour sensor collects the three-dimensional spatial position information of the safflower fruit balls and stamens, dividing the target safflower plant (A) vertically into three areas: the first harvesting area A1, the transition area A2, and the second harvesting area A3. The fused safflower plant information, terrain type, undulation, and surface elevation information are then transmitted to the control platform of the control mechanism 3.

[0116] S2. Safflower Silk Positioning and Decision-Making:

[0117] S2.1 The control platform receives the information of safflower plants collected by the sensor mechanism, sends height adjustment commands to the forward lifting drive motor and the rear lifting drive motor, and adjusts the front worm gear lifting mechanism and the rear worm gear lifting mechanism so that the semi-ellipsoidal harvesting surface of the harvesting cylinder completely covers the first harvesting area A1 crown layer and the second harvesting area A3 crown layer of the safflower plant (A).

[0118] S2.2. Based on the obtained terrain type, undulation, and surface elevation information, make control decisions:

[0119] Scenario 1.1: The terrain is flat and unobstructed. On this terrain, the robot will automatically move forward according to the preset height and path, ensuring that the semi-ellipsoidal harvesting surface of the harvesting device can cover the harvesting areas A1 and A3 of the safflower plants (see...). Figure 23 (as shown);

[0120] Scenario 1.2: Uneven terrain on one side. When encountering uneven terrain on one side, the robot's control mechanism will independently adjust the lifting mechanism on that side to adapt to the uneven ground. Simultaneously, the lifting mechanisms on the other three sides will be fine-tuned to maintain the robot's balance, ensuring that the harvesting device can stably cover the target harvesting area (see...). Figure 26 (as shown);

[0121] Scenario 1.3: Unevenly undulating terrain. On unevenly undulating terrain, each lifting mechanism of the robot can independently adjust its height to adapt to complex terrain changes. This flexibility ensures that the harvesting device can always cover the harvesting area of ​​the safflower plants (see...). Figure 24 (as shown);

[0122] Scenario 1.4: Sloping terrain. When the robot needs to operate on sloping terrain, the control mechanism adjusts the length of the lifting mechanism to maintain the robot's horizontal posture. The lifting mechanism above the slope shortens, while the one below extends to counteract the slope's influence, ensuring the harvesting device can effectively cover the safflower plants on the slope (see...). Figure 25 (as shown);

[0123] S2.3 Control the roller drive motor and the cutter drive motor to rotate in opposite directions at different speeds, and turn on the negative pressure fan. At this time, the safflower fruit ball is fixed by the fruit ball positioning hole on the perforation assembly under the combined action of the picking tube and the negative pressure fan. The flower thread passes through the flower thread necking positioning hole and enters the corresponding large and small cutting chambers in the cutter assembly according to the position. The flower thread is cut by the dual action of the cutter assembly and the picking tube.

[0124] S3. Filament Collection: After the filaments are cut, they are sucked into the hollow shaft through the slot on the hollow shaft. The negative pressure environment in the hollow shaft sends the filaments to the filament storage box, completing one filament harvest.

[0125] S4. Device Reset: After the filaments are harvested, the control mechanism controls the roller drive motor and the cutter drive motor to perform the reset stroke, the harvesting mechanism returns to the initial state, the control mechanism ends the harvesting state and enters the standby state, ready to receive the information obtained by the sensor mechanism again and carry out the next harvesting work.

[0126] In this patent, the parameters are represented by the following table 1.

[0127] Table 1 Summary of the meanings of each parameter variable

Claims

1. A roller-type multi-target terrain-adaptive harvesting robot for safflower, characterized in that, It includes a housing, a sensing mechanism, a driving mechanism, a control mechanism, a collecting mechanism, a picking mechanism fixed to the bottom of the housing, and a walking mechanism; The harvesting mechanism includes a harvesting tube, a cutting assembly located inside the harvesting tube, and multiple perforation assemblies. The perforation assemblies are fixed to the outer wall of the harvesting tube. Each perforation assembly includes a fruit ball positioning auxiliary curved surface, a fruit ball positioning hole, a silk necking positioning hole, and a silk sealing ring, nested sequentially from the outside inwards. Multiple thin sheets extend circumferentially inwards and centripetally along the inner wall of the silk sealing ring. The front ends of these thin sheets converge at the center of the silk sealing ring, forming a central hole, with gaps between adjacent thin sheets. The cutting assembly includes a handle and a cutting blade. The cutting blade is fixed to the side of the handle near the harvesting tube, and the cutting blade is fitted against the inner wall of the harvesting tube. The harvesting mechanism is provided with a first sealing plate and a second sealing plate at both ends. The first sealing plate and the second sealing plate have a collection hole in the center. The collection mechanism is connected to the harvesting mechanism through the collection hole to provide a negative pressure environment for the harvesting mechanism. Several knife handles, the inner wall of the harvesting cylinder, the first sealing plate and the second sealing plate form a sealed chamber. The drive mechanism is used to drive the picking tube and the cutting blade assembly to rotate asynchronously; The outer wall of the harvesting tube is provided with a number of assembly holes, and the perforated assembly is fixed to the harvesting tube through the assembly holes; and the distribution of the assembly holes is set according to the position of the safflower fruit ball on the safflower plant.

2. The roller-type multi-target red flower terrain adaptive harvesting robot according to claim 1, characterized in that, The thin sheet of the filament sealing ring is a triangular rubber, the diameter of the central hole is determined according to the diameter of the filament necking, the diameter of the fruit ball positioning hole is determined according to the diameter of the safflower fruit ball, and the diameter of the filament necking positioning hole is determined according to the diameter of the safflower plant filament necking.

3. The roller-type multi-target safflower terrain-adaptive harvesting robot according to claim 1, characterized in that, The harvesting tube includes a first harvesting tube and a second harvesting tube that are symmetrical about the longitudinal section of the harvesting tube; the first harvesting tube has a funnel-shaped cylindrical structure and its diameter gradually increases from the center of the harvesting tube outward.

4. The roller-type multi-target safflower terrain-adaptive harvesting robot according to claim 3, characterized in that, The harvesting tubes are provided in multiples, which are distributed in parallel to each other and arranged in a serrated pattern in the direction of vertical extension.

5. The roller-type multi-target red flower terrain adaptive harvesting robot according to claim 1, characterized in that, The harvesting mechanism also includes a semi-enclosed envelope cylinder, the shape of which is adapted to the harvesting cylinder and fixed to the outside of the harvesting cylinder, and a harvesting opening is opened on the side wall to be aligned with the target safflower plant. When the harvesting cylinder rotates, the perforated components of the harvesting cylinder pass through the harvesting opening in sequence. A transition plate is set between adjacent envelope tubes and is tangent to the outer wall of the envelope tube.

6. The roller-type multi-target red flower terrain adaptive harvesting robot according to claim 1, characterized in that, One end of the harvesting tube is fixed with a first sealing plate, and the other end is embedded in a second sealing plate; the cutting assembly extends multiple blade handles circumferentially along the radial direction to the inner side of the first sealing plate from the inner side of the second sealing plate. The cutting assembly also includes a partition plate that is concentric and coaxial with the harvesting tube. At this time, the knife handle includes a first knife handle and a second knife handle. The second knife handle extends from the second sealing plate and is fixed to one side of the partition plate. The first knife handle extends from the other side of the partition plate to the inner side of the first sealing plate. The partition plate divides the sealing chamber into a first sealing chamber and a second sealing chamber.

7. The roller-type multi-target safflower terrain-adaptive harvesting robot according to claim 6, characterized in that, The harvesting mechanism also includes a hollow shaft, which is located in the center of several knife handles. The shaft is hollow inside and its two ends are connected to the collection holes. It also has a groove on its side wall, which is aligned with the target safflower plant. The separator is annular, passes through the hollow shaft, and its outer wall is attached to the inner wall of the picking tube, while its inner wall is attached to the center of the hollow shaft.

8. A control method for a roller-type multi-target safflower terrain-adaptive harvesting robot according to any one of claims 1 to 7, characterized in that, The control method includes: The sensor mechanism acquires real-time information on the road conditions ahead and the target safflower plant; upon reaching the target safflower plant, the robot's height is adjusted so that the picking tube reaches the optimal picking position. The picking tube drives the perforation assembly to rotate, thereby fixing the target safflower fruit ball. Based on the negative pressure environment, the filaments of the target safflower fruit ball are sucked into the central hole. The picking tube and the cutting assembly are driven to rotate asynchronously by the driving mechanism, so that the cutting blade cuts the filaments and stores them in the sealed chamber. The collecting mechanism collects the filaments.

9. The control method for the roller-type multi-target red flower terrain adaptive harvesting robot according to claim 8, characterized in that, The optimal picking position can be achieved by adjusting the height of the walking mechanism; The control mechanism divides the target safflower plant into a first picking area, a transition area, and a second picking area along the height extension direction, so that the outer wall of the picking tube completely covers the first and second picking areas, thus achieving the optimal picking position.

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