Safflower picking robot based on five-axis series-parallel mechanical arm

Abstract

The invention provides a safflower picking robot based on a five-axis series-parallel mechanical arm. The safflower picking robot mainly comprises an omni-directional moving chassis, the five-axis series-parallel mechanical arm, a tail end picking mechanism, a flower bud positioner, a pneumatic suction conveying and collecting device, a binocular camera, a light supplementing lamp, an electric control box, a control system and the like. The binocular camera is combined with the light supplementing lamp to be used for safflower detection and pose recognition under the condition of poor light. The top of the five-axis series-parallel mechanical arm is connected with the omnidirectional moving chassis, and the lower portion of the five-axis series-parallel mechanical arm is connected with the tail end picking mechanism. The tail end picking mechanism is connected with a flower bud positioner and used for completing positioning of the cutting position of safflower carthamus. The pneumatic sucking, conveying and collecting device is connected with the flower bud positioner, the upward gathering, carding and shaping effect is achieved after the pneumatic sucking, conveying and collecting device gets close to the safflower filaments, and the cutting effect is improved. The control system visually detects to-be-picked safflower according to the binocular camera and obtains pose information, the five-axis series-parallel mechanical arm and the picking mechanism at the tail end on the five-axis series-parallel mechanical arm are driven to execute a pose profiling picking task, the pneumatic suction conveying and collecting device completes upward gathering, carding and shaping of safflower filaments, and the safflower filaments are conveyed and collected after picking. The robot improves the picking adaptability and picking effect of safflower carthamus in different poses.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a safflower picking robot based on a five-axis serial-parallel hybrid robotic arm. Background Art

[0002] Safflower is a crop with important economic value, and it is widely used in the fields of medical treatment, dyes, etc. With the continuous in-depth research on its medicinal and health functions and its application in the agricultural and sideline products and cosmetics industries, the market demand continues to grow. As one of Xinjiang's advantageous and characteristic economic crops, safflower's planting area and output account for more than 80% of the country. However, large-scale cultivation of safflower has also brought about problems such as low picking efficiency and difficulty in picking. Due to the high economic value of safflower and the short picking period, the picking equipment is required to complete the operation quickly and efficiently. At present, the picking of safflower filaments still mainly relies on manual picking, which is not only labor-intensive, but also significantly restricted by weather factors, and it is difficult to meet the requirements of high picking timeliness.

[0003] At present, the types of safflower harvesters include: air suction type, roller type, comb clamp type, rotary bevel type, etc. At present, the types of safflower harvesters mainly include air suction type, roller type, comb clamp type and rotary bevel type. A safflower harvesting robot (patent application publication number: CN108391507A) uses a single mechanical arm to operate, which can realize automatic picking, but its adaptability when picking safflower in an inclined posture still needs to be improved; the existing traditional safflower picking robot is slightly insufficient in the harvesting of safflower in an inclined posture, and needs further optimization; another safflower selective picking robot platform (patent application publication number: CN218125577U) has realized the selective picking and automatic picking of safflower, but the picking mechanism uses rollers and pulling methods to operate, and there is still room for improvement in the picking of high-quality filaments.

[0004] In order to improve the adaptability of safflower picking robots to safflower picking in an inclined posture, improve the problems of damage to flower buds and unclean harvesting during the harvesting process, and improve the picking effect, this paper proposes a safflower picking robot based on a five-axis serial-parallel hybrid robotic arm, which can realize safflower picking in an inclined posture and improve the problems of poor safflower picking effect in the inclined posture of traditional safflower picking robots. Summary of the invention

[0005] In order to solve the above background problems, a safflower picking robot based on a five-axis serial-parallel hybrid robotic arm is proposed to solve the problems raised in the above background technology.

[0006] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a safflower picking robot based on a five-axis serial-parallel hybrid manipulator, characterized in that it includes an omnidirectional mobile chassis, a five-axis serial-parallel hybrid manipulator, a terminal picking mechanism, a bud locator, a pneumatic suction collection device, a binocular camera, a fill light, an electric control box, a control system, etc. The top of the five-axis serial-parallel hybrid manipulator is connected to the center of the top of the omnidirectional mobile chassis, and the bottom is connected to the terminal picking mechanism; the terminal picking mechanism is equipped with the bud locator, and there is a flower inlet in the middle to locate the safflower cutting position according to the bud diameter. The pneumatic suction collection device is connected to the bud locator, which can realize the upward gathering, combing and shaping of safflower filaments, and the collection and transportation of safflower filaments. Two binocular cameras are symmetrically installed on both sides of the interior of the omnidirectional mobile chassis for safflower detection and identification and posture information acquisition. The fill light is installed in the center of the front side of the omnidirectional mobile chassis for lighting in poor light environments.

[0007] The omnidirectional mobile chassis includes: an operating platform, a lifting and adjusting mechanism, a frame suspension, an independent steering and traveling assembly, a laser radar, a navigation differential antenna, a navigation system, etc. The operating platform is fixedly connected to the lifting and adjustable mechanism; the upper part of the frame suspension is connected to the lifting and adjusting mechanism; the independent steering and traveling assembly is connected to the four ends of the frame suspension, and the wheel steering angle can be adjusted, so that the robot can flexibly adapt to different picking row distances; the laser radar is installed in the center of the front side of the suspension frame, and the laser radar plays a role in environmental perception and path control; based on the construction of the environmental map by the laser radar, the safflower picking robot can perform autonomous navigation and path planning, and the safflower picking robot can select the optimal walking path according to the map information to reach the target picking position at the fastest speed. At the same time, the safflower picking robot needs to promptly discover and avoid various obstacles; the navigation differential antenna is installed on both sides of the suspension frame, and is centrally symmetrically distributed, which can improve positioning accuracy and enhance signal stability.

[0008] The five-axis serial-parallel hybrid manipulator includes: servo motors (3), motor base (static platform), motor housing, top plate housing, active arms (3 pairs), driven arms (3 pairs), several ball joint bearings, terminal connecting plate (moving platform), vertical axis motor, horizontal axis motor bracket, and horizontal axis motor. The three servo motors are evenly distributed and fixed along the horizontal circumference of the motor base (static platform) at 120°; the motor housing is fixed to the top plate housing through the motor base (static platform); the servo motors (3) drive the terminal connecting plate (moving platform) to move in parallel through active arms (3 pairs), driven arms (3 pairs), several ball joint bearings, etc.; the vertical axis motor is installed in the middle of the terminal connecting plate (moving platform), and its output shaft is vertically downward; the horizontal axis motor is installed on the horizontal axis motor bracket, and its output shaft is in the horizontal direction. The vertical axis motor is connected in series with the terminal connecting plate (moving platform), and the horizontal axis motor is connected in series with the vertical axis motor, and finally a five-axis serial-parallel hybrid manipulator is formed.

[0009] The end picking mechanism includes: a clamp, a clamp bracket, a clamp wind cover, a trapezoidal blade, an end clamp finger, a cutting drive motor, a card plate, an air suction port, a picking port fixing seat, and a bud locator; the clamp is connected to the clamp bracket, the trapezoidal blade is connected to the clamp through the end clamp finger, and the clamp is connected to the cutting drive motor. When cutting the safflower filaments, the cutting drive motor controls the clamp to close, thereby driving the trapezoidal blade to close and complete the cutting. The clamp wind cover is fixed between the picking port fixing seat and the card plate, and the three form a closed space to enhance the combing and shaping of the safflower filaments under the negative pressure of the air flow field; the bud locator is provided with a flower inlet in the middle, which can locate the cutting position according to the diameter of the bud to prevent the buds from being damaged during the cutting of the safflower filaments; the air suction port is fixed to the picking port fixing seat.

[0010] The pneumatic suction collection device includes: a negative pressure fan, a flower transport hose, a negative pressure bellows, and a flower collecting box; one end of the flower transport hose is connected to the air suction port, and the other end of the flower transport hose is connected to the flower collecting box; a vent is provided at the top of the flower collecting box, and the negative pressure bellows is connected to the flower collecting box; the pneumatic suction collection device is connected to the flower bud locator, and after approaching the safflower filaments, the negative pressure fan forms a negative pressure suction force at the flower inlet, which can achieve the effect of gathering and combing the safflower filaments upward, which is beneficial to improving the cutting effect; when the cutting drive motor drives the trapezoidal blade to cut the safflower, the negative pressure fan provides power for the flower transport hose to suck in and transport the safflower filaments to the flower collecting box.

[0011] It should be noted that the electric control box includes a battery pack, a control system, etc. The battery pack provides power for the robot to work; the control system includes a walking component steering drive module, each motor drive module in the serial-parallel hybrid manipulator, a path planning module, an image processing module, a lifting height adjustment module, a differential navigation module, a sensor interface module, a communication module, a harvesting control module, etc.

[0012] The control system drives the five-axis serial-parallel hybrid robotic arm according to the safflower position information, and drives the terminal picking mechanism to reach the top of the safflower to be picked; then, the control system drives the vertical axis motor and the horizontal axis motor according to the safflower posture information to make the terminal picking mechanism approach and insert the safflower to be picked according to the posture; the flower bud locator locates the safflower cutting position according to the flower bud diameter to prevent the flower buds from entering the cutting area too much (cutting damages the flower buds) or insufficiently (the safflower filaments are not cut cleanly); the pneumatic suction collection device generates negative pressure suction at the flower inlet to complete the upward gathering, combing and shaping of the safflower filaments; the cutting drive motor controls the clamp to close, driving the trapezoidal blade to close to complete the cutting; after the cutting is completed, the safflower filaments are transported into the flower collection box by the flower conveying hose.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The omnidirectional mobile chassis allows the five-axis serial-parallel hybrid robot to adjust the picking height to adapt to the picking of safflowers at different heights. The active arm and the driven arm of the five-axis serial-parallel hybrid robot are both carbon fiber rods, which solves the problem of the existing structure lacking lightweight; a bud locator is set on the end effector to locate the safflower cutting position according to the bud diameter to prevent the buds from entering the cutting area too much (cutting damages the buds) or not enough (the safflower filaments are not cut cleanly), which improves the traditional picking robot's picking problems such as miscutting buds or unclean harvesting due to too large incisions; a safflower picking robot based on a five-axis serial-parallel hybrid robot with a binocular camera can realize the positioning and picking of safflowers in tilted postures. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the filaments, buds and positioning cutting areas of safflower;

[0017] Figure 2 This is a schematic diagram of the whole safflower plant;

[0018] Figure 3 This is a schematic diagram of the overall structure of the five-axis serial-parallel hybrid safflower picking robot of the present invention;

[0019] Figure 4 This is a schematic diagram of the structure of the omnidirectional mobile chassis of the present invention;

[0020] Figure 5This is a schematic diagram of the structure of the five-axis serial-parallel hybrid robotic arm of the present invention;

[0021] Figure 6 This is a schematic diagram of the end picking mechanism of the present invention;

[0022] Figure 7 This is a cross-sectional view of the moment when the end picking mechanism of the present invention is positioned and cut;

[0023] Figure 8 This is a schematic diagram of the present invention for picking safflower in an inclined posture;

[0024] Fig. 9 Is a schematic diagram of the pneumatic suction collection device of the present invention;

[0025] Fig.10 This is a block diagram of the control system structure of the safflower picking robot of the present invention;

[0026] Fig.11 It is a flow chart of picking operation implemented by the control system of the present invention.

[0027] The accompanying drawings are marked:

[0028] 1 omnidirectional mobile chassis, 101 lifting adjustment mechanism, 102 working platform, 103 frame suspension, 104 independent steering and walking components, 106 navigation differential antenna, 2 five-axis serial-parallel hybrid robot arm, 201 active arm, 202 driven arm, 203 several ball joint bearings, 204 motor housing, 205 motor base, 206 servo motor, 207 vertical axis motor, 208 horizontal axis motor, 209 horizontal axis motor bracket, 210 top plate housing, 211 end connecting plate, 3 end picking mechanism, 301 clamping claw, 302 clamping claw bracket, 303 end clamping finger, 304 picking port fixing seat, 305 bud locator, 306 card board, 307 air suction port, 308 clamping claw wind cover, 309 trapezoidal blade, 310 cutting drive motor, 4 pneumatic suction collection device, 401 Soft flower hose, 402 negative pressure bellows, 403 flower collection box, 5 binocular camera, 6 electric control box, 7 fill light, 8 flower buds, 9 red flower filaments DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0031] like Figure 3As shown, a safflower picking robot based on a five-axis serial-parallel hybrid manipulator, each structure cooperates with each other, can achieve accurate picking of tilted safflowers and improve the picking problems of damaged flower buds 8 existing in the current traditional safflower picking robots. The composition, structure, mutual position relationship, connection relationship and function of other parts of the safflower picking robot are all relatively mature existing technologies, so they are not described here. The following only describes in detail how the safflower picking robot of the present invention can achieve accurate picking of tilted safflowers and improve the picking effect and other traditional problems.

[0032] See also Figure 3 , Figure 3 The overall structure diagram of the five-axis serial-parallel hybrid safflower picking robot of one embodiment of the present invention includes: an omnidirectional mobile chassis 1, a five-axis serial-parallel hybrid manipulator 2, a terminal picking mechanism 3, a bud locator 306, a pneumatic suction collection device 4, a binocular camera 5, a fill light 7, an electric control box 6 and a control system. The top of the five-axis serial-parallel hybrid manipulator 2 is connected to the top center of the omnidirectional mobile chassis 1, and the bottom is connected to the terminal picking mechanism 3; the terminal picking mechanism 3 is equipped with the bud locator 3036, and there is a flower inlet in the middle to locate the safflower cutting position according to the bud diameter. The pneumatic suction collection device 4 is connected to the bud locator 306, which can realize the combing and shaping of the safflower filaments 9 that gather upward, and collect and transport the safflower filaments 9. The two binocular cameras 5 are symmetrically installed on both sides of the inside of the omnidirectional mobile chassis 1, respectively, for safflower detection and recognition and posture information acquisition. The fill light 7 is installed in the center of the front side of the omnidirectional mobile chassis and is used for lighting in poor light environments.

[0033] See also Figure 4 , Figure 4 This is a structural schematic diagram of an omnidirectional mobile chassis 1 according to an embodiment of the present invention, including: an operating platform 102, a lifting and adjusting mechanism 101, a frame suspension 103, an independent steering and traveling component 104, a laser radar 105, a navigation differential antenna 106, a navigation system, etc. The working platform 102 is fixedly connected to the lifting and adjusting mechanism 101; the upper part of the frame suspension 103 is connected to the lifting and adjusting mechanism 101, and the four ends of the frame suspension beam 103 are connected to the independent steering and walking components 104; the laser radar 105 is installed in the front center of the suspension frame 103, and the laser radar 105 plays a role in environmental perception and path control; based on the environmental map constructed by the laser radar 105, the safflower picking robot can perform autonomous navigation and path planning, and the safflower picking robot can select the optimal walking path according to the map information to reach the target picking position at the fastest speed. At the same time, the safflower picking robot can promptly detect and avoid various obstacles; the navigation differential antenna 106 is installed on both sides of the frame suspension 103 and is centrally symmetrically distributed, which can improve positioning accuracy and enhance signal stability.

[0034] It should be noted that the top of the five-axis serial-parallel hybrid robot arm 2 is connected to the working platform 102 in the omnidirectional mobile chassis 1, and the working platform 102 is fixedly connected to the lifting and adjusting mechanism 101, which can realize the lifting and lowering of the five-axis serial-parallel hybrid robot arm 2 to adapt to the picking of safflowers at different heights; the independent steering and walking component 104 cooperates with the control system, navigation system, etc., and can adjust the wheel steering angle, so that the robot can flexibly adapt to different picking row spacings.

[0035] See also Figure 5 , Figure 5 The schematic diagram of the structure of the five-axis serial-parallel hybrid robot arm 2 of an embodiment of the present invention includes: a servo motor 206, a motor base (static platform) 205, a motor housing 204, an active arm 201, a driven arm 202, a plurality of ball joint bearings 203, an end connecting plate (dynamic platform) 211, a top plate housing 201, a vertical axis motor 207, a horizontal axis motor bracket 209, and a horizontal axis motor 208. The three groups of servo motors 206 are fixedly connected to the corresponding three groups of motor bases 205, and the servo motors (3) 206 are installed in the motor outer housing 204. The motor housing 204 is fixedly connected to the top plate housing 210 through the motor base (static platform) 205; the servo motors (3) drive the terminal connecting plate (moving platform) 211 to move in parallel through the active arm 201 (3 pairs), the driven arm 202 (3 pairs), and a number of ball joint bearings 203; the vertical axis motor 207 is installed in the middle of the terminal connecting plate (moving platform) 211, and its output shaft is vertically downward; the horizontal axis motor 208 is installed on the horizontal axis motor 209 bracket, and its output shaft is in the horizontal direction. The vertical axis motor 207 is connected in series with the terminal connecting plate (moving platform) 211, and the horizontal axis motor 208 is connected in series with the vertical axis motor 207, and finally a five-axis serial-parallel hybrid robot arm 2 is formed.

[0036] See also Figure 6 , Figure 6The schematic diagram of the terminal picking mechanism 3 of an embodiment of the present invention includes: a clamping claw 301, a clamping claw support 302, a clamping claw wind shield 308, a trapezoidal blade 309, a cutting drive motor 310, an end clamping finger 303, a clamping plate 306, an air suction port 307, a picking port fixing seat 304, and a bud locator 305; the clamping claw 301 is connected to the clamping claw support 302; the trapezoidal blade 309 is connected to the clamping claw 301 through the end clamping finger 303; the clamping claw 301 is connected to the cutting drive motor 310 to cut the safflower. When cutting, the cutting drive motor 310 controls the clamping jaws 301 to close, driving the trapezoidal blade 309 to close and complete the cutting; the clamping jaw wind shield 308 is fixedly connected between the picking port fixing seat 304 and the clamping plate 306, and the three form an enclosed space to enhance the combing and shaping of safflower under the negative pressure of the airflow field; the bud locator 305 is provided with a flower inlet in the middle, which can position the cutting according to the diameter of the bud to prevent damage to the bud 8 during the cutting process of safflower; the air suction port 307 is fixedly connected to the picking port fixing seat 304.

[0037] See also Fig. 9 , Fig. 9 This is a schematic diagram of a pneumatic suction collection device 4 according to an embodiment of the present invention, wherein the pneumatic suction collection device 4 comprises: a flower transport hose 401, a negative pressure bellows 402, a flower collecting box 403, and a negative pressure fan (not shown in the figure). One end of the flower transport hose 401 is connected to the air suction port 307, and the other end of the flower transport hose 401 is connected to the flower collecting box 403. A vent is provided at the top of the flower collecting box 403, and the negative pressure bellows 402 is connected to the flower collecting box 403.

[0038] It should be noted that the pneumatic suction collection device 4 is connected to the flower bud locator 305. When it is close to the safflower, the negative pressure fan (not shown in the figure) forms a negative pressure suction at the flower inlet, which can achieve the effect of gathering and combing the safflower filaments 9 upward, which is beneficial to improving the cutting effect; when the cutting drive motor 310 drives the trapezoidal blade 309 to cut the safflower, the negative pressure fan (not shown in the figure) provides power for the flower transport hose 401 to suck and transport the safflower filaments 9 to the flower collecting box 403.

[0039] It should be noted that the electric control box includes a battery pack, a control system, etc. The battery pack provides power for the robot to work; the control system includes a walking component steering drive module, each motor drive module in the serial-parallel hybrid manipulator, a path planning module, an image processing module, a differential navigation module, a lifting height adjustment module, a sensor interface module, a communication module, a harvesting control module, etc.

[0040] It should be noted that the picking process of a safflower picking robot based on a five-axis serial-parallel hybrid robotic arm is as follows: based on the laser radar 105 to build an environmental map, the safflower picking robot can perform autonomous navigation and path planning in conjunction with the navigation system. After reaching the mature safflower picking position, the omnidirectional mobile chassis 1 stops moving, and the control system uses the binocular camera 5 to identify and detect safflowers. After obtaining the safflower posture information, the control system drives the five-axis serial-parallel hybrid robotic arm 2 according to the safflower position information, and drives the terminal picking mechanism 3 to reach the top of the safflower to be picked; the control system drives the vertical axis motor according to the safflower posture information. 207 and the horizontal axis motor 208 make the end picking mechanism 3 approach and insert the safflower to be picked according to the posture of the safflower to be picked; the flower bud locator 305 locates the safflower cutting position according to the flower bud diameter to prevent the flower buds 8 from entering the cutting area too much (cutting and damaging the flower buds 8) or insufficiently (the safflower filaments 9 are not cut cleanly); the pneumatic suction collection device 4 generates negative pressure suction at the flower inlet to complete the upward gathering and combing of the safflower filaments 9; the cutting drive motor 310 controls the clamping jaws 301 to close, driving the trapezoidal blade 309 to close and complete the cutting; after the cutting is completed, the safflower filaments 9 are transported into the flower collection box 403 by the flower conveying hose 401.

[0041] The present invention discloses a safflower picking robot based on a five-axis serial-parallel hybrid manipulator, which aims to improve the degree of automation and picking efficiency in the safflower picking process, especially the adaptability to safflower picking with different postures in a complex environment. The robot consists of an omnidirectional mobile chassis 1, a five-axis serial-parallel hybrid manipulator 2, a terminal picking mechanism 3, a bud locator 305, a pneumatic suction collection device 4, a binocular camera 5, a fill light 7, an electric control box 6 and a control system. Among them, the top of the five-axis serial-parallel hybrid manipulator 2 is connected to the center of the omnidirectional mobile chassis 1, and the lower part is connected to the terminal picking mechanism 3, which can flexibly adjust the posture and position of the manipulator to adapt to the needs of picking at different heights and angles. The bud locator 305 is provided below the terminal picking mechanism 3, which can locate and cut the buds to prevent damage during the picking process. The pneumatic suction collection device 4 is connected to the bud locator 305, which is used to comb and shape the safflower filaments 9 to ensure that the safflower filaments 9 are cut at the best position. The binocular camera 5 is used in conjunction with the fill light 7 to clearly detect and identify the position of safflower in a low-light environment, thereby ensuring the picking accuracy. The present invention can greatly improve the adaptability to picking safflowers in different postures by optimizing the design of the mechanical arm structure and motion control strategy, especially in complex situations such as tilt and deformation of safflowers, and can still achieve efficient and accurate picking tasks. The application of this technology will greatly improve the efficiency of safflower picking, reduce manual intervention, and promote the process of agricultural automation, and has broad application prospects.

[0042] The above implementation modes are only used to illustrate the present invention, but not to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the essence and scope of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention. The scope of patent protection of the present invention should be limited by the claims.

[0043] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A safflower picking robot based on a five-axis serial-parallel hybrid robotic arm (hereinafter referred to as the robot), characterized in that: It includes an omnidirectional mobile chassis, a five-axis serial-parallel hybrid robotic arm, an end-picking mechanism, a bud locator, a pneumatic suction and collection device, a binocular camera, a fill light, an electric control box, a control system, etc.

2. The robot according to claim 1, characterized in that: The top of the five-axis serial-parallel hybrid robot arm is connected to the center of the top of the omnidirectional mobile chassis, and the bottom is connected to the terminal picking mechanism; the terminal picking mechanism is equipped with the flower bud locator, and has a flower inlet in the middle to locate the safflower cutting position according to the flower bud diameter. The pneumatic suction collection device is connected to the flower bud locator to achieve the upward gathering, combing, shaping, collection and transportation of safflower filaments. Two binocular cameras are symmetrically installed on both sides of the interior of the omnidirectional mobile chassis for safflower detection and identification and posture information acquisition. The fill light is installed in the center of the front side of the omnidirectional mobile chassis for lighting in poor light environments.

3. The robot according to claim 1, characterized in that: The omnidirectional mobile chassis includes: a work platform, a lifting mechanism, a frame suspension, an independent steering and travel assembly, a laser radar, a navigation differential antenna, a navigation system, etc. The work platform is connected to the frame suspension through the lifting mechanism, and the lifting mechanism can adjust the height of the work platform to adapt to the picking of safflowers at different heights; the lower ends of the four corners of the frame suspension are connected to the independent steering and travel assembly; the laser radar is installed in the center of the front side of the suspension frame; the navigation differential antenna is installed on both sides of the suspension frame, and is distributed symmetrically with the center.

4. The robot according to claim 1, characterized in that: The five-axis serial-parallel hybrid manipulator includes: servo motors (3), a motor base (static platform), active arms (3 pairs), driven arms (3 pairs), several ball joint bearings, a terminal connecting plate (moving platform), a vertical axis motor, a horizontal axis motor bracket, a horizontal axis motor, etc. The three servo motors are evenly distributed and fixed along the horizontal circumference of the motor base (static platform) at 120°. The servo motors (3) drive the terminal connecting plate (moving platform) to move in parallel through three pairs of active arms, three pairs of driven arms, several ball joint bearings, etc. The vertical axis motor is installed in the middle of the terminal connecting plate (moving platform), and its output shaft is vertically downward. The horizontal axis motor bracket is connected to the output shaft of the vertical axis motor, and the horizontal axis motor is installed on the horizontal axis motor bracket, and its output shaft is in the horizontal direction. The vertical axis motor is connected in series with the terminal connecting plate (moving platform), and the horizontal axis motor is connected in series with the vertical axis motor, and finally a five-axis serial-parallel hybrid manipulator is formed.

5. The robot according to claim 1, characterized in that: The end picking mechanism includes: a clamp, a clamp bracket, a clamp wind cover, a cutting drive motor, a trapezoidal blade, an end clamp finger, an air suction port, a picking port fixing seat, a bud locator, etc. The bud locator is provided with a flower inlet in the middle to prevent the buds from entering the cutting area too much (cutting damages the buds) or insufficiently (the safflower filaments are not cut cleanly). The clamp is connected to the clamp bracket, and the trapezoidal blade is connected to the clamp through the end clamp finger; the cutting drive motor is connected to the clamp to drive the trapezoidal blade to close and complete the cutting; the clamp wind cover is fixed between the picking port fixing seat and the card plate, and the three form a closed space to enhance the pneumatic negative pressure effect to gather and comb the safflower filaments upward.

6. The robot according to claim 1 or 5, characterized in that: The pneumatic suction collection device includes: a negative pressure fan, a flower transport hose, a negative pressure bellows, a flower collection box, etc. One end of the flower transport hose is connected to the air suction port, and the other end of the flower transport hose is connected to the flower collection box. A vent is provided at the top of the flower collection box, and the negative pressure bellows is connected to the flower collection box. The pneumatic suction collection device is connected to the flower bud locator. After approaching the safflower filaments, the negative pressure fan forms a negative pressure suction force at the flower inlet, which can achieve the effect of gathering and combing the safflower filaments upward, which is beneficial to improve the cutting effect; when the cutting drive motor drives the trapezoidal blade to cut the safflower, the negative pressure fan provides power for the flower transport hose to suck and transport the safflower filaments to the flower collection box.

7. The robot according to claim 1, characterized in that: The electric control box includes a battery pack, a control system, etc. The battery pack provides power for the robot to work; the control system includes a walking component steering drive module, a motor drive module in a series-parallel hybrid manipulator, a lifting height adjustment module, a path planning module, an image processing module, a differential navigation module, a sensor interface module, a communication module, a harvesting control module, etc.

8. The robot according to claim 1, characterized in that: A picking method based on posture profiling of the safflower to be picked is proposed: the control system uses a binocular camera to identify and detect the safflower to obtain the posture information of the safflower; the control system drives the five-axis serial-parallel hybrid robot arm according to the position information of the safflower to drive the terminal picking mechanism to reach the top of the safflower to be picked; The control system drives the vertical axis motor and the horizontal axis motor according to the safflower posture information to make the end picking mechanism approach and insert the safflower to be picked according to the posture of the safflower to be picked; the flower bud positioner locates the safflower cutting position according to the flower bud diameter to prevent the flower buds from entering the cutting area too much (cutting damages the flower buds) or insufficiently (the safflower filaments are not cut cleanly); the pneumatic suction collection device generates negative pressure suction at the flower inlet to complete the upward gathering and combing of the safflower filaments; the cutting drive motor controls the clamp to close, driving the trapezoidal blade to close and complete the cutting; After cutting, the safflower filaments are pneumatically sucked into the flower collection box through the flower suction hose.

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