Chamomile differential picking robot and operation method thereof

Abstract

The invention discloses a chamomile differential picking robot and an operation method thereof, and belongs to the technical field of agricultural picking. The chamomile picking device solves the problems that the size difference of picked chamomile flowers is large and the picking efficiency is low due to the fact that an existing chamomile picking mode is used for undifferentiated picking. Comprising a moving device, spatial position adjusting assemblies, picking assemblies and collecting assemblies, the spatial position adjusting assemblies, the picking assemblies and the collecting assemblies are equal in number and are correspondingly arranged, a first depth camera is arranged on the front portion of a frame, and a second depth camera is arranged at the bottom of the frame; the spatial position of the picking assembly is adjusted correspondingly through the spatial position adjusting assembly, and flowers picked by the picking assembly are collected through the collecting assembly. The growth condition and position of chamomile are recognized through a camera, and differential picking is achieved. And the picking efficiency and the size control of the picked flowers are more accurate.

Description

Technical Field

[0001] The invention relates to a chamomile differential picking robot and an operation method thereof, belonging to the technical field of agricultural picking. Background Art

[0002] Chamomile is a perennial herb whose flowers are widely cultivated and picked for their good medicinal and edible value. However, not all chamomile flowers can be picked at the same time. Therefore, picking chamomile requires a large number of workers to do time-consuming and labor-intensive work. The labor used in picking accounts for 30% to 50% of the labor used in the production process. Today, picking has also become the longest, most labor-intensive and most invested link.

[0003] Because chamomile plants grow at different rates, resulting in different plant heights and flower sizes, and the terrain and crop environment where they grow are complex, the current method of picking chamomile by hand is not only time-consuming and labor-intensive, but also inefficient, and difficult to achieve simultaneous picking of chamomile plants of different heights. In addition, the existing picking method is indiscriminate picking, that is, it is not possible to flexibly perform selective picking according to the growth of chamomile plants, resulting in different sizes of chamomiles picked. At the same time, as the aging of my country's population continues to increase, the labor force is reduced, and the labor cost caused by manual picking is also increasing. Therefore, there is an urgent need for a chamomile picking robot that can achieve differential picking to replace manual picking and improve picking efficiency. Summary of the invention

[0004] The present invention is to solve the above technical problems and further provides a chamomile differential picking robot and an operating method thereof.

[0005] The technical solution adopted by the present invention to solve the above technical problems is:

[0006] A chamomile differential picking robot comprises a moving device, a spatial position adjustment component, a picking component and a collecting component, wherein the number of the spatial position adjustment component, the picking component and the collecting component are equal and correspondingly arranged.

[0007] The mobile device includes a frame and a plurality of mobile components fixedly mounted below the frame. A first depth camera is disposed at the front of the frame, and a second depth camera is disposed at the bottom of the frame.

[0008] The number of the picking components is at least one, and each picking component is correspondingly installed under the frame through the spatial position adjustment component.

[0009] The picking assembly includes a coreless cup motor, a mounting bracket and a blade. The mounting bracket is fixedly mounted at the end of the spatial position adjustment assembly. One end of the blade is fixedly connected to the output end of the coreless cup motor and the blade and the coreless cup motor are respectively located on both sides of the mounting bracket. A collecting hole is processed on the mounting bracket. The blade is driven by the coreless cup motor to realize radial swing along the collecting hole.

[0010] The collecting assembly is in a negative pressure state and is connected to the collecting hole through a collecting tube.

[0011] The picking component is spatially adjusted through the spatial position adjusting component, and the flowers picked by the picking component are collected through the collecting component.

[0012] Furthermore, the moving assembly includes a running wheel and a steering mechanism, the running wheel is connected to the frame via the steering mechanism, and at least two running wheels of the multiple moving assemblies are provided with hub motors.

[0013] Furthermore, the steering mechanism comprises a steering bracket, a steering motor and a wheel hub bracket. The steering motor is fixedly mounted on the bottom of the vehicle frame via the steering bracket, and the wheel hub motor and the output end of the steering motor are fixedly connected via the wheel hub bracket.

[0014] Furthermore, the number of the moving components is four and they are arranged symmetrically in pairs.

[0015] Furthermore, the spatial position adjustment component includes a lifting mechanism, first to third joint motors and first to third mechanical arms, wherein the lifting mechanism is vertically fixed on the frame, the first joint motor is located below the frame and is fixedly connected to the movable end of the lifting mechanism, the first mechanical arm and the second mechanical arm are both horizontally arranged, the two ends of the first mechanical arm are respectively fixedly connected to the output shaft of the first joint motor and the body of the second joint motor, the two ends of the second mechanical arm are respectively fixedly connected to the output shaft of the second joint motor and the body of the third joint motor, the top end of the third mechanical arm is fixedly connected to the output shaft of the third joint motor, and the bottom end is fixedly connected to the mounting bracket.

[0016] Furthermore, the collection assembly includes a collection box and a ducted motor installed on the collection box, and a negative pressure environment is formed inside the collection box through the ducted motor. One end of the collection pipe is connected and fixedly connected to the collection box, and the other end is connected and fixedly connected to the collection hole.

[0017] Furthermore, the blade is fixed to the output end of the hollow cup motor through the blade holder.

[0018] Furthermore, the collecting pipe and the coreless cup motor are arranged on the same side of the mounting bracket.

[0019] Furthermore, a container box is fixedly installed on the frame, a plurality of collecting boxes are fixedly installed on the upper part of the container box and the bottoms thereof are located in the container box, and the middle parts of a plurality of collecting pipes and a plurality of lifting mechanisms are all arranged in the container box.

[0020] An operating method of the above-mentioned chamomile differential picking robot, wherein the position of the chamomile to be picked is observed by a first depth camera, and the obtained data information is transmitted to an external remote control system via WiFi. The external remote control system issues a command to control the movement of a mobile device, so that the picking robot walks to the position of the chamomile to be picked. At the same time, the second depth camera accurately locates the chamomile to be picked, and then controls the movement of a spatial position adjustment component to make the picking component reach the position of the chamomile to be picked. Then, the hollow cup motor and the collecting component start working at the same time. The collecting component uses negative pressure to suck one end of the chamomile to be picked into the collecting hole, and the chamomile to be picked is cut and picked by the picking component. At the same time, the collecting component uses negative pressure to suck the picked chamomile into the collecting component through a collecting tube, thereby completing a chamomile picking operation.

[0021] Compared with the prior art, the present invention has the following effects:

[0022] The chamomile differential picking robot of the present invention is an automated and intelligent agricultural equipment that can effectively improve the efficiency of chamomile picking, and can recognize the growth and position of chamomile through a camera to achieve differential picking. When picking, the camera recognizes all flowers within the spatial position adjustment range of the spatial position adjustment component, and then calculates and formulates the picking tasks of each picking component corresponding to each spatial position adjustment component through an operation planning algorithm, until all flowers within the picking range are picked, and then moves to the next picking position through a mobile device, and repeats the above operation process. It can realize the picking of chamomile plants of different heights and different terrains, ensuring efficient work under various conditions, so as to improve the efficiency of chamomile picking and reduce the picking cost at the same time.

[0023] Compared with the existing manual picking method, the chamomile differential picking robot of the present invention has a higher picking efficiency and more accurate control over the size of the picked flowers. In addition, the present invention has a simple structure, and uses a method of sucking the flowers with negative pressure and then cutting them using a picking component, which greatly reduces the probability of damage to the flowers and ensures the integrity and quality of the chamomile flowers. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the chamomile differential picking robot of the present invention;

[0026] Figure 2 It is a schematic diagram of the three-dimensional structure of the spatial position adjustment component;

[0027] Figure 3 is a schematic diagram of the three-dimensional structure of the mobile component;

[0028] Figure 4 It is a schematic diagram of the three-dimensional structure of the picking component.

[0029] In the figure:

[0030] 1. Spatial position adjustment component; 1-1. Lifting mechanism; 1-2. First joint motor; 1-3. Second joint motor; 1-4. Third joint motor; 1-5. First mechanical arm; 1-6. Second mechanical arm; 1-7. Third mechanical arm;

[0031] 2. Picking components; 2-1. Coreless cup motor; 2-2. Mounting bracket; 2-21. Collecting hole; 2-3. Blade; 2-4. Blade holder;

[0032] 3. Collection assembly; 3-1. Collection pipe; 3-2. Collection box; 3-3. Ducted motor;

[0033] 4. First depth camera; 5. Second depth camera; 6. Container box; 7. Vehicle frame;

[0034] 8. Mobile assembly; 8-1. Travel wheel; 8-21. Steering bracket; 8-22. Steering motor; 8-23. Hub motor; 8-24. Cross roller bearing; 8-3. Hub motor;

[0035] 9. Battery. DETAILED DESCRIPTION

[0036] Specific implementation method 1: Combination Figure 1 to Figure 4 The technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0037] It should be noted that the descriptions of the present invention regarding directions such as "front", "back", "left", "right", "inside", "outside", "left side", "right side", "upper", "lower", "top", "bottom", etc. are all defined based on the relationship between the orientations or positions shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. In the description of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0038] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] A chamomile differential picking robot comprises a moving device, a spatial position adjustment component 1, a picking component 2 and a collecting component 3, wherein the number of the spatial position adjustment component 1, the picking component 2 and the collecting component 3 are equal and correspondingly arranged.

[0040] The mobile device includes a frame 7 and a plurality of mobile components 8 fixedly mounted below the frame 7. A first depth camera 4 is disposed at the front of the frame 7, and a second depth camera 5 is disposed at the bottom of the frame 7.

[0041] The number of the picking components 2 is at least one, and the picking components 2 are correspondingly installed under the frame 7 through the spatial position adjustment component 1.

[0042] The picking component 2 includes a coreless cup motor 2-1, a mounting bracket 2-2 and a blade 2-3. The mounting bracket 2-2 is fixedly mounted at the end of the spatial position adjustment component 1. One end of the blade 2-3 is fixedly connected to the output end of the coreless cup motor 2-1, and the blade 2-3 and the coreless cup motor 2-1 are respectively located on both sides of the mounting bracket 2-2. A collecting hole 2-21 is machined on the mounting bracket 2-2. The blade 2-3 is driven by the coreless cup motor 2-1 to realize radial swing along the collecting hole 2-21.

[0043] The collecting assembly 3 is in a negative pressure state and is connected to the collecting hole 2-21 through the collecting pipe 3-1.

[0044] The picking component 2 is spatially adjusted through the spatial position adjusting component 1 , and the flowers picked by the picking component 2 are collected through the collecting component 3 .

[0045] The first depth camera 4 and the second depth camera 5 can both acquire color images and depth images.

[0046] The first depth camera 4 arranged at the front of the frame 7 is used to realize obstacle detection and distance detection during the movement of the picking robot, thereby realizing path planning and automatic control during the operation of the robot. The detected data information is transmitted to the remote control system through WiFi and other channels, and the signal transmission between the picking robot, the first depth camera 4, the second depth camera 5 and the external computer is realized through WiFi.

[0047] The second depth camera 5 disposed at the bottom of the vehicle frame 7 is used to detect and distinguish chamomile and obstacles, as well as to measure distance.

[0048] The first depth camera 4 and the second depth camera 5 can be fixed in position by camera brackets respectively. The depth camera is a telephoto depth camera.

[0049] When chamomile needs to be picked, the hollow cup motor 2-1 and the collecting component 3 start working at the same time. The collecting component 3 uses negative pressure to suck the chamomile flowers to be picked into the collecting hole 2-21, and the picking component 2 is used to cut and pick the flowers to be picked.

[0050] The collecting hole 2-21 in the picking component 2 is equivalent to the chamomile flower transport port during the picking process. The blade 2-3 cooperates with one end of the collecting hole 2-21 to achieve the picking of flowers. The end of the collecting hole 2-21 facing the blade 2-3 is not rounded. Therefore, when the blade 2-3 is swinging, the blade 2-3 cooperates with one end of the collecting hole 2-21 to form a relatively sharp scissors-like effect, thereby playing the role of cutting the flower stem. The blade 2-3 is tightly fitted to the surface of the mounting bracket 2-2 where one end of the collecting hole 2-21 is located. Therefore, when picking flowers, the hollow cup motor 2-1 controls the blade 2-3 to rotate, and the blade 2-3 and the edge of one end of the collecting hole 2-21 simultaneously shear the flower stem, thereby improving the picking efficiency.

[0051] The collecting pipe 3 - 1 is a hose.

[0052] The mobile device enables the picking robot to move freely in the chamomile field.

[0053] The chamomile is picked by the picking component 2;

[0054] The collection of the picked flowers is achieved through the collection component 3.

[0055] The height of the moving component 8 is higher than the chamomile plants to ensure that the picking robot can move freely in the flower field without affecting the picking.

[0056] A battery 9 is fixedly mounted at the bottom of the frame 7 to supply power to various components of the picking robot that require electric drive, so that the picking robot has a better endurance capability.

[0057] The chamomile differential picking robot of the present invention is an automated and intelligent agricultural equipment that can effectively improve the efficiency of chamomile picking, and can recognize the growth and position of chamomile through a camera to achieve differential picking. During picking, the camera recognizes all flowers within the spatial position adjustment range of the spatial position adjustment component 1, and then calculates and formulates the picking tasks of each picking component 2 corresponding to each spatial position adjustment component 1 through an operation planning algorithm, until all flowers within the picking range are picked, and then moves to the next picking position through a mobile device, and repeats the above operation process. It can realize the picking of chamomile plants of different heights and different terrains, ensuring efficient work under various conditions, so as to improve the efficiency of chamomile picking and reduce the picking cost at the same time.

[0058] Compared with the existing manual picking method, the chamomile differential picking robot of the present invention has a higher picking efficiency and more accurate control over the size of the picked flowers. In addition, the present invention has a simple structure, and the method of sucking the flowers by negative pressure and then cutting them by the picking component 2 greatly reduces the probability of damage to the flowers, thereby ensuring the integrity and quality of the chamomile flowers.

[0059] The chamomile differential picking robot of the present invention is an automated and intelligent smart agricultural equipment, which solves the problems of low efficiency, high labor cost and time cost in traditional agriculture and promotes sustainable agricultural development. It improves the chamomile picking efficiency, meets the needs of pharmaceutical factories, and reduces the labor cost required for picking chamomile.

[0060] The mobile assembly 8 includes a walking wheel 8-1 and a steering mechanism, wherein the walking wheel 8-1 is connected to the frame 7 through the steering mechanism, and at least two walking wheels 8-1 in the multiple mobile assemblies 8 are provided with a hub motor 8-3. With such a design, the walking wheel 8-1 is individually controlled through the steering mechanism, so that each walking wheel 8-1 can participate in the steering process and play a steering role, which can effectively reduce the steering radius of the picking robot and improve the mobile stability and steering maneuverability of the picking robot. That is, the walking direction of the entire picking robot is controlled by a plurality of mobile groups, so that the steering maneuverability of the picking robot is higher and the adjustable angle range is wider. The walking of the picking robot is realized by equipping each of the at least two walking wheels 8-1 with a hub motor 8-3. Preferably, each walking wheel 8-1 is equipped with a hub motor 8-3, which further realizes the forward and backward movement of the entire picking robot as a whole. The hub motor 8-3 is installed below the corresponding steering mechanism.

[0061] The steering mechanism includes a steering bracket 8-21, a steering motor 8-22 and a hub bracket 8-23. The steering motor 8-22 is fixedly mounted at the bottom of the frame 7 through the steering bracket 8-21, and the hub motor 8-3 is fixedly connected to the output end of the steering motor 8-22 through the hub bracket 8-23. With such a design, the steering motor 8-22 drives the hub motor 8-3 to rotate through the hub bracket 8-23, thereby realizing 360-degree free steering control of the running wheel 8-1. The steering bracket 8-21 is arranged vertically, and the steering motor 8-22 is installed at the bottom of the steering bracket 8-21. A cross roller bearing 8-24 is arranged on the output shaft of the steering motor 8-22 between the bottom end of the steering bracket 8-21 and the hub bracket 8-23.

[0062] There are four mobile components 8 and they are arranged symmetrically in pairs. With such a design, the four mobile components 8 and the frame 7 form a four-wheeled trolley mechanism, further improving the overall stability of the picking robot.

[0063] The spatial position adjustment component 1 includes a lifting mechanism 1-1, first to third joint motors and first to third mechanical arms, wherein the lifting mechanism 1-1 is vertically fixed on the frame 7, the first joint motor 1-2 is located below the frame 7 and is fixedly connected to the movable end of the lifting mechanism 1-1, the first mechanical arm 1-5 and the second mechanical arm 1-6 are both arranged horizontally, the two ends of the first mechanical arm 1-5 are respectively fixedly connected to the output shaft of the first joint motor 1-2 and the body of the second joint motor 1-3, the two ends of the second mechanical arm 1-6 are respectively fixedly connected to the output shaft of the second joint motor 1-3 and the body of the third joint motor 1-4, the top end of the third mechanical arm 1-7 is fixedly connected to the output shaft of the third joint motor 1-4, and the bottom end is fixedly connected to the mounting bracket 2-2. With such a design, the lifting mechanism 1-1 is an electric cylinder. The main body of the electric cylinder is fixedly mounted on the frame 7 through the electric cylinder connecting plate, and the movable end of the electric cylinder is arranged downward, which is used to achieve the height position adjustment of the picking component 2. The horizontal position and picking angle of the picking component 2 are adjusted through the first to third joint motors and the first to third mechanical arms. Specifically, the horizontal position of the picking component 2 is adjusted through the first joint motor 1-2, the second joint motor 1-3, the first mechanical arm 1-5 and the second mechanical arm 1-6, and the picking angle of the picking component 2 is adjusted through the third joint motor 1-4 and the third mechanical arm 1-7. During operation, the second depth camera 5 is used to locate the chamomile flowers that meet the conditions, and then the spatial position adjustment component 1 is used to make the picking device reach the location of the flowers to complete the picking work.

[0064] The collecting component 3 includes a collecting box 3-2 and a ducted motor 3-3 installed on the collecting box 3-2. The ducted motor 3-3 forms a negative pressure environment inside the collecting box 3-2. One end of the collecting tube 3-1 is connected and fixedly connected to the collecting box 3-2, and the other end is connected and fixedly connected to the collecting hole 2-21. With such a design, the collecting box 3-2 is located above the vehicle frame 7 and does not affect picking. When working, the picking component 2 first shears the flowers, and then the picked flowers are sucked into the collecting box 3-2 along the collecting tube 3-1 through the ducted motor 3-3. After the flowers in the collecting box 3-2 are stacked to a certain height, the ducted motor 3-3 is reversed to scatter the flowers in the collecting box 3-2 in the collecting box 3-2, so that the flowers in the collecting box 3-2 are evenly distributed.

[0065] The blade 2-3 is fixed to the output end of the hollow cup motor 2-1 through the blade holder 2-4. With such a design, the blade holder 2-4 is fixedly connected to the output end of the hollow cup motor 2-1 by screws, and the blade 2-3 is fixedly connected to the blade holder 2-4 by screws, so that the blade 2-3 is easy to replace.

[0066] The collecting tube 3-1 and the coreless cup motor 2-1 are arranged on the same side of the mounting bracket 2-2. Such a design makes it possible for the collecting tube 3-1 and the blade 2-3 not to interfere with each other.

[0067] A container net box 6 is fixedly installed above the vehicle frame 7, and multiple collection boxes 3-2 are fixedly installed on the upper part of the container net box 6 and their bottoms are located in the container net box 6. The middle parts of multiple collection pipes 3-1 and multiple lifting mechanisms 1-1 are all inserted into the container net box 6. In this design, by setting the container net box 6, installation space is provided for multiple collection boxes 3-2, protection is provided for multiple collection pipes 3-1 and multiple lifting mechanisms 1-1, and the structural layout above the vehicle frame 7 is made neater.

[0068] An operating method of the above-mentioned chamomile differential picking robot, wherein the position of the chamomile to be picked is observed by the first depth camera 4, and the obtained data information is transmitted to the external remote control system via WiFi. The external remote control system issues a command to control the movement of the mobile device, so that the picking robot walks to the position of the chamomile to be picked. At the same time, the second depth camera 5 accurately locates the chamomile to be picked, and then controls the space position adjustment component 1 to move, so that the picking component 2 reaches the position of the chamomile to be picked. Then the hollow cup motor 2-1 and the collecting component 3 start working at the same time, the collecting component 3 uses negative pressure to suck one end of the chamomile to be picked into the collecting hole 2-21, and the chamomile to be picked is cut and picked by the picking component 2. At the same time, the collecting component 3 uses negative pressure to suck the picked chamomile into the collecting component 3 through the collecting tube 3-1, thereby completing a chamomile picking operation.

[0069] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A chamomile differential picking robot, characterized in that: The invention comprises a moving device, a spatial position adjustment component (1), a picking component (2) and a collecting component (3), wherein the number of the spatial position adjustment component (1), the picking component (2) and the collecting component (3) are equal and are arranged correspondingly. The mobile device comprises a frame (7) and a plurality of mobile components (8) fixedly mounted below the frame (7); a first depth camera (4) is arranged at the front of the frame (7); a second depth camera (5) is arranged at the bottom of the frame (7); The number of the picking components (2) is at least one, and the picking components (2) are correspondingly installed below the vehicle frame (7) via the spatial position adjustment components (1). The picking component (2) comprises a coreless cup motor (2-1), a mounting bracket (2-2) and a blade (2-3); the mounting bracket (2-2) is fixedly mounted on the end of the spatial position adjustment component (1); one end of the blade (2-3) is fixedly connected to the output end of the coreless cup motor (2-1); the blade (2-3) and the coreless cup motor (2-1) are respectively located on both sides of the mounting bracket (2-2); a collecting hole (2-21) is machined on the mounting bracket (2-2); the blade (2-3) is driven by the coreless cup motor (2-1) to swing radially along the collecting hole (2-21); The collecting assembly (3) is in a negative pressure state and is connected to the collecting hole (2-21) via a collecting tube (3-1). The picking component (2) is spatially adjusted through the spatial position adjustment component (1), and the flowers picked by the picking component (2) are collected through the collecting component (3).

2. The chamomile differential picking robot according to claim 1, characterized in that: The moving assembly (8) comprises a running wheel (8-1) and a steering mechanism, the running wheel (8-1) being connected to the vehicle frame (7) via the steering mechanism, and at least two running wheels (8-1) in the plurality of moving assemblies (8) are internally provided with a wheel hub motor (8-3).

3. The chamomile differential picking robot according to claim 2, characterized in that: The steering mechanism comprises a steering bracket (8-21), a steering motor (8-22) and a wheel hub bracket (8-23); the steering motor (8-22) is fixedly mounted on the bottom of the vehicle frame (7) via the steering bracket (8-21); and the wheel hub motor (8-3) and the output end of the steering motor (8-22) are fixedly connected via the wheel hub bracket (8-23).

4. The chamomile differential picking robot according to claim 1, characterized in that: The number of the moving components (8) is four and they are arranged symmetrically in pairs.

5. The chamomile differential picking robot according to claim 1, characterized in that: The spatial position adjustment component (1) comprises a lifting mechanism (1-1), first to third joint motors and first to third mechanical arms, wherein the lifting mechanism (1-1) is vertically fixedly mounted on a vehicle frame (7), the first joint motor (1-2) is located below the vehicle frame (7) and is fixedly connected to the movable end of the lifting mechanism (1-1), the first mechanical arm (1-5) and the second mechanical arm (1-6) are both arranged horizontally, the two ends of the first mechanical arm (1-5) are respectively fixedly connected to the output shaft of the first joint motor (1-2) and the body of the second joint motor (1-3), the two ends of the second mechanical arm (1-6) are respectively fixedly connected to the output shaft of the second joint motor (1-3) and the body of the third joint motor (1-4), the top end of the third mechanical arm (1-7) is fixedly connected to the output shaft of the third joint motor (1-4), and the bottom end is fixedly connected to the mounting bracket (2-2).

6. The chamomile differential picking robot according to claim 1, characterized in that: The collecting assembly (3) comprises a collecting box (3-2) and a ducted motor (3-3) mounted on the collecting box (3-2), wherein a negative pressure environment is formed inside the collecting box (3-2) through the ducted motor (3-3); one end of the collecting pipe (3-1) is connected and fixedly connected to the collecting box (3-2), and the other end of the collecting pipe (3-1) is connected and fixedly connected to the collecting hole (2-21).

7. The chamomile differential picking robot according to claim 6, characterized in that: The blade (2-3) is fixed to the output end of the hollow cup motor (2-1) via the blade holder (2-4).

8. The chamomile differential picking robot according to claim 1, characterized in that: The collecting pipe (3-1) and the coreless cup motor (2-1) are arranged on the same side of the mounting bracket (2-2).

9. The chamomile differential picking robot according to claim 1, characterized in that: A container net box (6) is fixedly mounted above the vehicle frame (7); a plurality of collection boxes (3-2) are fixedly mounted on the upper portion of the container net box (6) and their bottoms are located inside the container net box (6); the middle portions of a plurality of collection pipes (3-1) and a plurality of lifting mechanisms (1-1) are all disposed inside the container net box (6).

10. An operating method of the chamomile differential picking robot as described in any one of claims 1 to 9, characterized in that: The position of the chamomile to be picked is observed by the first depth camera (4), and the obtained data information is transmitted to the external remote control system via WiFi. The external remote control system issues a command to control the movement of the mobile device, so that the picking robot moves to the position of the chamomile to be picked. At the same time, the second depth camera (5) accurately locates the chamomile to be picked, and then controls the spatial position adjustment component (1) to move, so that the picking component (2) reaches the position of the chamomile to be picked. Then the hollow cup motor (2-1) and the collection component (3) start working at the same time. The collection component (3) uses negative pressure to suck one end of the chamomile to be picked into the collection hole (2-21), and the picking component (2) is used to cut and pick the chamomile to be picked. At the same time, the collection component (3) uses negative pressure to suck the picked chamomile into the collection component (3) through the collection tube (3-1), thereby completing a chamomile picking operation.

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