Visual identification-based cotton selective harvesting robot and harvesting method

Abstract

The invention relates to a cotton selective harvesting robot based on visual identification and a harvesting method. The robot comprises a rack, a self-walking device, a harvesting end effector, a mechanical arm mechanism, a cotton seed separating and box collecting device, a sensing device and a seedling pulling device. The harvesting method comprises the steps of inter-row scanning and positioning, picking arm movement, harvesting operation, deseeding and box collection and the like. Compared with the prior art, the cotton harvester has the following beneficial effects that selective harvesting of cotton is achieved, impurity mixing is reduced, and the harvesting quality is improved; multi-batch harvesting can be achieved, and yield and quality reduction caused by factors such as weather is avoided; the harvesting end effector is simple in structure, low in cost and high in harvesting efficiency; a seed cotton separating device is integrated, and the cotton harvesting value is improved.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural robots, and specifically relates to a cotton selective harvesting robot and a harvesting method based on visual recognition, which realizes the selective intelligent harvesting and automatic seed removing operations of cotton. Background Art

[0003] Through literature search, it was found that the Chinese invention patent "A cotton harvesting method based on a rubber stick roller cotton picking head", publication number CN113439544A, proposed a roller harvesting method. When the cotton picker moves forward, the cotton plants are guided into the picking room by the cotton guide plate, and the cotton plants are whipped by the high-speed rotating rubber stick on the roller to separate the cotton from the cotton plants. The centrifugal force generated by the high-speed rotation is used to throw the cotton into the air duct, and the negative wind pressure transports the thrown cotton to the cotton collection box. This method cannot achieve selective harvesting of cotton, and the whipping of the cotton plants by the rubber stick on the roller will cause damage to the cotton plants and unopened cotton bolls, affecting the overall yield. The mixed boll shells and cotton will affect the picking quality, and no relevant discussion on cotton and cotton seed processing is involved.

[0004] In summary, in view of the problems of scattered cotton plots, high manual harvesting costs, high labor intensity, low mechanization level and poor economy, poor quality and low yield of commercial cotton harvested at one time in monsoon rainy areas, it is urgent to invent a cotton selective harvesting robot and harvesting method based on visual recognition. It is of great significance to realize timely harvesting of cotton, ensure cotton yield, reduce impurity rate and improve cotton quality according to the maturity of cotton buds and flowering. Summary of the invention

[0005] The purpose of the present invention is to solve the deficiencies of the above-mentioned cotton harvesting technology and to provide a cotton selective harvesting robot and harvesting method based on visual recognition, so as to realize the selective intelligent harvesting and automatic seed removing operation of cotton.

[0006] To achieve the above objectives, the present invention proposes a cotton selective harvesting robot based on visual recognition, which is characterized by: A rack, which serves as a base for mounting other devices; A self-propelled device, which is installed at the front end of the frame and is used for the whole machine to move; A mechanical arm mechanism, which is installed in the middle of the frame and can be driven to achieve horizontal and vertical movement and horizontal rotation; A harvesting end effector, which is mounted on the mechanical arm mechanism and is used to realize the cotton harvesting operation between rows; A sensing device, which is installed on the mechanical arm mechanism and is used to detect the position distribution of cotton; A cotton seed separation and collection device, which is fixed to the rear of the frame and is used to remove seeds and collect the harvested cotton; The reed-pushing device is installed in front and on the side of the frame, and is used to reduce the resistance of branches when the machine moves forward and to leave enough space for the harvesting end effector during operation, thereby reducing interference from branches.

[0007] The harvesting end effector comprises: The adapter is connected to the mechanical arm mechanism at the rear to realize the movement of the harvesting end effector in space and the adjustment of the harvesting posture. The lower side of the adapter is connected to the collecting box device through a pipeline and cotton seed separation to transport the harvested cotton. A tensioning device, the tensioning device comprising a mounting frame, a fixing nut, a tensioning bolt, a tensioning fixing piece, a tensioning moving piece, and a fixing ring, the tensioning device being installed at the front side of the transfer channel and used for adjusting the tensioning degree of the harvesting device; A harvesting device, which is installed inside the tensioning device and consists of four harvesting units, which are placed opposite to each other in pairs. The harvesting units consist of a synchronous belt, a cotton pulling needle, a driving wheel and a driven wheel. The cotton pulling needle is fixed on the synchronous belt and is used to hook and pull cotton fibers to realize the picking operation of cotton flowers. The synchronous belt is meshed with the driving wheel and the driven wheel to realize the transportation of the cotton flowers after picking. The driving wheel is installed on the rear side of the tensioning device, and the driven wheel is installed on the front side of the tensioning device; A doffing device, which is installed on the inner side of the tensioning device and the rear side of the harvesting device, and is used to separate the cotton fibers on the harvesting device from the cotton pulling needles; A power transmission device, the power transmission device includes a bevel gear and a terminal motor. The bevel gear is fixed to the rear side of the tensioning device and connected to the drive wheel through a bevel gear mounting frame. The terminal motor is installed on the rear side of the tensioning device through a fixed bracket to provide power for the harvesting terminal actuator.

[0008] The cotton seed separation and collection device comprises: A fan, which is fixed to the side of the collecting box through a fixing bracket, provides negative pressure for the collecting box and provides power for conveying cotton; A cotton inlet, which is fixed on the front side of the collecting box and connected to a transfer device of a harvesting end effector through a pipeline for transporting cotton; A cotton delivery air duct, one end of which is fixed to the front side of the collecting box and communicated with the cotton inlet, and the other end is fixed to the side of the collecting box and communicated with the fan, for delivering the collected cotton to the vicinity of the deseeding device; A deseeding device, the deseeding device comprises two deseeding rollers, the deseeding rollers are fixed on the upper side of the partition at the rear side of the cotton delivery air duct inside the collection box, and are used to deseed the collected cotton. The deseeded cotton fibers will enter the cotton box part of the collection box, and the cotton seeds will remain in the seed box part; A driving device, the driving device comprising a pair of meshing gears and a driving motor, the gears being fixed to the outside of the collecting box and connected to the deseeding device, and used to keep the deseeding rollers rotating in opposite directions at a constant speed, the driving motor being fixed to the outside of the collecting box and connected to the deseeding rollers through a fixed bracket, and used to provide power for the deseeding device; The flap device is fixed on the lower side of the seed box space inside the collection box. When the cotton seeds accumulate to a certain extent, the flap device will be pressed to flip over, so as to collect the cotton seeds in the seed box space.

[0009] The mechanical arm mechanism comprises: A lifting platform, the lifting platform is fixed on the rotating motor and is used to provide a base for vertical plane movement; A mobile platform, wherein the mobile platform is fixed on the lifting platform and is used to achieve lifting on a vertical plane; A telescopic arm, which is fixed on the mobile platform and is used to achieve telescopic movement in the horizontal plane; A mobile motor, which is fixed to the lifting platform and is used to provide power for the mobile platform and the telescopic arm; The rotating motor is fixed in the middle of the frame and connected to the lifting platform, and is used to provide power for the vertical rotation of the mechanical arm mechanism.

[0010] The reed-pulling device comprises: A front reel-pushing device, which is fixed in front of the frame and is triangular in shape, and is used to push away intertwined branches when the machine moves forward to reduce the resistance to the forward movement; The side-pushing device is fixed on the side of the frame and is used to block branches from the side, leaving enough space for the operation of the harvesting end effector and reducing interference.

[0011] The sensing device comprises: A sensing device bracket, which is fixed on the mobile platform of the mechanical arm mechanism and is used to locate the installation position of the depth camera; A depth camera is fixed on a sensing device bracket and is used to detect the spatial position of cotton.

[0012] The present invention also proposes a harvesting method of a cotton selective harvesting robot based on visual recognition, comprising the following steps: (Step 1) Scanning and positioning between rows: the reed-pushing device pushes away the intertwined branches in front and on the sides, the self-propelled device drives the harvester to move between the planting rows, and the sensing device uses a depth camera to obtain depth information and image information of the cotton on the planting row, and identifies and locates the spatial coordinates and bud orientation information of the opened cotton; (Step 2) Harvesting arm movement: According to the spatial coordinates and orientation information of the cotton on the planting row, the movement trajectory of the harvesting end effector is planned, and the movement of the harvester mechanical arm mechanism is controlled to drive the harvesting end effector to move to the harvesting point; (Step 3) Harvesting operation: When the harvesting end effector moves to the harvesting point, the harvesting end effector starts to operate, and the harvested cotton will be separated from the harvesting device under the action of the cotton stripping device. The separated cotton will be transported to the cotton seed separation and collection device through the transfer device under the action of the fan; (Step 4) Seeding and collection box: The harvested cotton will be close to the seeding device under the action of the cotton conveying air duct. Under the action of the seeding device, the cotton seeds and cotton fibers will gradually separate, the cotton seeds will fall into the seed box, and the cotton fibers after seeding will enter the cotton box.

[0013] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention proposes a selective cotton harvesting robot that can accurately identify open cotton based on machine vision technology and locate the spatial position of cotton, thereby achieving multi-batch selective harvesting of cotton during the flowering period; (2) The end effector proposed in the present invention adopts an innovative five-sided harvesting surface design. This design fully considers the different spatial orientation characteristics of the opened cotton bolls, allowing the robot to flexibly select the most suitable harvesting surface for operation according to the orientation of the cotton bolls, reducing the difficulty of trajectory planning of the end effector, improving the harvesting efficiency, reducing the power consumption of harvesting, and realizing efficient and energy-saving harvesting operations; (3) The mechanical arm proposed in the present invention has a simple structure, reliable operation and low cost, which is conducive to the design of multi-harvesting mechanical arms and can improve the efficiency and flexibility of harvesting operations; (4) The cotton seed synchronous separation device proposed in the present invention realizes the efficient collection of harvested cotton and the separation of seed cotton, that is, ensures the purity and quality of the harvested cotton and saves the subsequent cotton processing steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the specific embodiments of the present invention, the following will briefly introduce the drawings required for use in the specific embodiments or prior art descriptions. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0015] Figure 1This is a schematic diagram of the axonometric structure of the cotton selective harvesting robot; Figure 2 This is an overall schematic diagram of the harvesting end effector of the cotton selective harvesting robot; Figure 3 This is a front view schematic diagram of the harvesting end effector of the cotton selective harvesting robot; Figure 4 This is a schematic diagram of a harvesting unit of a harvesting end effector of a cotton selective harvesting robot; Figure 5 This is a schematic diagram of a tensioning device for a harvesting end effector of a cotton selective harvesting robot; Figure 6 This is a schematic diagram of the cotton seed separation and box collection device of the cotton selective harvesting robot; Figure 7 This is a schematic diagram of the mechanical arm mechanism of the cotton selective harvesting robot; Figure 8 This is a physical picture of the robot, showing its appearance and overall structure.

[0016] Description of the numbers in the figure: 1 is a frame, 2 is a self-propelled device, 3 is a harvesting end effector, 4 is a mechanical arm mechanism, 5 is a cotton seed separation and collection device, 6 is a sensing device, 7 is a straw-pulling device, 301 is an installation frame, 302 is a harvesting device, 303 is a cotton-removing device, 304 is a tensioning device, 305 is a power transmission device, 306 is a switching device, 307 is a harvesting unit, 308 is a synchronous belt, 309 is a cotton-pulling needle, 310 is a driving wheel, 311 is a driven wheel, 312 is a tensioning fixed part, 313 is a tensioning moving part, and 314 is a fixed ring , 315 is a tensioning bolt, 316 is a fixing nut, 317 is a bevel gear, 318 is an end motor, 401 is a lifting platform, 402 is a mobile motor, 403 is a rotating motor, 404 is a telescopic arm, 405 is a mobile platform, 501 is a seed removal device, 502 is a driving device, 503 is a fan, 504 is a collecting box, 505 is a cotton delivery duct, 506 is a cotton inlet, 507 is a flap device, 601 is a sensing device bracket, 602 is a depth camera, 701 is a front straw-moving device, and 702 is a side straw-moving device. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1, a cotton selective harvesting robot based on visual recognition, including a frame 1, a self-propelled device 2, a harvesting end effector 3, a mechanical arm mechanism 4, a cotton seed separation and collection box device 5, a sensing device 6, and a straw-pulling device 7; the self-propelled device 2 is installed at the front end of the frame 1 for the walking of the whole machine; the mechanical arm mechanism 4 is installed in the middle of the frame 1 for driving the harvesting end effector 3 to move in the horizontal plane and the vertical plane and to rotate in the horizontal plane; the harvesting end effector 3 is installed on the mechanical arm mechanism 4 for realizing the cotton harvesting operation between rows; the sensing device 6 is installed on the mechanical arm mechanism 4 for detecting the position distribution of cotton; the cotton seed separation and collection box device 5 is installed at the rear of the frame 1 for deseeding and collecting the harvested cotton; the straw-pulling device 7 is installed in front and on the side of the frame 1 for reducing the resistance of branches when the machine moves forward and leaving enough space for the harvesting end effector 3 during operation to reduce interference from branches; The structure of the harvesting end effector 3 can be found in Figure 2 and Figure 3 The rear of the adapter 306 is connected to the telescopic arm 404 of the mechanical arm mechanism 4 to achieve spatial movement and harvesting posture adjustment. The lower side is separated from the cotton seeds through a pipeline and connected to the collection box device 5 to transport the harvested cotton. The mounting frame 301 is fixed in front of the adapter 306 and is the body of the harvesting end effector 3. Please refer to Figure 5 The tensioning device 304 is installed on the front side of the mounting frame 301. By tightening the fixing nut 316 on the tensioning fixing member 312 and the tensioning moving member 313, the tensioning bolt 315 cooperates with the fixing nut 316 and the fixing ring 314. By turning the tensioning bolt 315, the tensioning degree of the harvesting device 302 is adjusted to ensure the stability of the cotton picking operation. Figure 4 The harvesting device 302 is installed inside the mounting frame 301 and is composed of four harvesting units 307. The harvesting units 307 are placed opposite to each other in pairs and are composed of a synchronous belt 308, a cotton pulling needle 309, a driving wheel 310 and a driven wheel 311. The cotton pulling needle 309 is fixed on the synchronous belt 308 and is used to hook the cotton fibers to realize cotton picking. The synchronous belt 308 is meshed with the driving wheel 310 and the driven wheel 311 to realize the transportation of the cotton after picking. The cotton removal device 303 is installed inside the mounting frame 301 and behind the harvesting device 302, and is used to separate the cotton fibers on the harvesting device 302 from the cotton pulling needle 309. The power transmission device 305 includes a bevel gear 317 and a terminal motor 318. The bevel gear 317 is fixed to the rear side of the mounting frame 301 through a bevel gear mounting frame and connected to the driving wheel 310. The terminal motor 318 is installed on the rear side of the mounting bracket 301 through a fixed bracket to provide power for the harvesting end actuator 3.

[0019] See also Figure 6The collection box 504 of the cotton seed separation and collection box device 5 is divided into two spaces, which are separated by a partition at the bottom. The seed box is located on the front side and the cotton box is located on the back side, which are used to collect cotton seeds and cotton after deseeding respectively. The fan 503 is fixed to the side of the collection box 504 through a fixed bracket to provide negative pressure capacity for the collection box 504 to transport cotton. The cotton inlet 506 is fixed on the front side of the collection box 504 and is connected to the adapter 306 of the harvesting end effector 3 through a pipeline to transport cotton. One end of the cotton delivery air duct 505 is connected to the cotton inlet 506, and the other end is connected to the fan 503 to transport the cotton to the vicinity of the deseeding device 501. The deseeding device 501 includes two deseeding rollers, which are fixed on the upper side of the partition on the back side of the cotton delivery air duct 505 inside the collection box 504 to deseed the cotton. The driving device 502 includes a pair of meshing gears and a driving motor. The gears are fixed to the outside of the collecting box 504 and connected to the deseeding device 501, so that the deseeding rollers rotate in opposite directions at the same speed. The driving motor is fixed to the outside of the collecting box 504 through a fixed bracket and connected to the deseeding rollers, providing power for the deseeding device 501. The flap device 507 is fixed to the lower side of the seed box space inside the collecting box 504. When the cotton seeds accumulate to a certain extent, the flap device 507 is pressed to flip over and collect the cotton seeds in the seed box.

[0020] See also Figure 7 The rotary motor 403 of the mechanical arm mechanism 4 is fixed on the frame 1 to provide power for the rotation of the lifting platform 401. The lifting platform 401 is fixed on the rotary motor 403 as a base for vertical movement. The mobile platform 405 is fixed on the lifting platform 401 to achieve lifting in the vertical plane. The telescopic arm 404 is fixed on the mobile platform 405 to achieve horizontal extension. The mobile motor 402 is fixed on the lifting platform 401 to provide power for the mobile platform 405 and the telescopic arm 404.

[0021] The front reed device 701 of the reed device 7 is fixed in front of the frame 1 and is triangular in shape, and is used to push away the intertwined branches when the machine moves forward to reduce the forward resistance. The side reed device 702 is fixed on the side of the frame 1 to block the branches from the side, leaving enough space for the operation of the harvesting end effector 3 to reduce interference.

[0022] The sensing device bracket 601 of the sensing device 6 is fixed on the mobile platform 405 of the mechanical arm mechanism 4, and is used to locate the installation position of the depth camera 602. The depth camera 602 is fixed on the sensing device bracket 601, and is used to detect the spatial position of the cotton.

[0023] The present invention provides a cotton selective harvesting robot harvesting method based on visual recognition, comprising the following steps: (Step 1) Scanning and positioning between rows: The reed-pushing device 7 pushes away the intertwined branches in front and on the sides, the self-propelled device 2 drives the harvester to walk between the planting rows, and the sensing device 6 uses the depth camera 602 to obtain the depth information and image information of the cotton on the planting row, and identifies and locates the spatial coordinates and bud orientation information of the opened cotton; (Step 2) Harvesting arm movement: According to the spatial coordinates and orientation information of the cotton on the planting row, the movement trajectory of the harvesting end effector 3 is planned, and the harvester mechanical arm mechanism 4 is controlled to move, so as to drive the harvesting end effector 3 to move to the harvesting point; (Step 3) Harvesting operation: When the harvesting end effector 3 moves to the harvesting point, the harvesting end effector 3 starts to operate, and the harvested cotton is separated from the harvesting device 302 by the action of the cotton stripping device 303. The separated cotton is transported to the cotton seed separation and collection device 5 through the transfer device 306 by the action of the fan 503; (Step 4) Seeding and collecting box: The harvested cotton will be close to the seeding device 501 under the action of the cotton conveying air duct 505. Under the action of the seeding device 501, the cotton seeds and cotton fibers will gradually separate, the cotton seeds will fall into the seed box, and the cotton fibers after seeding will enter the cotton box.

[0024] In order to verify the effectiveness and superiority of the visual recognition-based cotton selective harvesting robot and harvesting method of the present invention, a prototype was manufactured and field experiments were carried out. Figure 8 As shown. Through multiple batches of harvesting, the cotton yield and quality are improved, the average harvesting time for a single cotton is 3.35 seconds, and the cotton clean rate is 95.2%. The test results prove the effectiveness and superiority of the cotton selective harvesting robot and harvesting method based on visual recognition of the present invention.

[0025] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A cotton selective harvesting robot based on visual recognition, characterized in that: It comprises a frame (1), a self-propelled device (2), a harvesting end effector (3), a mechanical arm mechanism (4), a cotton seed separation and collection device (5), a sensing device (6), and a rice-pulling device (7); The mechanical arm mechanism (4) is installed in the middle of the frame (1) and is used to drive the harvesting end effector (3) to move in the horizontal plane, the vertical plane and rotate in the horizontal plane; The harvesting end effector (3) is mounted on the mechanical arm mechanism (4) and is used to implement cotton harvesting operations between rows; The sensing device (6) is installed on the mechanical arm mechanism (4) and is used to detect the position distribution of cotton; The cotton seed separation and collection device (5) is installed at the rear of the frame (1) and is used to remove seeds and collect the harvested cotton; The reed-pushing device (6) is installed at the front and side of the frame (1) to reduce the resistance of branches when the machine moves forward and to leave enough space for the harvesting end effector (3) during operation, thereby reducing interference from branches.

2. The cotton selective harvesting robot based on visual recognition according to claim 1, characterized in that: The harvesting end effector (3) comprises a mounting frame (301), a harvesting device (302), a cotton removal device (303), a tensioning device (304), a power transmission device (305) and a switching device (306); The adapter (306) is connected to the mechanical arm mechanism (4) at the rear to enable the harvesting end effector (3) to move in space and adjust the harvesting posture; The mounting frame (301) is fixed in front of the adapter (306) and is the body of the harvesting end effector (3); The tensioning device (304) is installed on the front side of the outside of the mounting frame (301) and is used to adjust the tensioning degree of the harvesting device (302) to ensure the stability of the cotton picking operation; The harvesting device (302) is installed inside the mounting frame (301), and is composed of four harvesting units (307). The harvesting units (307) are placed in pairs opposite to each other. The harvesting units (307) are composed of a synchronous belt (308), a cotton pulling needle (309), a driving wheel (310), and a driven wheel (311). The cotton pulling needle (309) is fixed on the synchronous belt (308) and is used to hook and pull cotton fibers to achieve a cotton bud picking operation. The cotton removal device (303) is installed on the inner side of the mounting frame (301) and the rear side of the harvesting device (302), and is used to separate the cotton fibers on the harvesting device (302) from the cotton pulling needles (309); The power transmission device (305) comprises a bevel gear (317) and a terminal motor (318). The bevel gear (317) is fixed to the rear side of the mounting frame (301) and connected to the driving wheel (310) via a bevel gear mounting frame. The terminal motor (318) is mounted on the rear side of the mounting frame (301) and is used to provide power for the harvesting terminal actuator (3).

3. The cotton selective harvesting robot based on visual recognition according to claim 1, characterized in that: The cotton seed separation and collection device (5) comprises a seed removal device (501), a driving device (502), a fan (503), a collection box (504), a cotton delivery air duct (505), a cotton inlet (506), and a flap device (507); The collecting box (504) is divided into two spaces. The lower side of the interior of the collecting box (504) is separated by a partition. The seed box is located at the front side of the collecting box (504), and the cotton box is located at the rear side of the collecting box (504). The seed box is used to collect cotton seeds, and the cotton box is used to collect cotton after deseeding. The fan (503) is fixed to the side of the collecting box (504) via a fixing bracket, providing negative pressure for the collecting box and power for conveying cotton; The cotton inlet (506) is fixed on the front side of the collection box (504), and the cotton inlet (506) is connected to the adapter (306) of the harvesting end effector (3) through a pipeline, and is used to transport cotton; One end of the cotton delivery air duct (505) is fixed to the front side of the collecting box (504) and communicated with the cotton inlet (506), and the other end is fixed to the side of the collecting box (504) and communicated with the fan (503), and is used to deliver the collected cotton to the vicinity of the deseeding device (501); The deseeding device (501) comprises two deseeding rollers, which are fixed on the upper side of the rear partition of the cotton delivery air duct (505) inside the collection box (504) and are used to deseed the collected cotton. The deseeded cotton fibers will enter the cotton box part of the collection box (504), and the cotton seeds will remain in the seed box part. The driving device (502) comprises a pair of meshing gears and a driving motor, wherein the gears are fixed to the outside of the collecting box (504) and connected to the deseeding device (501) and are used to keep the deseeding rollers rotating in opposite directions at a constant speed, and the driving motor is fixed to the outside of the collecting box (504) via a fixing bracket and connected to the deseeding rollers and is used to provide power for the deseeding device (501); The flap device (507) is fixed to the lower side of the seed box space inside the collection box (504). When the cotton seeds accumulate to a certain extent, the flap device (507) is pressed to flip over, so as to collect the cotton seeds in the seed box space.

4. The cotton selective harvesting robot based on visual recognition according to claim 1, characterized in that: The mechanical arm mechanism (4) comprises a moving platform (405), a moving motor (402), a rotating motor (403), a telescopic arm (404), and a lifting platform (401); the rotating motor (403) is fixed above the frame (1) and is used to provide power for the rotation of the lifting platform (401); The lifting platform (401) is fixed on the rotating motor (403) and is used to provide a base for vertical movement; The mobile platform (405) is fixed on the lifting platform (401) and is used to achieve lifting on a vertical plane; The telescopic arm (404) is fixed on the mobile platform (405) and is used to achieve telescopic movement in the horizontal plane; The mobile motor (402) is fixed on the lifting platform (401) and is used to provide power for the mobile platform (405) and the telescopic arm (404).

5. The cotton selective harvesting robot based on visual recognition according to claim 1, characterized in that: The reed-pushing device (7) comprises a front reed-pushing device (701) and a side reed-pushing device (702); The front weeding device (701) is fixed in front of the frame (1) and is triangular in shape, and is used to push away intertwined branches when the machine moves forward to reduce the resistance to the forward movement; The side-moving device (702) is fixed to the side of the frame (1) and is used to block branches coming from the side, leaving enough space for the operation of the harvesting end effector (3) and reducing interference.

6. The cotton selective harvesting robot based on visual recognition according to claim 1, characterized in that: The sensing device (6) comprises a sensing device bracket (601) and a depth camera (602); The sensing device bracket (601) is fixed on the mobile platform (405) of the mechanical arm mechanism (4) and is used to locate the installation position of the depth camera (602); The depth camera (602) is fixed on the sensing device bracket (601) and is used to detect the spatial position of the cotton.

7. The harvesting method of the cotton selective harvesting robot based on visual recognition according to claim 1, characterized in that: The steps include: Step 1: Scanning and positioning between rows: the reed-pushing device (7) pushes away the intertwined branches in front and on the sides, the self-propelled device (2) drives the harvester to move between the planting rows, and the sensing device (6) uses a depth camera (602) to obtain depth information and image information of the cotton on the planting row, and identifies and locates the spatial coordinates and bud orientation information of the opened cotton; Step 2: picking arm movement: based on the spatial coordinates and orientation information of the cotton on the planting row, the movement trajectory of the harvesting end effector is planned, the harvester mechanical arm mechanism (4) is controlled to move, and the harvesting end effector (3) is driven to move to the harvesting point; Step 3: Harvesting operation: When the harvesting end effector (3) moves to the harvesting point, the harvesting end effector (3) starts to operate, and the harvested cotton is separated from the harvesting device (302) by the action of the cotton stripping device (303). The separated cotton is transported to the cotton seed separation and collection device (5) through the transfer device (306) by the action of the fan (503); Step 4: deseeding and collecting box: The harvested cotton will approach the deseeding device (501) under the action of the cotton conveying air duct (505). Under the action of the deseeding device (501), the cotton seeds and cotton fibers will gradually separate, the cotton seeds will fall into the seed box, and the deseeded cotton fibers will enter the cotton box.

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