Cotton selective harvesting robot based on visual recognition and harvesting method

Abstract

The application relates to a cotton selective harvesting robot based on visual recognition and a harvesting method. The robot comprises a rack, a self-propelled device, a harvesting end effector, a mechanical arm mechanism, a cotton seed separation and collecting device, a sensing device and a weeding device. The harvesting method comprises the steps of inter-row scanning positioning, picking arm movement, harvesting operation and seed separation and collecting. Compared with the prior art, the application has the following beneficial effects: selective cotton harvesting is realized, impurities are reduced, and the harvesting quality is improved; multiple batches of cotton can be harvested, and the yield and quality are prevented from being reduced due to weather and other factors; the harvesting end effector has a simple structure, low cost and high harvesting efficiency; and the integrated seed cotton separation device improves the cotton harvesting value.

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 selective intelligent harvesting and automatic seed removal operations of cotton. Background Art

[0002] A literature search revealed that the Chinese invention patent "A cotton harvesting method based on a rubber stick roller cotton picking head", publication number CN113439544A, proposed a roller-type harvesting method. When the cotton picker moves forward, the cotton plants are guided into the picking chamber 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 damage the cotton plants and unopened cotton bolls, affecting the overall yield. The mixing of the whipped boll shells and cotton will affect the picking quality, and no relevant discussion on cotton and cottonseed processing is involved.

[0003] 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 one-time harvested commercial cotton 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

[0004] The purpose of the present invention is to solve the shortcomings of the above-mentioned cotton harvesting technology and provide a cotton selective harvesting robot and harvesting method based on visual recognition to realize selective intelligent harvesting and automatic seed removal operations of cotton.

[0005] To achieve the above objectives, the present invention proposes a cotton selective harvesting robot based on visual recognition, which is characterized by:

[0006] A rack, which serves as a base for mounting other devices;

[0007] A self-propelled device, which is installed at the front end of the frame and is used for the movement of the entire machine;

[0008] A mechanical arm mechanism is installed in the middle of the frame and can be driven to achieve horizontal and vertical movement and horizontal rotation;

[0009] A harvesting end effector, which is mounted on the robotic arm mechanism and is used to harvest cotton between rows;

[0010] A sensing device, which is mounted on the robotic arm mechanism and is used to detect the position distribution of cotton;

[0011] A cotton seed separation and collection device is fixed to the rear of the frame and is used to remove seeds and collect the harvested cotton;

[0012] The reed-pulling 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.

[0013] The harvesting end effector comprises:

[0014] The adapter is connected to the robotic arm mechanism at the rear to enable the harvesting end effector to move in space and adjust the harvesting posture. The lower side of the adapter is connected to the collection box device through a pipe and cotton seed separation to transport the harvested cotton.

[0015] A tensioning device, comprising a mounting frame, a fixing nut, a tensioning bolt, a tensioning fixing member, a tensioning movable member, and a fixing ring, and installed at the front side of the transfer channel for adjusting the tension of the harvesting device;

[0016] The harvesting device is installed inside the tensioning device and consists of four harvesting units. The harvesting units are placed in pairs opposite to each other. The harvesting units are composed of a synchronous belt, a cotton pulling needle, a driving wheel and a driven wheel. The cotton pulling needle is fixed to the synchronous belt and is used to hook the cotton fibers to achieve the cotton bud picking operation. The synchronous belt is engaged with the driving wheel and the driven wheel to achieve the transportation of the picked cotton buds. 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.

[0017] A doffing device 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;

[0018] The power transmission device includes a bevel gear and an end 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 bracket. The end motor is installed on the rear side of the tensioning device through a fixed bracket to provide power for the harvesting end actuator.

[0019] The cotton seed separation and collection device includes:

[0020] A fan is fixed to the side of the collecting box through a fixing bracket, providing negative pressure for the collecting box and power for conveying cotton;

[0021] A cotton inlet is fixed to the front side of the collecting box and is connected to a transfer device of the harvesting end effector through a pipeline for transporting cotton;

[0022] 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;

[0023] The deseeding device includes two deseeding rollers fixed on the upper side of the partition on the rear side of the cotton feeding air duct inside the collection box, and is 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;

[0024] A driving device, comprising a pair of meshing gears and a driving motor, wherein the gears are fixed to the outside of the collecting box and connected to the deseeding device, 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 and connected to the deseeding rollers via a fixed bracket, and is used to provide power to the deseeding device;

[0025] 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 level, the flap device will be pressed to flip over, so as to collect the cotton seeds in the seed box space.

[0026] The robotic arm mechanism comprises:

[0027] A lifting platform, the lifting platform is fixed on the rotating motor and is used to provide a base for vertical movement;

[0028] A mobile platform, the mobile platform is fixed on the lifting platform and is used to achieve lifting in a vertical plane;

[0029] A telescopic arm, which is fixed on the mobile platform and is used to achieve telescopic movement in the horizontal plane;

[0030] A mobile motor, which is fixed to the lifting platform and is used to provide power for the mobile platform and the telescopic arm;

[0031] 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 robotic arm mechanism.

[0032] The reed-pulling device comprises:

[0033] The front reeling device is fixed in front of the frame and is triangular in shape. It is used to separate intertwined branches and reduce the resistance when the machine moves forward.

[0034] The side-sweeping 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.

[0035] The sensing device comprises:

[0036] A sensing device bracket, which is fixed to the mobile platform of the robotic arm mechanism and is used to locate the installation position of the depth camera;

[0037] A depth camera is fixed on the sensing device bracket and is used to detect the spatial position of the cotton.

[0038] The present invention also proposes a harvesting method of cotton using a selective harvesting robot based on visual recognition, comprising the following steps:

[0039] (Step 1) Inter-row Scanning and Positioning: The reed-pushing device pushes away 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 in the planting rows, identifying and locating the spatial coordinates and bud orientation information of the opened cotton.

[0040] (Step 2) Harvesting arm movement: Based on the spatial coordinates and orientation information of the cotton on the planting row, the movement trajectory of the harvester end effector is planned, and the movement of the harvester's mechanical arm mechanism is controlled to drive the harvester end effector to the harvesting point;

[0041] (Step 3) Harvesting operation: When the harvesting end effector moves to the harvesting point, the harvesting end effector starts to operate. The harvested cotton will be separated from the harvesting device by 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;

[0042] (Step 4) Seeding and collection box: The harvested cotton will be close to the seeding device under the action of the cotton feeding 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.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] (1) The present invention proposes a selective cotton harvesting robot that uses machine vision technology to accurately identify open cotton and locate the spatial position of cotton, thereby achieving multi-batch selective harvesting of cotton during the flowering period.

[0045] (2) The end effector proposed in this 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 for the end effector, improving harvesting efficiency, reducing harvesting power consumption, and achieving efficient and energy-saving harvesting operations;

[0046] (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 multiple harvesting mechanical arms and can improve the efficiency and flexibility of harvesting operations;

[0047] (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, thereby ensuring the purity and quality of the harvested cotton and saving the subsequent cotton processing steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] To more clearly illustrate the specific embodiments of the present invention, the following briefly describes the drawings required for use in the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0049] Figure 1 This is a schematic diagram of the axonometric structure of the cotton selective harvesting robot;

[0050] Figure 2 This is an overall schematic diagram of the harvesting end effector of the cotton selective harvesting robot;

[0051] Figure 3 This is a front view of the harvesting end effector of the cotton selective harvesting robot;

[0052] Figure 4 This is a schematic diagram of the harvesting unit of the cotton selective harvesting robot's harvesting end effector;

[0053] Figure 5 This is a schematic diagram of the tensioning device of the harvesting end effector of the cotton selective harvesting robot;

[0054] Figure 6 This is a schematic diagram of the cotton seed separation and collection device of the cotton selective harvesting robot;

[0055] Figure 7 This is a schematic diagram of the robotic arm structure of the cotton selective harvesting robot;

[0056] Figure 8 This is a physical picture of the robot, showing its appearance and overall structure.

[0057] Description of the numbers in the figure:

[0058] 1 is the frame, 2 is the self-propelled device, 3 is the harvesting end effector, 4 is the robotic arm mechanism, 5 is the cotton seed separation and collection device, 6 is the sensing device, 7 is the straw-pulling device, 301 is the mounting frame, 302 is the harvesting device, 303 is the cotton-docking device, 304 is the tensioning device, 305 is the power transmission device, 306 is the switching device, 307 is the harvesting unit, 308 is the synchronous belt, 309 is the cotton-pulling needle, 310 is the driving wheel, 311 is the driven wheel, 312 is the tensioning fixed part, 313 is the tensioning moving part, 314 is the fixing 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 deseeding device, 502 is a driving device, 503 is a fan, 504 is a collecting box, 505 is a cotton feeding air duct, 506 is a cotton inlet, 507 is a flip device, 601 is a sensing device bracket, 602 is a depth camera, 701 is a front straw device, and 702 is a side straw device. DETAILED DESCRIPTION

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0060] 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 robotic arm mechanism 4, a cotton seed separation and box collection 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 walking the entire machine; the robotic arm mechanism 4 is installed in the middle of the frame 1 for driving the harvesting end effector 3 to move in the horizontal and vertical planes and rotate in the horizontal plane; the harvesting end effector 3 is installed on the robotic arm mechanism 4 for realizing the cotton harvesting operation between rows; the sensing device 6 is installed on the robotic arm mechanism 4 for detecting the position distribution of cotton; the cotton seed separation and box collection 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 the front and 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;

[0061] The structure of the harvesting end effector 3 can be found in Figure 2 and Figure 3The rear of the adapter 306 is connected to the telescopic arm 404 of the robotic arm mechanism 4 to achieve spatial movement and harvesting posture adjustment. The lower side is separated from the cotton seeds through a pipe 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. Figure 5 The tensioning device 304 is mounted on the front side of the mounting frame 301. By tightening the fixing nut 316 on the tensioning fixture 312 and the tensioning movable member 313, the tensioning bolt 315 cooperates with the fixing nut 316 and the fixing ring 314. By tightening the tensioning bolt 315, the tension of the harvesting device 302 is adjusted to ensure the stability of the cotton picking operation. Figure 4 The harvesting device 302 is mounted inside the mounting frame 301 and consists of four harvesting units 307. These units 307 are arranged in pairs and comprise a synchronous belt 308, cotton pulling needles 309, a drive wheel 310, and a driven wheel 311. The cotton pulling needles 309 are fixed to the synchronous belt 308 and are used to pull cotton fibers to remove the buds. The synchronous belt 308 engages with the drive wheel 310 and the driven wheel 311 to transport the buds after they have been picked. The cotton stripping device 303 is mounted inside the mounting frame 301 and behind the harvesting device 302 to remove cotton fibers from the cotton pulling needles 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 of the mounting frame 301 via a bevel gear mounting bracket and connected to the drive wheel 310. The terminal motor 318 is mounted to the rear of the mounting bracket 301 via a fixing bracket and provides power to the harvesting end effector 3.

[0062] See also Figure 6 The collection box 504 of the cotton seed separation and collection device 5 is divided into two spaces, which are separated by a partition on the lower side. 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, providing 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, which transports 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 drive unit 502 comprises a pair of meshing gears and a drive motor. The gears are fixed to the outside of the collection box 504 and connected to the deseeding unit 501, causing the deseeding rollers to rotate at a constant speed and in opposite directions. The drive motor is fixed to the outside of the collection box 504 via a fixed bracket and connected to the deseeding rollers, providing power for the deseeding unit 501. A flap device 507 is fixed to the lower side of the seed box space within the collection box 504. When cotton seeds accumulate to a certain level, the flap device 507 is pressed to flip over, collecting the cotton seeds in the seed box.

[0063] See also Figure 7 The rotary motor 403 of the robotic arm mechanism 4 is fixed above the frame 1 and provides power for the rotation of the lifting platform 401. The lifting platform 401 is fixed to the rotary motor 403 and serves as the base for vertical movement. The mobile platform 405 is fixed to the lifting platform 401 to achieve vertical lifting and lowering. The telescopic arm 404 is fixed to the mobile platform 405 to achieve horizontal extension and retraction. The mobile motor 402 is fixed to the lifting platform 401 and provides power for the mobile platform 405 and telescopic arm 404.

[0064] The front reel mechanism 701 of the reeling device 7 is fixed to the front of the frame 1 and is triangular in shape. It is used to separate intertwined branches as the machine moves forward, reducing forward resistance. The side reel mechanism 702 is fixed to the side of the frame 1 and is used to block branches from the side, leaving enough space for the harvesting end effector 3 to operate and reduce interference.

[0065] The sensing device bracket 601 of the sensing device 6 is fixed on the mobile platform 405 of the robotic 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.

[0066] The present invention provides a cotton selective harvesting robot harvesting method based on visual recognition, comprising the following steps:

[0067] (Step 1) Inter-row Scanning and Positioning: The reed-pushing device 7 pushes away 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 the depth camera 602 to obtain depth information and image information of the cotton in the planting rows, identifying and locating the spatial coordinates and bud orientation information of the opened cotton.

[0068] (Step 2) Harvesting 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 3 is planned, and the harvester mechanical arm mechanism 4 is controlled to move, driving the harvesting end effector 3 to the harvesting point;

[0069] (Step 3) Harvesting: When the harvesting end effector 3 moves to the harvesting point, the harvesting end effector 3 begins operation. The harvested cotton is separated from the harvesting device 302 by the cotton stripping device 303. The separated cotton is then transported to the cotton seed separation and collection device 5 through the transfer device 306 by the fan 503.

[0070] (Step 4) Seeding and collecting box: The harvested cotton will approach the seeding device 501 under the action of the cotton feeding 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 deseeded cotton fibers will enter the cotton box.

[0071] In order to verify the effectiveness and superiority of the vision-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 in Figure 2, through multi-batch harvesting, cotton yield and quality were improved. The average harvesting time for a single cotton flower was 3.35 seconds, and the cotton clean rate was 95.2%. The experimental results demonstrate the effectiveness and superiority of the visual recognition-based cotton selective harvesting robot and harvesting method of the present invention.

[0072] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A cotton selective harvesting robot based on visual recognition, characterized by: It includes a frame (1), a self-propelled device (2), a harvesting end effector (3), a robotic arm mechanism (4), a cotton seed separation and collection device (5), a sensing device (6), and a weeding 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 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 mounted on the robotic arm mechanism (4) and is used to detect the position distribution of the 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 straw-pulling device (7) is installed in front and on the side of the frame (1) to reduce the resistance of the branches when the machine moves forward and to leave enough space for the harvesting end effector (3) during operation to reduce interference from the branches; The harvesting end effector (3) comprises a mounting frame (301), a harvesting device (302), a doffing 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 mounting frame (301) and is used to adjust the tension 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 cotton picking operations. 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) 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) and connected to the drive wheel (310) through a bevel gear mounting frame. The terminal motor (318) is installed on the rear side of the mounting frame (301) and is used to provide power for the harvesting terminal actuator (3).

2. 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 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 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 transporting the cotton; The cotton inlet (506) is fixed on the front side of the collecting box (504), and the cotton inlet (506) is connected to the adapter (306) of the harvesting end effector (3) through a pipeline for transporting cotton; One end of the cotton delivery air duct (505) is fixed to the front side of the collecting box (504) and communicates with the cotton inlet (506), and the other end is fixed to the side of the collecting box (504) and communicates with the fan (503), and is used to transport the collected 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 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) includes 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) through 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 level, the flap device (507) is pressed to flip over, so as to collect the cotton seeds in the seed box space.

3. 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), wherein 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 in 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 to the lifting platform (401) and is used to provide power for the mobile platform (405) and the telescopic arm (404).

4. 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 movement. The side-moving device (702) is fixed to the side of the frame (1) and is used to block branches from the side, leaving enough space for the operation of the harvesting end effector (3) and reducing interference.

5. The cotton selective harvesting robot based on visual recognition according to claim 2, 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 robotic 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.

6. The cotton selective harvesting robot based on visual recognition harvesting method according to claim 5, characterized in that: The steps include: Step 1: Scanning and positioning between rows: the weeding 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 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: 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, and the harvester mechanical arm mechanism (4) is controlled to move, thereby driving 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) under 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 feeding 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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