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