Mushroom picking device

A mushroom and transmission device technology, which is applied in mushroom cultivation, horticulture, botanical equipment and methods, etc., can solve the problems of uneven growth of mushrooms, poor working environment, high labor intensity, etc., and achieve the goal of promoting the research process of intelligent mechanization Effect

Inactive Publication Date: 2018-11-06
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Manual operation is currently the most important method of picking, and there are problems such as poor working environment and high labor intensity; in addition, due to the anisotropy and uneven density of mushroom growth, it is difficult for non-intelligent mechanized operations to meet such complex tasks. condition

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0021] Such as figure 1 As shown, the mushroom picking device includes: frame rollers (1), mushroom transmission device (2), integral frame (3), camera device (4) and manipulator device (5), characterized in that: the camera device (4) and the manipulator device (5) are fixed on the overall frame (3) through guide plates; the mushroom transmission device (2) is connected under the overall frame (3); each side of the rack rollers (1) The two are respectively connected to the overall frame (3); the working principle is: first, the camera (4) takes pictures of the mushroom area to obtain the absolute coordinates of the mushrooms to be picked; then, the rack rollers (1) roll Realize the forward and backward movement of the overall frame (3) to drive the manipulator device (5) to reach the absolute coordinate position of the mushrooms to be picked; finally, the manipulator device (5) picks the mushrooms to be picked and transfers the picked mushrooms through the mushroom transmissi...

Embodiment 2

[0022] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0023] Such as figure 2 shown as figure 1 Sectional view along A-A.

[0024] Such as image 3 Shown is a partially enlarged view of the camera device (4), which includes: a telescopic rod (6), a camera (7), a lens (8) and a light source (9), and the camera (7) is connected to The telescopic rod (6) is connected with the lens (8) to form a whole and is fixed on the overall frame (3) by the telescopic rod (6); the light source (9) is placed at the lower end of the lens (8); firstly, turn on the light source ( 9) Supplementary lighting; then, calibrate the camera (7) and the focusing lens (8), take a photo through the touch camera to get a photo of the captured area, and then transfer the photo to an industrial computer configured separately to process the world coordinate position of the target mushroom; Finally, the picking of the target mushroom is comple...

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Abstract

The invention relates to a mushroom picking device. The mushroom picking device includes rack rolling wheels, a mushroom conveying device, an integral rack, camera devices and manipulator devices. Thecamera devices and the manipulator devices are both fixed to the integral rack through guide plates; the mushroom conveying device is connected to the lower portion of the integral rack; every two rack rolling wheels on each side are separately connected to the integral rack. A working principle includes the steps that firstly, the camera devices photograph a mushroom area to obtain the absolutecoordinates of to-be-picked mushrooms; secondly, the rack rolling wheels roll, so that the integral rack moves back and forth to drive the manipulator devices to reach positions of the absolute coordinates of the to-be-picked mushrooms; finally, the manipulator devices pick the to-be-picked mushrooms, and the picked mushrooms are carried away through the mushroom conveying device. The mushroom picking device can be combined with a control system to achieve the integrated operation of self-identification and self-picking of the mushrooms, so that intelligent picking and transportation of the mushrooms are achieved, and advancement of an intelligent mechanical development process in China is facilitated.

Description

technical field [0001] The invention relates to the field of automatic harvesting machinery, in particular to a mushroom picking device. Background technique [0002] In China, mushroom cultivation has become factory production. Due to the long cycle of mushroom picking, a large amount of labor is required for a long time to ensure timely harvest. Therefore, fruit and vegetable picking is the longest and hardest link in the entire production chain. Manual operation is currently the most important method of picking, and there are problems such as poor working environment and high labor intensity; in addition, due to the anisotropy and uneven density of mushroom growth, it is difficult for non-intelligent mechanized operations to meet such complex tasks. condition. Therefore, robot-based intelligent picking operations are more and more widely used. At present, there are not many studies on the mechanized picking of mushrooms, which are basically in the blank field of design ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01G18/70
CPCA01G18/70
Inventor 胡小梅李明杭杨淑珍陆翔宇俞涛童上高
Owner SHANGHAI UNIV
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