Mushroom picking robot system and picking method

Abstract

The invention discloses a mushroom picking robot system. The system comprises a 3D vision module and a picking robot, the 3D vision module comprises a 3D vision camera, an illumination unit, an imagecollection unit and an image processing unit, and the picking robot comprises a motion controller, a joint driver and a mechanical arm which are connected in sequence; the motion controller is connected with the image processing unit, and the mechanical arm is provided with a picking suction cup. The invention further discloses a picking method. The method is applied to the mushroom picking robotsystem. The method comprises the steps that after the 3D vision module determines the sizes and positions of mushrooms, the picking robot adjusts the mechanical arm according to the information provided by the 3D vision module, so that the picking suction cup extends to the mushrooms and sucks the mushrooms, the bending and torsion action is applied to the mushrooms according to the demands for completing picking, and the picked mushrooms are placed in different baskets through classification according to the sizes. Compared with the prior, the mushroom picking robot system has the advantagesthat the cost and labor intensity of manual picking are lowered, the picking quality is guaranteed, and the picking efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a mushroom picking robot system and a picking method. Background technique [0002] With the rapid development of computer and intelligent control technology, agricultural machinery will enter a period of high automation and intelligence. Intelligent robots will gradually penetrate into agricultural production. In the process of modern agricultural production, the use of intelligent robots will become an important symbol to measure the level of agricultural technology. During mushroom production operations, harvesting and picking account for about 40% of the total workload. The quality of picking operations directly affects the storage, processing and sales of mushrooms, which ultimately affects market prices and economic benefits. Due to the complexity of the picking operation, the current domestic mushroom picking is still done manually, especially in the greenhous...

AI Technical Summary

Problems solved by technology

The quality of picking operations directly affects the storage, processing and sales of mushrooms, which ultimately affects market prices and economic benefits

Due to the complexity of the picking operation, the domestic mushroom picking operation is still done manually, especially in the greenhouse environment, the working environment is poor, and the harvesting operation is labor-intensive. Therefore, it is of great significance to study mushroom picking robots.

Images