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Agaricus bisporus picking device control system and control method

A technology of device control and Agaricus bisporus, applied in the field of agricultural engineering, can solve the problems of low recognition, accuracy and picking rate, and achieve the effects of breaking the shortage of human resources, high picking success rate, and simplifying the amount of calculation

Inactive Publication Date: 2022-08-05
CHANGZHOU INST OF MECHATRONIC TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of relatively low recognition, accuracy and picking rate of the existing mushroom picking technology, and to provide a control system and control method for a Agaricus bisporus picking device

Method used

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  • Agaricus bisporus picking device control system and control method
  • Agaricus bisporus picking device control system and control method
  • Agaricus bisporus picking device control system and control method

Examples

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Embodiment approach 1

[0080] Embodiment 1, such as Figure 2-14 As shown, a control system for a Agaricus bisporus picking device, the system includes: an electric control circuit and a pneumatic circuit;

[0081] like image 3 As shown, the electric control loop includes a main controller, a picking module, an undercutting module, a moving module and a vision module, and the picking module, the undercutting module, the moving module and the vision module are respectively connected with the main controller;

[0082] The vision module is used to obtain the location information of the mushrooms to be picked, and send the location information of the mushrooms to be picked to the main controller;

[0083] The main controller is used to control the picking module, the root cutting module and the moving module according to the position information of the mushrooms to be picked;

[0084] The picking module includes a picking motor, a motor drive A, a two-position three-way reversing valve, a relay A and...

Embodiment approach 2

[0100] Embodiment 2, this embodiment is a further limitation of the control system of the Agaricus bisporus picking device described in Embodiment 1, which specifically includes: the system further includes a manual control module, the manual control module is connected with the main controller, and uses For manual control of the picking module, the undercutting module and the moving module.

[0101] In this embodiment, a manual control module is added to the control system of the Agaricus bisporus picking device, so that the picking method for Agaricus bisporus can be selected flexibly, not limited to automatic, but also manual mode can be selected to realize the picking of Agaricus bisporus. For example, the manual control module can realize the corresponding actions of the picking module, the undercutting module, and the moving module through buttons, such as image 3 As shown, the manual control module includes buttons that move upwards in X, Y and Z, respectively, picking...

Embodiment approach 3

[0102] Embodiment 3, this embodiment is a further limitation of the control system of the Agaricus bisporus picking device described in Embodiment 1. In this embodiment, the visual module is further limited, which specifically includes: the visual module includes a camera and a host computer. The camera is connected with the upper computer, and the upper computer is connected with the main controller;

[0103] The camera is used for acquiring mushroom images and sending the mushroom images to the host computer;

[0104] The upper computer is used for processing the mushroom image, acquiring the position information of the mushroom to be picked, and sending the position information of the mushroom to be picked to the main controller.

[0105] In this embodiment, the camera can be set above the mushroom culture rack and facing the mushrooms, so that the mushroom area to be harvested can be photographed in all directions, and then the mushroom images obtained by the camera can be...

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Abstract

The invention discloses a control system and a control method for an agaricus bisporus picking device, belongs to the technical field of agricultural engineering, and solves the problem that the existing mushroom picking technology is low in recognition degree, accuracy and picking rate. The system comprises an electric control loop and a pneumatic loop, the electric control loop comprises a main controller, a picking module, an undercutting module, a moving module and a visual module, and the picking module, the undercutting module, the moving module and the visual module are respectively connected with the main controller; the picking module comprises a picking motor, a motor driver A, a two-position three-way reversing valve, a relay A and a tension and compression sensor; the moving module is used for moving the picking module; the pneumatic loop comprises an air pump, a filtering-pressure regulating-lubricating unit, a four-position flow control valve seat, a Z-direction double-acting pneumatic cylinder, an undercut double-acting pneumatic cylinder, a negative pressure generator and a suction cup. The mushroom picking device is suitable for picking clustered and high-density mushrooms.

Description

technical field [0001] The application relates to the technical field of agricultural engineering, and in particular, to a control system and a control method for a Agaricus bisporus picking device. Background technique [0002] Agaricus bisporus is edible, delicious, and a low-calorie, healthy food with a protein content of up to 42% (dry weight). [0003] By studying the process of manual mushroom picking, the steps are divided as follows (such as figure 1 shown): Select the mature target mushrooms to be picked by observation, move your hand to the mushrooms to be picked, pick the mushrooms with your hands, and then use the root cutter in the other hand to cut off the roots of the mushrooms with the culture soil ( Sometimes pickers will collect multiple mushrooms at a time and then cut off the roots of these mushrooms at one time), and finally put the processed mushrooms into the collection box. [0004] However, in the factory planting mode, manual picking still occupie...

Claims

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Application Information

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IPC IPC(8): A01G18/70
CPCA01G18/70
Inventor 黄铭森万雨洁李洪昌王胜山高芳张成龙张东辉张涛杨宏图马永骋
Owner CHANGZHOU INST OF MECHATRONIC TECH
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