Lentinus edodes double-arm picking equipment for shelf type planting and operation method thereof

Abstract

The invention provides double-arm picking equipment for shelf-type planted shiitake mushrooms and an operation method thereof. The double-arm picking equipment comprises a moving platform, the upper portion of the moving platform is connected with a chassis, and a lifting device, a shiitake mushroom storage device and a shiitake mushroom picking device are arranged above the chassis. Through mechanical automatic mushroom stick fixing and mushroom picking, intelligent identification, picking and placing of mushroom sticks on a shelf and identification and picking of mushrooms on the mushroom sticks can be carried out at the same time, planting areas can be traversed automatically, the mushroom picking speed is increased, and labor and time cost is saved. Three-dimensional scanning is carried out through the depth camera vision system, the position and size of the mushroom sticks and the maturity of mushrooms can be accurately recognized, and it is ensured that the quality of picked mushrooms is high. The lifting device adjusts the height of the mechanical arm and cooperates with a visual system, picking and mushroom stick processing are more accurate, damage to mushrooms and mushroom sticks is reduced, mushroom picking automation is achieved, operators do not need to put physical labor heavily, and the workload is relieved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a double-arm picking device for mushrooms planted in a shelf-type manner and an operation method thereof. Background Art

[0002] Shiitake mushrooms have important economic and nutritional value. They are a high-quality source of plant protein with a high protein content that is easily absorbed by the human body. Shiitake mushrooms are rich in polysaccharides, especially β-glucan, which has the effect of enhancing immunity. At the same time, shiitake mushrooms are also a good source of dietary fiber, which is beneficial to intestinal health. Shiitake mushrooms are rich in trace elements such as potassium, iron, zinc, and B vitamins, especially vitamin B2 and B 12 , which is essential for maintaining normal physiological functions of the human body.

[0003] China is the world's largest producer and consumer of shiitake mushrooms. In recent years, the rapid aging of the agricultural labor force in the main shiitake mushroom producing countries has had a profound impact on the development of the shiitake mushroom industry. Shiitake mushroom picking is one of the key links that currently restricts the expansion of single-household scale. At present, there are some shortcomings in the process of shiitake mushroom cultivation and picking that still need to be improved. In the existing technology, shiitake mushroom picking mainly relies on manual labor, and mushroom stick fixation and picking cannot be carried out at the same time, resulting in low picking efficiency and a large amount of manpower and time costs. In the past, there was a lack of accurate recognition systems, and it was impossible to accurately judge the position, size and maturity of shiitake mushroom sticks, which easily led to mis-picking or over-ripe failure, affecting the quality of shiitake mushrooms and causing certain losses.

[0004] The traditional method of picking mushrooms requires operators to perform heavy physical labor, which is labor-intensive and places a heavy workload on the workers. The low picking efficiency and unstable quality will affect the yield and quality of mushrooms, thereby reducing the economic benefits of growers. The previous picking equipment was not precise enough in height adjustment and lacked effective coordination with the visual system, which easily caused damage to mushrooms and mushroom sticks.

[0005] The existing planting equipment has poor adaptability to shelf planting, cannot fully utilize the planting space, and has low land utilization rate. The planting management lacks intelligence, and cannot automatically adjust the picking speed or return to the base for unloading according to the filling status of the collection box, and the production management efficiency is not high. When the equipment is abnormal or fails, it cannot automatically suspend the operation and send an error report, resulting in untimely troubleshooting and maintenance, increasing the risk of production interruption and loss caused by failures. Therefore, we have made improvements to this and proposed a double-arm picking equipment for shiitake mushrooms for shelf planting and its operation method. Summary of the invention

[0006] The purpose of the present invention is to address the problems raised by the existing background technology. In order to achieve the above invention purpose, the present invention provides the following technical solutions: a double-arm mushroom picking equipment for shelf-type planting, comprising a mobile platform, a chassis, a lifting device, a mushroom stick piercing device, a mushroom picking device and a mushroom collection frame; the upper part of the mobile platform is connected to the chassis, the lifting device and the mushroom storage device and the mushroom picking device are respectively arranged above the chassis, and the mushroom stick taking and placing device is connected to the lifting device.

[0007] As a preferred technical solution of the present invention, the lifting device includes a coupling, a screw, a slide, a slider, a limit switch, a bearing seat, and a base; the coupling is connected to the screw, the screw is matched with the threaded sleeve of the slide, sliders are provided on both sides of the slide, the sliders are slidably set on the slide rails, a bearing seat is provided at the front of the base, and the bearing sleeve in the bearing seat is at the end of the screw.

[0008] As a preferred technical solution of the present invention, the slide is connected to the lifting platform, and the lifting platform is connected to the robot arm base.

[0009] As a preferred technical solution of the present invention, the mushroom stick taking and placing device includes a mechanical arm, a servo motor, and a piercing device; the mechanical claw driving device at the end of the mechanical arm is connected to the servo motor, and the servo motor is connected to the piercing device through the connecting piece.

[0010] As a preferred technical solution of the present invention, the mushroom picking device includes a mechanical arm, a mechanical arm end connecting piece, a mechanical claw driving device and a mechanical claw, the mechanical arm end connecting piece is connected to the mechanical claw driving device, and the mechanical claw is connected to the driving device.

[0011] As a preferred technical solution of the present invention, a moving wheel is arranged below the moving platform, and the moving wheel is connected to the moving servo motor via a rotating shaft.

[0012] An operating method of a double-arm mushroom picking device for shelf-type planting comprises the following steps:

[0013] Step 1, initialization and self-test: After the robot is powered on, it first performs a system self-test, including checking the battery power, the status of each actuator and sensor, and the calibration of the visual system;

[0014] Step 2, data acquisition: while the walking platform traverses the mushroom shelf planting area, the depth camera vision system is used to perform a three-dimensional scan in the shelf planting area to obtain detailed images and depth information of the entire area; the system uses this data to accurately identify the position, size and maturity of the mushroom sticks;

[0015] Step 3, path planning: Based on the acquired data, the robot calculates the optimal picking path; this step includes the movement trajectory of the robot arm, the picking sequence, and the lifting height adjustment of the lifting platform;

[0016] Step 4, positioning and piercing: the robot arm 6 is adjusted to an appropriate height through the lifting platform, and the piercing device at the end is positioned to the designated mushroom stick; with the assistance of the visual system, the rotating piercing device accurately pierces from the end face of the mushroom stick to fix or adjust the position of the mushroom stick;

[0017] Step 5, picking mushrooms: The three-claw mechanism of the robot arm 6 moves to the mushrooms that can be picked under the guidance of the visual system, grabs the mushrooms and places them in the designated collection box. During this process, the piercing device on the robot arm 6 rotates intermittently under the control of the servo motor to cooperate with the picking work of the robot arm 6; after the picking is completed, the robot arm 6 puts the mushroom sticks back;

[0018] Step 6, Collection and Transmission: The picked mushrooms are temporarily stored in the collection box equipped by the robot; the system will automatically adjust the picking speed or return to the base for unloading according to the filling status of the collection box;

[0019] Step 7, loop execution: The above steps will be looped in the entire planting area until the picking tasks on all walking paths are completed;

[0020] Step 8, troubleshooting and maintenance: During operation, if the system detects any abnormality or failure, it will automatically suspend the operation and send an error report to the control center; after necessary troubleshooting and maintenance, the robot will resume operation.

[0021] As a preferred technical solution of the present invention, step 3, the specific steps of adjusting the lifting height of the lifting platform are:

[0022] Step 31, the coupling of the lifting device drives the screw to rotate, and the screw cooperates with the threaded sleeve of the slide table, so that the slide table moves up and down on the slide rail through the sliders on both sides;

[0023] Step 32, the movement of the slide table drives the lifting platform connected thereto to rise and fall, thereby adjusting the robotic arm to a suitable height.

[0024] As a preferred technical solution of the present invention, in step 3, the movement trajectory of the robot arm is expressed as follows: the starting position of the robot arm is (X0, Y0, Z0), and the target position is (X t ,Y t ,Z t ); the movement speed of the robot is V, and the movement time is t, then the movement trajectory of the robot can be expressed as:

[0025] X=X0+V X *t;Y=Y0+V Y*t; Z = Z0 + V Z *t;

[0026] Where V X , V Y , V Z They are the velocity components of the robot in the X, Y, and Z directions, respectively, and are calculated by the difference between the target position and the starting position and the motion time.

[0027] As a preferred technical solution of the present invention, step 4, the specific steps of fixing or adjusting the position of the mushroom stick during positioning and piercing are:

[0028] Step 41, the mechanical arm of the mushroom stick picking and placing device is connected to the servo motor through the mechanical claw driving device at the end thereof, and the servo motor drives the piercing device through the connecting piece;

[0029] Step 42, with the assistance of the visual system, the robotic arm positions the piercing device to the designated mushroom stick, and the servo motor drives the piercing device to rotate and pierce from the end surface of the mushroom stick to fix or adjust the position of the mushroom stick.

[0030] As a preferred technical solution of the present invention, step 5, the specific steps of picking mushrooms are:

[0031] Step 51, under the guidance of the visual system, the robot arm of the mushroom picking device moves the mechanical claw to the pickable mushroom through the robot arm end connector and the mechanical claw driving device.

[0032] Step 52, the mechanical claw driving device drives the mechanical claw to grab the mushrooms, and then the robotic arm moves the mushrooms to above the mushroom collection frame, releases the mechanical claw, and puts the mushrooms into the collection frame.

[0033] Compared with the prior art, the present invention has the following beneficial effects: In the scheme of the present invention:

[0034] 1. Improve picking efficiency: Mechanical and automatic mushroom stick fixing and mushroom picking can be carried out at the same time, and can automatically traverse the planting area, which greatly improves the picking speed of mushrooms and saves manpower and time costs.

[0035] 2. Ensure the quality of picking: Through three-dimensional scanning by the depth camera vision system, the position, size and maturity of the mushroom sticks can be accurately identified, ensuring the high quality of the picked mushrooms and reducing the losses caused by mispicking or over-ripe mushrooms.

[0036] 3. Reduce labor intensity: The automation of mushroom picking is realized, and operators do not need to perform heavy physical labor, which reduces the workload.

[0037] 4. Increase planting benefits: Efficient and high-quality picking methods help improve the yield and quality of shiitake mushrooms, thereby increasing the economic benefits of growers.

[0038] 5. Precise operation: The lifting device can accurately adjust the height of the robotic arm, and cooperate with the visual system to make picking and mushroom stick processing more precise, reducing damage to mushrooms and mushroom sticks.

[0039] 6. Strong adaptability: This equipment is suitable for mushroom cultivation in layers, which can make full use of the planting space and improve land utilization.

[0040] 7. Intelligent management: The system can automatically adjust the picking speed or return to the base for unloading according to the filling status of the collection box, realizing intelligent production management.

[0041] 8. Automatic fault handling: During operation, if an abnormality or fault is detected, the operation will be automatically suspended and an error report will be sent, which facilitates timely troubleshooting and maintenance, reducing production interruptions and losses caused by faults. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is an axial view of the mushroom picking device of the present invention;

[0043] Figure 2 It is a side view of the mushroom picking device of the present invention;

[0044] Figure 3 It is a mushroom stick piercing device in the mushroom picking device of the present invention;

[0045] Figure 4 A mushroom picking claw in the mushroom picking device of the present invention;

[0046] Figure 5 The invention relates to a screw rod slide in the mushroom picking device.

[0047] Indicated in the figure:

[0048] 1. Mobile platform; 2. Chassis; 3. Robotic arm base;

[0049] 4. Lifting device; 41. Coupling; 42. Screw rod; 43. Slide table; 44. Sliding block; 45. Limit switch; 46. Bearing seat; 47. Base;

[0050] 5. Mushroom collection frame; 6. Robotic arm; 7. Lifting platform; 8. Servo motor; 9. Mushroom stick piercing device; 10. Connecting piece; 11. Connecting piece at the end of the robotic arm; 12. Mechanical claw driving device; 13. Mechanical claw. DETAILED DESCRIPTION

[0051] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0052] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely represents some embodiments of the present invention. The embodiments of the present invention and all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features and technical solutions in the embodiments can be combined with each other without conflict. It should be noted that similar numbers and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0053] Example 1: Please refer to Figure 1-Figure 5 A double-arm mushroom picking equipment for shelf-type planting includes a mobile platform 1, a chassis 2, a lifting device 4, a mushroom stick piercing device 9, a mushroom picking device and a mushroom collecting frame 5; the upper part of the mobile platform 1 is connected to the chassis 2, the lifting device 4 and the mushroom storage device and the mushroom picking device are respectively arranged above the chassis 2, and the mushroom stick taking and placing device is connected to the lifting device 4.

[0054] The lifting device 4 includes a coupling 41, a screw rod 42, a slide 43, a slider 44, a limit switch 45, a bearing seat 46, and a base 47; the coupling 41 is connected to the screw rod 42, the screw rod 42 is matched with the threaded sleeve of the slide 43, sliders 44 are arranged on both sides of the slide 43, the sliders 44 are slidably arranged on the slide rails, and a bearing seat 46 is arranged at the front of the base 47, and the bearing in the bearing seat 46 is sleeved at the end of the screw rod 42.

[0055] The slide 43 is connected to the lifting platform 7 , and the lifting platform 7 is connected to the robot arm base 3 .

[0056] The mushroom stick taking and placing device comprises a mechanical arm 6, a servo motor 8, and a piercing device; a mechanical claw driving device 12 at the end of the mechanical arm 6 is connected to the servo motor 8, and the servo motor 8 is connected to the piercing device through a connecting piece 10.

[0057] The mushroom picking device includes a mechanical arm 6, a mechanical arm end connecting piece 11, a mechanical claw driving device 12 and a mechanical claw 13. The mechanical arm end connecting piece 11 is connected to the mechanical claw driving device 12, and the mechanical claw 13 is connected to the driving device.

[0058] A moving wheel is provided below the moving platform 1 , and the moving wheel is connected to the moving servo motor 8 via a rotating shaft.

[0059] The working principle of the double-arm mushroom picking equipment for shelf-type planting of the present invention is as follows: the moving wheel under the mobile platform 1 is driven by the mobile servo motor 8 to drive the entire equipment to move in the shelf-type mushroom planting area. When reaching the specified position, the lifting device 4 starts to work. The coupling 41 drives the screw rod 42 to rotate, and the screw rod 42 cooperates with the threaded sleeve of the slide 43, so that the slide 43 moves up and down on the slide rail through the sliders 44 on both sides. The movement of the slide 43 drives the lifting platform 7 connected to it to rise and fall, thereby adjusting the height of the mechanical arm 6.

[0060] The mechanical arm 6 of the mushroom stick picking and placing device is connected to the servo motor 8 through the mechanical claw driving device 12 at its end, and the servo motor 8 is connected to the piercing device through the connecting piece 10. When the position of the mushroom stick needs to be fixed or adjusted, the servo motor 8 drives the piercing device to rotate so that it can accurately pierce from the end face of the mushroom stick.

[0061] The mechanical arm 6 of the mushroom picking device is connected to the mechanical claw driving device 12 through the mechanical arm end connecting piece 11, and the mechanical claw driving device 12 controls the movement of the mechanical claw 13. Under the guidance of the visual system, the mechanical arm 6 moves the mechanical claw 13 to the mushrooms that can be picked, and the mechanical claw driving device 12 drives the mechanical claw 13 to grab the mushrooms and place them in the mushroom collection frame 5.

[0062] During the entire picking process, the mobile platform 1 is responsible for moving the equipment to the appropriate position, the lifting device 4 adjusts the height of the mechanical arm 6, the mushroom stick placement device fixes or adjusts the position of the mushroom stick, and the mushroom picking device completes the picking and collection of mushrooms. Each part cooperates with each other to realize the automated picking of mushrooms grown on shelves.

[0063] The specific working process of the double-arm picking equipment for mushrooms planted on a shelf in the present invention is as follows:

[0064] Starting equipment:

[0065] After power is applied, the system initializes and performs a self-test, checking the battery charge, the status of the various actuators and sensors, and the calibration of the vision system.

[0066] Move to the picking area:

[0067] The mobile servo motor 8 under the mobile platform 1 drives the mobile wheel to rotate, driving the entire equipment to move to the designated position of the mushroom shelf planting area.

[0068] Adjust the height of lifting platform 7:

[0069] The coupling 41 of the lifting device 4 drives the screw rod 42 to rotate, and the screw rod 42 cooperates with the threaded sleeve of the slide 43, so that the slide 43 moves up and down on the slide rail through the sliders 44 on both sides.

[0070] The movement of the slide 43 drives the lifting platform 7 connected thereto to move up and down, thereby adjusting the mechanical arm 6 to a suitable height.

[0071] Fix or adjust the position of the mushroom stick:

[0072] The mechanical arm 6 of the mushroom stick picking and placing device is connected to the servo motor 8 through the mechanical claw driving device 12 at its end, and the servo motor 8 drives the piercing device through the connecting piece 10.

[0073] With the assistance of the visual system, the robot arm 6 positions the piercing device to the designated mushroom stick, and the servo motor 8 drives the piercing device to rotate and pierce from the end face of the mushroom stick to fix or adjust the position of the mushroom stick.

[0074] Picking mushrooms:

[0075] Under the guidance of the visual system, the mechanical arm 6 of the mushroom picking device moves the mechanical claw 13 to the mushrooms that can be picked through the mechanical arm end connector 11 and the mechanical claw driving device 12.

[0076] The mechanical claw driving device 12 drives the mechanical claw 13 to grab the mushrooms, and then the mechanical arm 6 moves the mushrooms to above the mushroom collection frame 5, releases the mechanical claw 13, and puts the mushrooms into the collection frame.

[0077] Cooperate with picking work:

[0078] During the mushroom picking process, the piercing device on the mechanical arm 6 of the mushroom stick picking and placing device rotates intermittently under the control of the servo motor 8 to cooperate with the picking work of the mushroom picking device.

[0079] Loop picking:

[0080] After completing one picking, the equipment moves to the next picking position according to the preset path, repeating step to step, and performing cyclic picking until the picking task in the area is completed.

[0081] Collecting and transporting mushrooms:

[0082] The picked mushrooms are temporarily stored in the mushroom collection frame 5. The system will automatically adjust the picking speed or control the equipment to return to the base for unloading according to the filling status of the collection frame.

[0083] Troubleshooting and maintenance:

[0084] During operation, if the system detects any abnormality or failure, it will automatically suspend the operation and send an error report to the control center. After the staff performs necessary troubleshooting and maintenance, the equipment will resume operation.

[0085] Embodiment 2: A double-arm mushroom picking equipment for shelf-type planting, comprising a mobile platform 1, a chassis 2, a lifting device 4, a mushroom stick piercing device 9, a mushroom picking device and a mushroom collecting frame 5; the mobile platform 1 is connected to the chassis 2, the lifting device 4, the mushroom storage device and the mushroom picking device are directly connected to the chassis 2 respectively, and the mushroom stick picking device is connected to the lifting device 4.

[0086] The lifting device 4 includes a coupling 41 , a screw rod 42 , a slide 43 , a slider 44 , a limit switch 45 , a bearing seat 46 , and a base 47 ; the slide 43 is connected to the lifting platform 7 , and the lifting platform 7 is connected to the robot arm base 3 .

[0087] The mushroom stick taking and placing device comprises a mechanical arm 6, a servo motor 8, and a piercing device; the end of the mechanical arm 6 is connected to the servo motor 8, and the servo motor 8 is connected to the piercing device via a connecting piece 10.

[0088] The mushroom picking device includes a mechanical arm 6, a mechanical arm end connecting piece 11, a mechanical claw driving device 12 and a mechanical claw 13. The mechanical arm end connecting piece 11 is connected to the mechanical claw driving device 12, and the mechanical claw 13 is connected to the driving device.

[0089] Initialization and self-test: After the robot is powered on, it first performs a system self-test, including checking the battery power, the status of each actuator and sensor, and the calibration of the vision system.

[0090] Data acquisition: As the walking platform traverses the mushroom shelf planting area, the depth camera vision system performs a three-dimensional scan of the shelf planting area to obtain detailed images and depth information of the entire area. The system uses this data to accurately identify the position, size, and maturity of the mushroom sticks.

[0091] Path planning: Based on the acquired data, the robot calculates the optimal picking path. This step includes the movement trajectory of the robot arm 6, the picking sequence, and the adjustment of the lifting height of the lifting platform 7.

[0092] Positioning and piercing: The mechanical arm 6 is adjusted to an appropriate height through the lifting platform 7, and the piercing device at the end is positioned to the designated mushroom stick. With the assistance of the visual system, the rotating piercing device accurately pierces the end face of the mushroom stick to fix or adjust the position of the mushroom stick.

[0093] Picking mushrooms: The three-claw mechanism of the robot arm 6 moves to the mushrooms that can be picked under the guidance of the visual system, grabs the mushrooms and places them in the designated collection box. During this process, the piercing device on the robot arm 6 rotates intermittently under the control of the servo motor 8 to cooperate with the picking work of the robot arm 6; after picking is completed, the robot arm 6 puts the mushroom sticks back.

[0094] Collection and transportation: The harvested mushrooms are temporarily stored in the collection box equipped by the robot. The system will automatically adjust the picking speed or return to the base for unloading according to the filling status of the collection box.

[0095] Loop execution: The above steps will be executed cyclically in the entire planting area until the picking tasks on all walking paths are completed.

[0096] Troubleshooting and maintenance: During operation, if the system detects any abnormality or failure, it will automatically suspend the operation and send an error report to the control center. After necessary troubleshooting and maintenance, the robot will resume operation.

[0097] Embodiment 3: An operating method of a double-arm mushroom picking device for shelf-type planting, comprising the following steps:

[0098] Step 1, initialization and self-test: After the robot is powered on, it first performs a system self-test, including checking the battery power, the status of each actuator and sensor, and the calibration of the visual system;

[0099] Step 2, data acquisition: while the walking platform traverses the mushroom shelf planting area, the depth camera vision system is used to perform a three-dimensional scan in the shelf planting area to obtain detailed images and depth information of the entire area; the system uses this data to accurately identify the position, size and maturity of the mushroom sticks;

[0100] Step 3, path planning: Based on the acquired data, the robot calculates the optimal picking path; this step includes the movement trajectory of the robot arm 6, the picking sequence and the lifting height adjustment of the lifting platform 7;

[0101] Step 4, positioning and piercing: the mechanical arm 6 is adjusted to an appropriate height through the lifting platform 7, and the piercing device at the end is positioned to the designated mushroom stick; with the assistance of the visual system, the rotating piercing device accurately pierces from the end face of the mushroom stick to fix or adjust the position of the mushroom stick;

[0102] Step 5, picking mushrooms: The three-claw mechanism of the robot arm 6 moves to the mushrooms that can be picked under the guidance of the visual system, grabs the mushrooms and places them in the designated collection box. During this process, the piercing device on the robot arm 6 rotates intermittently under the control of the servo motor 8 to cooperate with the picking work of the robot arm 6; after the picking is completed, the robot arm 6 puts the mushroom sticks back;

[0103] Step 6, Collection and Transmission: The picked mushrooms are temporarily stored in the collection box equipped by the robot; the system will automatically adjust the picking speed or return to the base for unloading according to the filling status of the collection box;

[0104] Step 7, loop execution: The above steps will be looped in the entire planting area until the picking tasks on all walking paths are completed;

[0105] Step 8, troubleshooting and maintenance: During operation, if the system detects any abnormality or failure, it will automatically suspend the operation and send an error report to the control center; after necessary troubleshooting and maintenance, the robot will resume operation.

[0106] Step 3, specific steps for adjusting the lifting height of the lifting platform 7:

[0107] Step 31, the coupling 41 of the lifting device 4 drives the screw rod 42 to rotate, and the screw rod 42 cooperates with the threaded sleeve of the slide 43, so that the slide 43 moves up and down on the slide rail through the sliders 44 on both sides;

[0108] Step 32, the movement of the slide 43 drives the lifting platform 7 connected thereto to rise and fall, thereby adjusting the robot arm 6 to a suitable height.

[0109] Step 3: The moving trajectory of the robot arm 6 is expressed as follows: the starting position of the robot arm 6 is (X0, Y0, Z0), and the target position is (X t ,Y t ,Z t ); the movement speed of the robot 6 is V, and the movement time is t, then the movement trajectory of the robot 6 can be expressed as:

[0110] X=X0+V X *t;Y=Y0+V Y *t; Z = Z0 + V Z *t;

[0111] Where V X , V Y , V Z They are the velocity components of the robot 6 in the X, Y, and Z directions, respectively, and are calculated by the difference between the target position and the starting position and the movement time.

[0112] Step 4, specific steps for fixing or adjusting the position of the mushroom stick during positioning and piercing:

[0113] Step 41, the mechanical arm 6 of the mushroom stick picking and placing device is connected to the servo motor 8 through the mechanical claw driving device 12 at its end, and the servo motor 8 drives the piercing device through the connecting piece 10;

[0114] Step 42, with the assistance of the visual system, the robot arm 6 positions the piercing device to the designated mushroom stick, and the servo motor 8 drives the piercing device to rotate and pierce from the end surface of the mushroom stick to fix or adjust the position of the mushroom stick.

[0115] Step 5, specific steps for picking mushrooms:

[0116] Step 51 , under the guidance of the visual system, the robot arm 6 of the mushroom picking device moves the robot claw 13 to the mushrooms that can be picked through the robot arm end connector 11 and the robot claw driving device 12 .

[0117] Step 52, the mechanical claw driving device 12 drives the mechanical claw 13 to grab the mushrooms, and then the mechanical arm 6 moves the mushrooms to above the mushroom collection frame 5, releases the mechanical claw 13, and puts the mushrooms into the collection frame.

[0118] The working process of the double-arm picking equipment for mushrooms grown on shelves is as follows:

[0119] 1. Initialization and self-test:

[0120] After the robot is turned on, it performs a system self-test to check the battery power, the status of each actuator and sensor, and the calibration of the visual system to ensure the normal operation of the equipment.

[0121] 2. Data acquisition:

[0122] When the walking platform traverses the mushroom shelf planting area, the depth camera vision system performs a three-dimensional scan of the planting area to obtain detailed images and depth information of the area.

[0123] The system uses this data to accurately identify the location and size of the mushroom sticks and the maturity of the mushrooms.

[0124] 3. Path planning:

[0125] Based on the acquired data, the robot calculates the optimal picking path, including the movement trajectory of the robot arm 6, the picking sequence and the lifting height adjustment of the lifting platform 7.

[0126] The lifting height adjustment of the lifting platform 7 is achieved by the following steps:

[0127] The coupling 41 of the lifting device 4 drives the screw rod 42 to rotate, and the screw rod 42 cooperates with the threaded sleeve of the slide 43, so that the slide 43 moves up and down on the slide rail through the sliders 44 on both sides.

[0128] The movement of the slide 43 drives the lifting platform 7 connected thereto to rise and fall, and adjusts the mechanical arm 6 to a suitable height.

[0129] The movement trajectory of the robot arm 6 is expressed by the following formula:

[0130] The moving trajectory of the robot arm 6 is expressed as follows: the starting position of the robot arm 6 is (X0, Y0, Z0), and the target position is (X t ,Y t ,Z t ); the movement speed of the robot 6 is V, and the movement time is t, then the movement trajectory of the robot 6 can be expressed as:

[0131] X=X0+V X *t;Y=Y0+V Y *t; Z = Z0 + V Z *t;

[0132] Where V X , V Y , V Z They are the velocity components of the robot 6 in the X, Y, and Z directions, respectively, and are calculated by the difference between the target position and the starting position and the movement time.

[0133] 4. Positioning and insertion:

[0134] The mechanical arm 6 is adjusted to a proper height through the lifting platform 7, and the piercing device at the end is positioned to the designated mushroom stick with the assistance of the visual system.

[0135] The mechanical arm 6 of the mushroom stick picking and placing device is connected to the servo motor 8 through the mechanical claw driving device 12 at its end, and the servo motor 8 drives the piercing device through the connecting piece 10.

[0136] With the assistance of the visual system, the servo motor 8 drives the piercing device to rotate and pierce from the end surface of the mushroom stick to fix or adjust the position of the mushroom stick.

[0137] 5. Picking mushrooms:

[0138] Under the guidance of the visual system, the three-claw mechanism of the robot arm 6 moves the robot claw 13 to the mushrooms that can be picked through the robot arm end connector 11 and the robot claw driving device 12.

[0139] The mechanical claw driving device 12 drives the mechanical claw 13 to grab the mushrooms, and then the mechanical arm 6 moves the mushrooms to the top of the mushroom collection frame 5, releases the mechanical claw 13, and puts the mushrooms into the collection frame. During this process, the piercing device on the mechanical arm 6 rotates intermittently under the control of the servo motor 8 to cooperate with the picking work of the mechanical arm 6. After the picking is completed, the mechanical arm 6 puts the mushroom sticks back.

[0140] 6. Collection and Transmission:

[0141] The picked mushrooms are temporarily stored in the collection box equipped by the robot.

[0142] The system automatically adjusts the picking speed or returns to the base for unloading according to the filling status of the collection box.

[0143] 7. Loop execution:

[0144] The above steps are executed in a loop throughout the entire planting area until the picking tasks on all walking paths are completed.

[0145] 8. Troubleshooting and maintenance:

[0146] During operation, if the system detects any abnormality or failure, it will automatically suspend the operation and send an error report to the control center.

[0147] After necessary troubleshooting and maintenance, the robot will resume operation.

[0148] The working principle algorithm of the present invention is:

[0149] ```

[0150] Python

[0151] import time

[0152] import random

[0153] class MushroomPickingRobot:

[0154] def __init__(self):

[0155] self.battery_level = 100 # Assume the initial battery level is 100

[0156] self.executor_status="normal"

[0157] self.sensor_status = "Normal"

[0158] self.vision_system_status="normal"

[0159] self.collection_box_status = "Not full"

[0160] self.current_location=(0,0,0)#initial position

[0161] self.target_location = None

[0162] self.picking_speed = 1 # Picking speed (can be adjusted according to actual conditions)

[0163] self.moving_speed = 1 # moving speed (can be adjusted according to actual conditions)

[0164] self.arm1_height=0#Initial height of robotic arm 6

[0165] self.arm2_status = "Idle" # Initial state of robot arm 6

[0166] def system_self_check(self):

[0167] """

[0168] System self-check function

[0169] Check battery charge, status of individual actuators and sensors, and calibration of vision systems

[0170] """

[0171] if self.battery_level>20and self.executor_status=="normal"andself.sensor_status=="normal"and self.vision_system_status=="normal":

[0172] print("System self-check passed")

[0173] else:

[0174] print("System self-test failed, please check the device")

[0175] def get_data(self):

[0176] """

[0177] Data acquisition function

[0178] Use the depth camera vision system to perform 3D scanning in the layered planting area to obtain detailed images and depth information of the entire area

[0179] And accurately identify the position, size and maturity of mushroom sticks

[0180] """

[0181] #This simulates the process of acquiring data. In actual applications, it is necessary to interact with related hardware and sensors.

[0182] mushroom_positions=[(random.randint(0,10),random.randint(0,10),random.randint(0,10))for_in range(10)]

[0183] mushroom_maturities = [random.choice(["mature","immature"])for_in range(10)]

[0184] print("Get the mushroom location and maturity information")

[0185] return mushroom_positions,mushroom_maturities

[0186] def calculate_path(self,mushroom_positions):

[0187] """

[0188] Path planning function

[0189] Calculate the optimal picking path based on the acquired data

[0190] Including the movement trajectory of the robot arm, the picking sequence and the lifting height adjustment of the lifting platform

[0191] """

[0192] #This is a simplified path planning algorithm. In actual applications, more complex algorithms are needed to achieve optimal path planning.

[0193] picking_order=sorted(range(len(mushroom_positions)),key=lambda k:mushroom_positions[k])

[0194] print("Calculate the picking path and order")

[0195] return picking_order

[0196] def adjust_lifting_platform_height(self,target_height):

[0197] """

[0198] Lifting platform height adjustment function

[0199] The coupling drives the screw to rotate, causing the slide to move up and down, thereby adjusting the height of the lifting platform.

[0200] """

[0201] current_height=self.arm1_height

[0202] while abs(target_height-current_height)>0.1:#Set an accuracy threshold

[0203] if target_height>current_height:

[0204] #Simulate the rotation of the screw rod to make the slide rise

[0205] current_height+=0.1

[0206] else:

[0207] #Simulate the screw rod to rotate and make the slide descend

[0208] current_height - = 0.1

[0209] print(f"The height of the lifting platform is adjusted to {current_height}")

[0210] self.arm1_height=target_height

[0211] def move_arm1_to_target(self,target_position):

[0212] """

[0213] Robot arm 6 moves to the target position function

[0214] According to the difference between the target position and the starting position and the movement time, the movement trajectory of the robot 6 is calculated

[0215] """

[0216] start_time = time.time()

[0217] start_position=self.current_location

[0218] distance=[(target_position[i]-start_position[i])for iin range(3)]

[0219] total_distance=sum([abs(d)for d in distance])

[0220] moving_time=total_distance / self.moving_speed

[0221] while time.time()-start_time <moving_time:

[0222] elapsed_time=time.time()-start_time

[0223] ratio=elapsed_time / moving_time

[0224] new_position=[start_position[i]+ratio*distance[i]for iin range(3)]

[0225] self.current_location=tuple(new_position)

[0226] print(f"Robotic arm 6 moves to position {self.current_location}")

[0227] time.sleep(0.1)#Simulate the delay of real-time movement

[0228] self.current_location=target_position

[0229] def position_and_puncture(self,mushroom_position):

[0230] """

[0231] Positioning and insertion functions

[0232] The robot arm 6 positions the piercing device to the designated mushroom stick and pierces from the end face of the mushroom stick under the drive of the servo motor to fix or adjust the position of the mushroom stick.

[0233] """

[0234] self.move_arm1_to_target(mushroom_position)

[0235] print("Robotic arm 6 locates the mushroom stick")

[0236] #Simulate the servo motor to drive the piercing device to rotate and pierce the mushroom stick

[0237] print("The piercing device pierces the end of the mushroom stick to fix or adjust the position of the mushroom stick")

[0238] def pick_mushroom(self,mushroom_position):

[0239] """

[0240] Mushroom picking function

[0241] The robot arm 6 moves to the harvestable mushrooms under the guidance of the vision system, grabs the mushrooms and places them in the designated collection box.

[0242] At the same time, the piercing device on the robot arm 6 rotates intermittently under the control of the servo motor to cooperate with the picking work of the robot arm 6

[0243] """

[0244] self.arm2_status = "Working"

[0245] print("Robotic arm 6 starts picking mushrooms")

[0246] #Simulate the picking action of robot arm 6

[0247] print("Robotic arm 6 grabs the mushrooms and puts them into the collection box")

[0248] self.arm2_status = "Idle"

[0249] #Simulate the intermittent rotation of the piercing device on the robot arm 6

[0250] print("The piercing device on the robot arm 6 rotates intermittently to cooperate with the picking work")

[0251] def collect_and_transmit(self):

[0252] """

[0253] Collection and transfer functions

[0254] Automatically adjust picking speed or return to base for unloading according to the filling status of the collection box

[0255] """

[0256] if self.collection_box_status == "full":

[0257] print("The collection box is full, return to base to unload")

[0258] else:

[0259] print("The collection box is not full, continue picking")

[0260] def fault_detection_and_maintenance(self):

[0261] """

[0262] Fault detection and maintenance functions

[0263] Detects any abnormalities or failures during operation. If any, the operation is automatically suspended and an error report is sent to the control center.

[0264] After necessary troubleshooting and maintenance, the robot will resume operation

[0265] """

[0266] #Simulate fault detection here, assuming no fault

[0267] print("No fault detected, continue working")

[0268] def start_picking(self):

[0269] """

[0270] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. A double-arm picking device for mushrooms grown on a shelf, characterized in that: The invention comprises a mobile platform (1), a chassis (2), a lifting device (4), a mushroom stick piercing device (9), a mushroom picking device and a mushroom collecting frame (5); the upper part of the mobile platform (1) is connected to the chassis (2), the lifting device (4) and the mushroom storage device and the mushroom picking device are respectively arranged above the chassis (2), and the mushroom stick taking and placing device is connected to the lifting device (4).

2. The double-arm picking equipment for mushrooms grown on a shelf according to claim 1 is characterized in that: The lifting device (4) comprises a coupling (41), a screw rod (42), a slide table (43), a slider (44), a limit switch (45), a bearing seat (46), and a base (47); the coupling (41) is connected to the screw rod (42), the screw rod (42) is matched with the threaded sleeve of the slide table (43), sliders (44) are arranged on both sides of the slide table (43), the sliders (44) are slidably arranged on the slide rails, and a bearing seat (46) is arranged at the front of the base (47), and the bearing sleeve in the bearing seat (46) is arranged at the end of the screw rod (42).

3. The double-arm picking equipment for mushrooms grown on a shelf according to claim 2 is characterized in that: The slide (43) is connected to the lifting platform (7), and the lifting platform (7) is connected to the robot arm base (3).

4. The double-arm picking equipment for mushrooms grown on a shelf according to claim 3 is characterized in that: The mushroom stick taking and placing device comprises a mechanical arm (6), a servo motor (8), and a piercing device; a mechanical claw driving device (12) at the end of the mechanical arm (6) is connected to the servo motor (8), and the servo motor (8) is connected to the piercing device via the connecting piece (10).

5. The double-arm picking equipment for mushrooms grown on a shelf according to claim 4 is characterized in that: The mushroom picking device comprises a mechanical arm (6), a mechanical arm end connecting piece (11), a mechanical claw driving device (12) and a mechanical claw (13), wherein the mechanical arm end connecting piece (11) is connected to the mechanical claw driving device (12), and the mechanical claw (13) is connected to the driving device.

6. An operating method of a double-arm mushroom picking device for shelf-type planting, characterized in that: The following steps are involved: Step 1, initialization and self-test: After the robot is powered on, it first performs a system self-test, including checking the battery power, the status of each actuator and sensor, and the calibration of the visual system; Step 2, data acquisition: while the walking platform traverses the mushroom shelf planting area, the depth camera vision system is used to perform a three-dimensional scan in the shelf planting area to obtain detailed images and depth information of the entire area; the system uses this data to accurately identify the position, size and maturity of the mushroom sticks; Step 3, path planning: based on the acquired data, the robot calculates the optimal picking path, including the movement trajectory of the robot arm (6), the picking sequence and the lifting height adjustment of the lifting platform (7); Step 4, positioning and piercing: the mechanical arm (6) is adjusted to an appropriate height through the lifting platform (7), and the piercing device at the end is positioned to the designated mushroom stick; with the assistance of the visual system, the rotating piercing device accurately pierces the end surface of the mushroom stick to fix or adjust the position of the mushroom stick; Step 5, picking mushrooms: the three-claw mechanism of the robot arm (6) moves to the mushrooms that can be picked under the guidance of the visual system, grabs the mushrooms and places them in a designated collection box. During this process, the piercing device on the robot arm (6) rotates intermittently under the control of the servo motor (8) to cooperate with the picking work of the robot arm (6); After the picking is completed, the robot arm (6) puts the mushroom sticks back; Step 6, Collection and Transmission: The picked mushrooms are temporarily stored in the collection box equipped by the robot; the system will automatically adjust the picking speed or return to the base for unloading according to the filling status of the collection box; Step 7, loop execution: The above steps will be looped in the entire planting area until the picking tasks on all walking paths are completed; Step 8, troubleshooting and maintenance: During operation, if the system detects any abnormality or failure, it will automatically suspend the operation and send an error report to the control center; after troubleshooting and maintenance, the robot will resume operation.

7. The operating method of the double-arm mushroom picking equipment for shelf-type planting according to claim 6 is characterized in that: Step 3, specific steps for adjusting the lifting height of the lifting platform (7): Step 31, the coupling (41) of the lifting device (4) drives the screw rod (42) to rotate, and the screw rod (42) cooperates with the threaded sleeve of the slide table (43), so that the slide table (43) moves up and down on the slide rail through the sliders (44) on both sides; Step 32, the movement of the slide (43) drives the lifting platform (7) connected thereto to move up and down, thereby adjusting the mechanical arm (6) to a suitable height.

8. The operating method of the double-arm mushroom picking equipment for shelf-type planting according to claim 6 is characterized in that: Step 3: The moving trajectory of the robot arm (6) is expressed as follows: the starting position of the robot arm (6) is (X0, Y0, Z0), and the target position is (X t ,Y t ,Z t ); the movement speed of the robot (6) is V, and the movement time is t, then the movement trajectory of the robot (6) is expressed as: X=X0+V X *t;Y=Y0+V Y *t;Z=Z0+V Z *t; Where V X , V Y , V Z They are the velocity components of the robot arm (6) in the X, Y, and Z directions, respectively, and are calculated by the difference between the target position and the starting position and the movement time.

9. The operating method of the double-arm mushroom picking equipment for shelf-type planting according to claim 6 is characterized in that: Step 4, specific steps for fixing or adjusting the position of the mushroom stick during positioning and piercing: Step 41, the mechanical arm (6) of the mushroom stick picking and placing device is connected to the servo motor (8) through the mechanical claw driving device (12) at its end, and the servo motor (8) drives the piercing device through the connecting piece (10); Step 42, with the assistance of the visual system, the robot arm (6) positions the piercing device to the designated mushroom stick, and the servo motor (8) drives the piercing device to rotate and pierce from the end face of the mushroom stick to fix or adjust the position of the mushroom stick.

10. The operating method of the double-arm picking equipment for mushrooms grown on a shelf according to claim 6, characterized in that: Step 5, specific steps for picking mushrooms: Step 51, under the guidance of the visual system, the mechanical arm (6) of the mushroom picking device moves the mechanical claw (13) to the mushrooms that can be picked through the mechanical arm end connector (11) and the mechanical claw driving device (12); Step 52, the mechanical claw driving device (12) drives the mechanical claw (13) to grab the mushrooms, and then the mechanical arm (6) moves the mushrooms to the top of the mushroom collection frame (5), releases the mechanical claw (13), and puts the mushrooms into the collection frame.

Images