Agaric harvesting robot based on machine vision

Abstract

The invention relates to an agaric harvesting robot based on machine vision, and belongs to the technical field of agricultural automation equipment. The agaric harvesting robot comprises a pair of oppositely-arranged assembly frames, each assembly frame comprises a supporting back plate, a driving motor, a spiral transmission device, a sliding rail and a plurality of clamping height adjusting mechanisms, and the clamping height adjusting mechanisms are matched with the spiral transmission devices and driven by the driving motors; the grabbing mechanism used for clamping the agaric fungus bags is connected with the clamping height adjusting mechanism through a linear driving device. A fungus bag rotation driving mechanism and a fungus bag positioning mechanism are arranged on one assembly frame; an air injection picking mechanism is arranged on the other assembly frame and is used for performing air injection picking on the rotating agaric fungus bags; the central control unit is used for controlling cooperative work of the grabbing mechanism, the linear driving device, the clamping height adjusting mechanism, the fungus bag rotation driving mechanism and the air injection picking mechanism. The full-automatic control process of agaric picking is achieved, manual intervention is reduced, the consistency and reliability of harvesting operation are ensured, operation is easy and convenient, and application and popularization are easy.

Description

Technical Field

[0001] The present invention relates to an agricultural robot, and more particularly to an auricularia auricula harvesting robot based on machine vision, belonging to the technical field of agricultural automation equipment. Background Art

[0002] Due to the advantages of high utilization rate of the site in the three-dimensional cultivation of auricularia auricula in greenhouses, such as the number of spawn bags that can be placed per square meter for ear formation being more than 4 times that of open-field cultivation, high utilization rate of the cultivation site, strong resistance to natural disasters, and less affected by climate, it has become one of the mainstream ways of intensive auricularia auricula cultivation at the present stage. With the strong support of the country for agricultural modernization and the continuous development of the industry, the mechanization and automation in the production process of auricularia auricula have been basically realized, including but not limited to inoculation equipment and spawn-running facilities. However, as an important part of the auricularia auricula industry, the promotion of its mechanization and automation is still in its infancy. Most of the harvesting work still needs to be completed manually, which has the disadvantages of low harvesting efficiency and high harvesting cost, not in line with the current booming status of the auricularia auricula industry, and unable to meet the development needs of the auricularia auricula industry market.

[0003] There is a huge gap in the research and development of harvesting mechanization for the mainstream three-dimensional cultivation mode of auricularia auricula in greenhouses, which is not conducive to the overall development of the auricularia auricula industry. The slow progress of the mechanization and automation of auricularia auricula harvesting will seriously affect the further development of the auricularia auricula industry and delay the process of agricultural modernization. Therefore, it is of great practical significance to develop an efficient and automated auricularia auricula harvesting robot. Summary of the Invention

[0004] Based on the above background, the purpose of the present invention is to provide an auricularia auricula harvesting robot based on machine vision to solve the problems of low automation degree of auricularia auricula harvesting, low efficiency of manual harvesting and high cost described in the background art.

[0005] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0006] An auricularia auricula harvesting robot based on machine vision, the auricularia auricula harvesting robot includes:

[0007] At least a pair of oppositely arranged assembly frames, the assembly frame includes a support back plate, a driving motor, a screw transmission device, a slide rail and a plurality of clamping height adjustment mechanisms; the clamping height adjustment mechanism cooperates with the screw transmission device and is driven by the driving motor; a grasping mechanism for clamping the auricularia auricula spawn bag is connected to the clamping height adjustment mechanism through a linear driving device; the linear driving device is used to control the opposite movement of the grasping mechanism to clamp the auricularia auricula spawn bag; grasping mechanisms are arranged on both assembly frames, and a pair of clamping height adjustment mechanisms are respectively used to adjust the height positions of the two grasping mechanisms;

[0008] A mushroom bag rotation drive mechanism and a mushroom bag positioning mechanism are provided on one of the assembly frames. The mushroom bag rotation drive mechanism is located below the grasping mechanism. A fixing needle for fixing and rotating the wood ear mushroom bag is provided on the surface of the mushroom bag rotation drive mechanism. The mushroom bag positioning mechanism is fixed at the bottom of the grasping mechanism and is provided above the mushroom bag rotation drive mechanism, and is used to provide axial pressure to fix the mushroom bag during the rotation of the mushroom bag.

[0009] Another assembly frame is provided with an air jet picking mechanism, which is arranged on the clamp height adjustment mechanism below the grasping mechanism and is used for performing air jet picking on the rotating auricularia auricula bag;

[0010] The central control unit is used to control the coordinated work of the grasping mechanism, the linear drive device, the clamping height adjustment mechanism, the mushroom bag rotation drive mechanism and the air jet picking mechanism.

[0011] Preferably, the jet picking mechanism can swing up and down at different angles so that the fungus falls evenly.

[0012] Preferably, two guide rods are fixed on the support back plate, respectively located on both sides of the spiral transmission device, to limit the clamp height adjustment mechanism so that it moves up and down along the guide rods. This design can prevent the clamp height adjustment mechanism from deflecting or shaking during the vertical movement, ensure the stability and accuracy of the vertical movement of the mechanism, and improve the reliability of the entire harvesting process.

[0013] Preferably, the mushroom bag positioning mechanism includes a positioning shaft, an axial thrust bearing and a retaining spring, wherein the axial thrust bearing is sleeved on the positioning shaft, and the retaining spring is fixed to the end of the positioning shaft to prevent the axial thrust bearing from being separated from the positioning shaft; one end of the positioning shaft is fixed to the bottom of the grasping mechanism, and the other end faces the mushroom bag rotation drive mechanism so as to contact the upper surface of the wood ear mushroom bag to provide axial pressure. This design can provide stable axial pressure during the rotation of the mushroom bag, while the use of the axial thrust bearing reduces friction, so that the mushroom bag can rotate smoothly under pressure, and the design of the retaining spring ensures the firmness and safety of the structure.

[0014] Preferably, the working surface of the mushroom bag rotation drive mechanism is away from the ground and parallel to the ground, and the fixing needle is arranged on the working surface, and is used to pierce the bottom of the mushroom bag for fixing during the descending process of the mushroom bag; the mushroom bag rotation drive mechanism is connected to the mushroom bag rotation drive mechanism fixing frame through a linear drive device, so as to cooperate with the mushroom bag positioning mechanism during the picking process to fix the mushroom bag together. This design ensures the stability of the mushroom bag during the rotation process, prevents the mushroom bag from shaking or falling off when rotating at high speed, and at the same time, by fixing the mushroom bag at two points, the mushroom bag can rotate evenly, improving the picking efficiency and quality.

[0015] Preferably, the slide rail at the bottom of the assembly frame is driven by a slide rail drive motor, which is used to control the longitudinal movement of the whole system on the ground to achieve continuous harvesting. This design enables the robot to autonomously move to the position of the next mushroom bag to be harvested without manual intervention, greatly improving the continuity and efficiency of harvesting and meeting the batch harvesting requirements of large-scale auricularia auricula planting bases.

[0016] Preferably, the grasping mechanism includes a bearing, a grasping arm, and a runner. The runner is used to contact the mushroom bag and ensure the integrity of the mushroom bag. Further preferably, one end of the grasping arm is hinged to the runner, and the other end of the grasping arm is hinged to a linear drive device; a chute is provided in the middle of the grasping arm, and the bearing can slide in the chute; the grasping arm, the bearing, and the runner are all provided in pairs, and two paired bearings are connected by a connecting rod, and this connecting rod is connected to one end of the linear drive device and can slide relative to the end of the linear drive device.

[0017] Preferably, the drive motor is installed above the support back plate, and the bottom of the support back plate is installed on the slide rail and moves linearly on the slide rail.

[0018] Preferably, the central control unit includes a PLC control module, a PWM control board, a pressure detection device, and an auricularia auricula vision recognition mechanism. The PWM control board is connected to the PLC control module to accurately regulate the speed of each motor and stabilize the harvesting process; the auricularia auricula vision recognition mechanism is installed on the grasping mechanism, and the auricularia auricula vision recognition mechanism is connected to the PLC control module through a data cable to transmit the position and maturity information of the auricularia auricula mushroom bag in real time; the pressure detection device is installed on the grasping mechanism to monitor the contact pressure between the grasping mechanism and the auricularia auricula mushroom bag and transmit the detection signal to the PLC control module to control the linear drive device to stop moving. This design combines machine vision with precise control, can intelligently identify the maturity of auricularia auricula, avoid harvesting immature auricularia auricula, and at the same time the pressure detection ensures that the mushroom bag will not be damaged during the grasping process, overall improving the intelligent and precise control level of the system.

[0019] Preferably, the PLC control module is configured to execute the following control process: control the auricularia auricula vision recognition mechanism to identify the position and maturity of the auricularia auricula mushroom bag; control the clamping height adjustment mechanism and the grasping mechanism to move to appropriate positions; control the linear drive device to push the grasping mechanism to clamp the auricularia auricula mushroom bag; control the clamping height adjustment mechanism to lift the auricularia auricula mushroom bag; control the mushroom bag rotation drive mechanism to fix and rotate the auricularia auricula mushroom bag; control the air jet harvesting mechanism to perform air jet harvesting on the rotating auricularia auricula mushroom bag; control the grasping mechanism to put the harvested auricularia auricula mushroom bag back to its original position; control the slide rail drive motor to move to the position of the next mushroom bag. This preset control process realizes the full automation of the harvesting process, reduces manual intervention, ensures the consistency and reliability of the harvesting operation, and greatly improves the work efficiency.

[0020] A method for picking Auricularia auricula using the described Auricularia auricula harvesting robot, the method comprising the following steps:

[0021] S1: Identify the position of the Auricularia auricula spawn bag and the maturity of Auricularia auricula through the Auricularia auricula vision recognition mechanism;

[0022] S2: The central control unit starts the drive motor and adjusts the clamping height adjustment mechanism and the linear drive device and the grasping mechanism fixed thereon to move to an appropriate position near the Auricularia auricula spawn bag;

[0023] S3: Start the linear drive device, push out the grasping mechanism, and make the two grasping mechanisms move towards each other to clamp the Auricularia auricula spawn bag; S4: Detect the clamping pressure through the pressure sensor, and stop the linear drive device when the preset pressure threshold is reached; S5: Start the drive motor, lift the clamping height adjustment mechanism and the linear drive device and the grasping mechanism fixed thereon, and lift the Auricularia auricula spawn bag away from the original fixed position;

[0024] S6: The linear drive device operates to push the spawn bag rotation drive mechanism under the spawn bag;

[0025] S7: The drive motor rotates in the reverse direction, causing the clamping height adjustment mechanism to move downward, so that the spawn bag falls on the spawn bag fixing pins above the spawn bag rotation drive mechanism and is fixed;

[0026] S8: The drive motor is started again to make the clamping height adjustment mechanism move upward, and then the linear drive device is controlled to extend, so that the spawn bag positioning mechanism is located at an appropriate position on the upper surface of the spawn bag;

[0027] S9: The drive motor is started to make the clamping height adjustment mechanism move downward, so that the spawn bag positioning mechanism contacts the upper surface of the spawn bag, and axial pressure is applied to both the upper and lower surfaces of the spawn bag to fix it;

[0028] S10: Start the spawn bag rotation drive mechanism to rotate the spawn bag at a low speed, and at the same time start the air jet picking mechanism and adjust its up and down angles to uniformly pick the Auricularia auricula spawn bag by air jet;

[0029] S11: After the Auricularia auricula harvesting is completed, stop the air jet picking mechanism and the spawn bag rotation drive mechanism, and lift the clamping height adjustment mechanism to make the spawn bag positioning mechanism disengage from the upper surface of the spawn bag;

[0030] S12: Clamp the spawn bag through the grasping mechanism and put the picked spawn bag back to its original position;

[0031] S13: The slide rail drive motor operates, so that the entire harvesting robot moves longitudinally on the ground to the position of the next spawn bag to achieve continuous harvesting.

[0032] This picking method realizes the automated harvesting process through an exact sequence of steps, avoids the inconsistencies of manual operations, ensures the harvesting quality, and at the same time greatly improves the harvesting efficiency, reduces the labor intensity and labor costs.

[0033] The beneficial effects of the present invention are as follows:

[0034] 1. The auricularia auricula harvesting robot of the present invention can automatically identify the positions of auricularia auricula fungus bags and the maturity of auricularia auricula through machine vision technology, realize intelligent harvesting, avoid harvesting immature auricularia auricula, and improve the harvesting quality.

[0035] 2. The present invention adopts a combination of a grasping mechanism and a pressure sensor, which can accurately control the grasping force, avoid damaging the fungus bags, extend the service life of the fungus bags, and reduce the production cost.

[0036] 3. The fungus bag rotation drive mechanism and the fungus bag positioning mechanism of the present invention cooperate with each other to realize the stable rotation of the fungus bag. In combination with the jet air harvesting mechanism, it can perform all-round and uniform harvesting of auricularia auricula, improving the harvesting efficiency and integrity.

[0037] 4. The jet air harvesting mechanism of the present invention can swing up and down at an angle to ensure that the auricularia auricula is evenly blown off, reduce missed harvesting and repeated harvesting, and improve the harvesting efficiency and quality.

[0038] 5. The overall structure of the present invention is designed compactly. Through the slide rail drive system, it can realize autonomous movement and continuous operation, meet the automated harvesting requirements of large-scale auricularia auricula planting bases, greatly improve the harvesting efficiency, and reduce the labor intensity and labor costs.

[0039] 6. The present invention realizes the fully automated control process of auricularia auricula harvesting, reduces manual intervention, ensures the consistency and reliability of harvesting operations, is easy to operate, and is easy to promote and apply. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a schematic structural diagram of the present invention;

[0041] Figure 2 is the front view of the present invention;

[0042] Figure 3 is a schematic structural diagram of the grasping mechanism;

[0043] Figure 4 is a schematic structural diagram of the fungus bag positioning mechanism.

[0044] Label description: 1. Driving motor, 2. Support backplane, 3. Grabbing mechanism, 31. Bearing, 32. Grabbing arm, 33. Runner, 4. Linear driving device, 5. Bacterial bag positioning mechanism, 51. Positioning shaft, 52. Axial thrust bearing, 53. Snap ring, 6. Clamping height adjustment mechanism, 7. Bacterial bag rotation driving mechanism, 8. Fixing frame of bacterial bag rotation driving mechanism, 9. Slide rail, 10. Screw drive mechanism, 11. Jet picking mechanism, 12. Auricularia auricula visual recognition mechanism, 13. Auricularia auricula bacterial bag, 14. Guide rod, 15. Central control unit. Detailed implementation mode

[0045] The technical solution of the present invention will be further specifically described below through specific embodiments in conjunction with the accompanying drawings. It should be understood that the implementation of the present invention is not limited to the following embodiments, and any formal modification and / or change made to the present invention will fall within the protection scope of the present invention.

[0046] In the present invention, unless otherwise specified, all parts and percentages are in weight units, and the equipment and raw materials used can be purchased from the market or are commonly used in the field. The methods in the following embodiments are conventional methods in the field unless otherwise specified. The components or equipment in the following embodiments are all general standard parts or components known to those skilled in the art, and their structures and principles can all be known through technical manuals or obtained through conventional experimental methods by those skilled in the art.

[0047] The following makes a detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. In the following detailed description, for the convenience of explanation, many specific details are elaborated to provide a comprehensive understanding of the embodiments of the present invention. However, one or more embodiments can also be implemented by those skilled in the art without these specific details.

[0048] The core of the present invention is to provide an Auricularia auricula harvesting robot based on machine vision, as Figure 1 and Figure 2 shown, including a pair of relatively arranged assembly frames. Each assembly frame mainly consists of a support backplane 2, a driving motor 1, a screw drive device 10 and a clamping height adjustment mechanism 6. The bottom of the support backplane 2 is installed on the slide rail 9 and can move linearly on the slide rail. The driving motor 1 is installed above the support backplane 2 and is used to drive the screw drive device 10.

[0049] 2 guide rods 14 are fixed on the support backplane 2, respectively located on both sides of the screw drive device 10, to limit the clamping height adjustment mechanism 6 and ensure that the clamping height adjustment mechanism 6 moves stably up and down along the guide rod 14. The clamping height adjustment mechanism 6 cooperates with the screw drive device 10. When the screw drive device 10 rotates under the drive of the driving motor 1, the clamping height adjustment mechanism 6 can move up and down to achieve precise height adjustment.

[0050] As shown Figure 3 in the figure, the grasping mechanism 3 is connected to the clamping height adjustment mechanism 6 through a linear driving device 4. The grasping mechanism 3 consists of a bearing 31, a grasping arm 32, and a runner 33. The runner 33 is used to contact the auricularia auricula spawn bag 13. One end of the grasping arm 32 is hinged to the runner 33, and the other end of the grasping arm 32 is hinged to the linear driving device 4. A chute is provided in the middle of the grasping arm 32, and the bearing can slide in the chute. It should be particularly noted that the grasping arms, bearings, and runners are all arranged in pairs. Two paired bearings are connected by a connecting rod, and this connecting rod is connected to one end of the linear driving device 4 and can slide relative to the end of the linear driving device 4. The setting of the runner 33 ensures that the spawn bag will not be damaged when contacting the spawn bag, maintaining the integrity of the spawn bag. The linear driving device 4 can control the grasping mechanism 3 to perform an opposing movement to firmly clamp the auricularia auricula spawn bag 13. The grasping mechanism 3 is provided on both assembly frames for cooperative work to stably grasp the spawn bag.

[0051] As shown Figure 4 in the figure, the spawn bag positioning mechanism 5 is fixed to the bottom of the grasping mechanism 3 on the right assembly frame. The spawn bag positioning mechanism 5 includes a positioning shaft 51, an axial thrust bearing 52, and a snap ring 53. The axial thrust bearing 52 is sleeved on the positioning shaft 51, and the snap ring 53 is fixed to the end of the positioning shaft 51 to prevent the axial thrust bearing 52 from detaching from the positioning shaft 51. One end of the positioning shaft 51 is fixed to the bottom of the grasping mechanism 3, and the other end faces the spawn bag rotation driving mechanism 7 to contact the upper surface of the auricularia auricula spawn bag 13 to provide a stable axial pressure. This design enables the spawn bag to be stably fixed during rotation, and at the same time, the use of the axial thrust bearing 52 reduces friction, enabling the spawn bag to rotate smoothly under pressure.

[0052] The spawn bag rotation driving mechanism 7 is located below the grasping mechanism 3, and its working surface faces away from the ground and is parallel to the ground. A plurality of fixing pins are provided on the working surface of the spawn bag rotation driving mechanism 7 for piercing the bottom of the spawn bag to fix it during the descent of the spawn bag. The spawn bag rotation driving mechanism 7 is connected to the spawn bag rotation driving mechanism fixing frame 8 through a linear driving device to cooperate with the spawn bag positioning mechanism 5 during the picking process to jointly fix the spawn bag and ensure the stability of the spawn bag during rotation.

[0053] The air-jet picking mechanism 11 is provided on the left assembly frame on the clamping height adjustment mechanism 6 below the grasping mechanism 3. The air-jet picking mechanism 11 can swing up and down at an angle to uniformly jet and pick the rotating auricularia auricula spawn bag 13, ensuring that the auricularia auricula drops evenly and avoiding missed picking and repeated picking.

[0054] The slide rail 9 at the bottom of the entire assembly frame is driven by a slide rail drive motor, which is used to control the longitudinal movement of the entire system on the ground to achieve continuous harvesting. This enables the robot to autonomously move to the position of the next mushroom bag to be harvested without manual intervention, greatly improving the continuity and efficiency of harvesting.

[0055] The central control unit 15 includes a PLC control module, a PWM control board, a pressure detection device, and a tremella visual recognition mechanism 12. The PWM control board is connected to the PLC control module and is used to precisely regulate the speed of each motor to stabilize the harvesting process. The tremella visual recognition mechanism 12 is installed on the grasping mechanism 3 and is connected to the PLC control module through a data cable to transmit the position and maturity information of the tremella mushroom bag in real time. The pressure detection device is installed on the grasping mechanism and is used to monitor the contact pressure between the grasping mechanism and the tremella mushroom bag, and transmit the detection signal to the PLC control module to control the linear drive device 4 to stop moving to avoid damaging the mushroom bag.

[0056] The PLC control module is configured to execute a specific control process to ensure the automation of the entire harvesting process.

[0057] When the tremella harvesting robot of the present invention is in use, the assembly frame straddles the tremella mushroom bags. The mushroom bags are arranged in rows and fixed in the mushroom house greenhouse, and the device can continuously straddle without obstruction.

[0058] A method for harvesting tremella using the above-mentioned tremella harvesting robot, the specific steps of the method are as follows:

[0059] First, the position and maturity of the tremella mushroom bag 13 are identified by the tremella visual recognition mechanism 12 to determine whether harvesting is required. After detecting that the size of the tremella is suitable, the signal is fed back to the PLC control module of the central control unit 15.

[0060] Then, the PLC control module starts the drive motor 1 to adjust the clamping height adjustment mechanism 6 and the linear drive device 4 and the grasping mechanism 3 fixed thereon to move to an appropriate position near the tremella mushroom bag 13.

[0061] Next, continue to detect the grasping mechanism so that it is at the appropriate height position of the mushroom bag, that is, when the device is in the best clamping position, start the linear drive device 4, push out the grasping mechanism 3, and make the two grasping mechanisms move towards each other to clamp the tremella mushroom bag 13. The clamping pressure is detected by the pressure sensor, and the signal is received and transmitted to the PLC control module at the same time. When the preset pressure threshold is reached, the linear drive device 4 is stopped to ensure that the mushroom bag is not damaged.

[0062] Subsequently, start the drive motor 1 to lift the clamping height adjustment mechanism 6 and the linear drive device 4 and the grasping mechanism 3 fixed thereon to lift the tremella mushroom bag 13 out of its original fixed position. The linear drive device 4 operates to push the mushroom bag rotation drive mechanism 7 under the mushroom bag.

[0063] The drive motor 1 runs in reverse, causing the clamping height adjustment mechanism 6 to move downward, driving the linear drive device 4 and the grasping mechanism 3, and making the mushroom bag fall onto the fixing pins above the mushroom bag rotation drive mechanism 7 and be fixed. When the clamping height adjustment mechanism 7 stops descending, the PLC control module controls the linear drive device 4 to retract. The drive motor 1 on the right starts again to make the clamping height adjustment mechanism 6 move upward, and then controls the linear drive device 4 to extend, so that the mushroom bag positioning mechanism 5 is located directly above the hole on the upper surface of the mushroom bag for injecting the bacterial liquid.

[0064] The drive motor 1 starts, causing the clamping height adjustment mechanism 6 to move downward, making the mushroom bag positioning mechanism 5 align with the hole inserted into the mushroom bag, and the axial thrust bearing 52 contact the upper surface of the mushroom bag. Thus, both the upper and lower surfaces of the mushroom bag are fixed by the axial pressure from the mushroom bag positioning mechanism 5 and the mushroom bag rotation drive mechanism 7. After the auricularia auricula visual recognition mechanism 13 on the left assembly frame detects that the mushroom bag is fixed, the PLC control module starts the mushroom bag rotation drive mechanism 7 to rotate slowly, driving the mushroom bag to rotate. At the same time, the air jet picking mechanism 11 is started and its up and down angles are adjusted to uniformly pick the auricularia auricula mushroom bag 13 by air jet.

[0065] After the auricularia auricula visual recognition mechanism 13 detects that all the auricularia auricula on the edge of the auricularia auricula mushroom bag have been harvested, the air jet picking mechanism 11 and the mushroom bag rotation drive mechanism 7 stop running. The drive motor 1 on the right assembly frame starts to lift the clamping height adjustment mechanism 6 and the linear drive device 3 and the grasping mechanism 4 fixed thereon, so that the mushroom bag positioning mechanism 5 is separated from the upper surface of the mushroom bag. The linear drive device 4 retracts, and then the drive motor 1 makes the clamping height adjustment mechanism 6 move downward again, so that the two grasping mechanisms 3 on the left and right assembly frames are on the same horizontal line. After the auricularia auricula visual recognition mechanism 13 detects that the grasping mechanism 3 is at a suitable position relative to the auricularia auricula mushroom bag, the PLC control module starts the linear drive devices on both sides to work, pushing out the grasping mechanism 3 to clamp the auricularia auricula mushroom bag. Then the drive motors on both sides work to lift the auricularia auricula mushroom bag. After the mushroom bag is separated from the mushroom bag rotation drive mechanism 7, the linear drive device connected to the mushroom bag rotation drive mechanism 7 retracts, and the clamping height adjustment mechanisms 6 on both sides move downward to put the picked mushroom bag back to its original position.

[0066] So far, the harvesting system has completed a working process.

[0067] Finally, after harvesting one mushroom bag, the slide rail drive motor works to make the whole harvesting robot move longitudinally on the ground to the position of the next mushroom bag. During this period, the auricularia auricula visual recognition mechanism 15 keeps working. After the detection device runs to the center of the mushroom bag, it sends a signal back to the PLC control module to stop the device from continuing to move. After the device is stable, the corresponding device is started again to achieve continuous harvesting.

[0068] The Auricularia auricula harvesting robot based on machine vision of the present invention realizes the full automation of Auricularia auricula harvesting by integrating machine vision recognition, precise mechanical control, and an automated workflow. This system can automatically identify the maturity of Auricularia auricula, precisely control the harvesting process, avoid damaging the fungus bags, improve the harvesting efficiency and quality, greatly reduce the labor cost and labor intensity, meet the requirements of modern agriculture for automation and intelligence, and is of great significance for promoting the modern development of the Auricularia auricula industry.

[0069] In this article, specific examples are used to elaborate on the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be pointed out that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. An Auricularia auricula harvesting robot based on machine vision, characterized in that The auricularia auricula harvesting robot includes: At least a pair of oppositely arranged assembly frames, the assembly frame includes a support back plate (2), a driving motor (1), a screw drive device (10), a slide rail (9) and a plurality of clamping height adjustment mechanisms (6); the clamping height adjustment mechanism (6) cooperates with the screw drive device and is driven by the driving motor; a grasping mechanism (3) for grasping the auricularia auricula fungus bag (13) is connected to the clamping height adjustment mechanism (6) through a linear drive device (4); the linear drive device (4) is used to control the opposite movement of the grasping mechanism to grasp the auricularia auricula fungus bag; grasping mechanisms are arranged on both assembly frames, and a pair of clamping height adjustment mechanisms are respectively used to adjust the height positions of the two grasping mechanisms; A fungus bag rotation drive mechanism (7) and a fungus bag positioning mechanism (5) are arranged on one of the assembly frames, the fungus bag rotation drive mechanism is located below the grasping mechanism, and fixing needles for fixing and rotating the auricularia auricula fungus bag are arranged on the surface of the fungus bag rotation drive mechanism; the fungus bag positioning mechanism is fixed at the bottom of the grasping mechanism and is arranged above the fungus bag rotation drive mechanism, and is used to provide axial pressure to fix the fungus bag during the rotation of the fungus bag; A jet air picking mechanism (11) is arranged on the other assembly frame, and is arranged on the clamping height adjustment mechanism below the grasping mechanism, and is used to perform jet air picking on the rotating auricularia auricula fungus bag; A central control unit (15) is used to control the coordinated operation of the grasping mechanism, the linear drive device, the clamping height adjustment mechanism, the fungus bag rotation drive mechanism and the jet air picking mechanism.

2. The auricularia auricula harvesting robot according to claim 1, wherein: Two guide rods (14) are fixed on the support back plate, and are respectively located on both sides of the screw drive device (10), and are used to limit the clamping height adjustment mechanism to move up and down along the guide rods.

3. The auricularia auricula harvesting robot according to claim 1, characterized in that: The fungus bag positioning mechanism includes a positioning shaft (51), an axial thrust bearing (52) and a snap ring (53), the axial thrust bearing (52) is sleeved on the positioning shaft (51), and the snap ring (53) is fixed at the end of the positioning shaft (51) to prevent the axial thrust bearing (52) from disengaging from the positioning shaft (51); one end of the positioning shaft (51) is fixed at the bottom of the grasping mechanism, and the other end faces the fungus bag rotation drive mechanism, so as to contact the upper surface of the auricularia auricula fungus bag to provide axial pressure.

4. The auricularia auricula harvesting robot according to claim 1, wherein: The working surface of the fungus bag rotation drive mechanism faces away from the ground and is parallel to the ground, and the fixing needles are arranged on the working surface and are used to pierce the bottom of the fungus bag for fixing during the descent of the fungus bag; The fungus bag rotation drive mechanism is connected to the fungus bag rotation drive mechanism fixing frame (8) through a linear drive device, so as to cooperate with the fungus bag positioning mechanism during the picking process to jointly fix the fungus bag.

5. The auricularia auricula harvesting robot according to claim 1, wherein: The slide rail at the bottom of the assembly frame is driven by a slide rail drive motor and is used to control the longitudinal movement of the entire system on the ground to realize continuous harvesting.

6. The auricularia auricula harvesting robot according to claim 1, wherein: The grasping mechanism includes a bearing (31), a grasping arm (32) and a runner (33), and the runner is used to contact the fungus bag and ensure the integrity of the fungus bag.

7. The auricularia auricula harvesting robot according to claim 1, characterized in that: The driving motor is installed above the support back plate, and the bottom of the support back plate is installed on the slide rail and linearly moves on the slide rail.

8. The auricularia auricula harvesting robot according to claim 1, wherein: The central control unit includes a PLC control module, a PWM control board, a pressure detection device and an auricularia auricula vision recognition mechanism (12), The PWM control board is connected to the PLC control module and is used to precisely regulate the speeds of the motors to stabilize the harvesting process; The auricularia visual recognition mechanism (12) is installed on the grasping mechanism (3). The auricularia visual recognition mechanism (12) is connected to the PLC control module through a data cable to transmit the position and maturity information of the auricularia bacterial bags in real time; The pressure detection device is installed on the grasping mechanism and is used to monitor the contact pressure between the grasping mechanism and the auricularia bacterial bag, and transmit the detection signal to the PLC control module to control the linear drive device to stop moving.

9. The auricularia auricula harvesting robot according to claim 1, wherein: The PLC control module is configured to execute the following control process: Control the auricularia visual recognition mechanism to identify the position and maturity of the auricularia bacterial bag; Control the clamping height adjustment mechanism and the grasping mechanism to move to appropriate positions; Control the linear drive device to push the grasping mechanism to clamp the auricularia bacterial bag; Control the clamping height adjustment mechanism to lift the auricularia bacterial bag; Control the bacterial bag rotation drive mechanism to fix and rotate the auricularia bacterial bag; Control the jet harvesting mechanism to perform jet harvesting on the rotating auricularia bacterial bag; Control the grasping mechanism to place the harvested auricularia bacterial bag back to its original position; Control the slide rail drive motor to move to the position of the next bacterial bag.

10. A method for picking Auricularia auricula using the Auricularia auricula harvesting robot according to any one of claims 1-9, characterized in that, The method includes the following steps: S1: Identify the position and maturity of the auricularia bacterial bag through the auricularia visual recognition mechanism; S2: The central control unit starts the drive motor to adjust the clamping height adjustment mechanism and the linear drive device and the grasping mechanism fixed thereon to move to an appropriate position near the auricularia bacterial bag; S3: Start the linear drive device to push out the grasping mechanism so that the two grasping mechanisms move towards each other to clamp the auricularia bacterial bag; S4: Detect the clamping pressure through the pressure sensor, and when the preset pressure threshold is reached, stop the linear drive device; S5: Start the drive motor to lift the clamping height adjustment mechanism and the linear drive device and the grasping mechanism fixed thereon to lift the auricularia bacterial bag away from its original fixed position; S6: The linear drive device operates to push the bacterial bag rotation drive mechanism under the bacterial bag; S7: The drive motor runs in reverse to move the clamping height adjustment mechanism downward to make the bacterial bag fall on the bacterial bag fixing pins above the bacterial bag rotation drive mechanism and be fixed; S8: The drive motor starts again to make the clamping height adjustment mechanism move upward, and then controls the linear drive device to extend so that the bacterial bag positioning mechanism is at an appropriate position on the upper surface of the bacterial bag; S9: The drive motor starts to move the clamping height adjustment mechanism downward to make the bacterial bag positioning mechanism contact the upper surface of the bacterial bag so that both the upper and lower surfaces of the bacterial bag are fixed by axial pressure; S10: Start the bacterial bag rotation drive mechanism to rotate the bacterial bag at a low speed, and at the same time start the jet harvesting mechanism and adjust its up and down angles to perform uniform jet harvesting on the auricularia bacterial bag; S11: After the auricularia harvesting is completed, stop the jet harvesting mechanism and the bacterial bag rotation drive mechanism, and lift the clamping height adjustment mechanism to make the bacterial bag positioning mechanism separate from the upper surface of the bacterial bag; S12: Clamp the bacterial bag through the grasping mechanism and place the harvested bacterial bag back to its original position; S13: The slide rail drive motor works to make the whole harvesting robot move longitudinally on the ground to the position of the next bacterial bag to achieve continuous harvesting.

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