Black fungus picking robot

Abstract

The utility model provides a black fungus picking robot which comprises a black fungus picking robot support, a black fungus collecting box is arranged on the rear side of the black fungus picking robot support, a rotating table is arranged above the black fungus picking robot support, and a black fungus picking main arm is in linkage connection with a black fungus picking small arm through a linkage rod. A black fungus picking cylinder is arranged on the front section of the black fungus picking mechanical claw. By adopting an automatic picking mode, the black fungus can be quickly and accurately positioned and picked, so that the picking speed and efficiency are greatly improved, and the labor and time cost is saved. Manual picking work is replaced, the labor intensity of workers is relieved, tired actions such as long-time stooping and hand stretching are avoided, and the physical health of the workers is protected. A binocular camera and an infrared probe are arranged, the position and size of the black fungus can be accurately recognized, accurate picking is achieved, damage to the black fungus is reduced, and the product quality is improved.

Description

Technical Field

[0001] This utility model relates to the field of black fungus harvesting, and more specifically, to a black fungus harvesting robot. Background Technology

[0002] In recent years, my country has placed particular emphasis on upgrading and innovating agricultural technology in its efforts to modernize agriculture, resulting in a booming development of the edible fungi industry. Among these, black fungus, as a crucial component and leading variety of the edible fungi industry, has seen rapid advancements in its production equipment and technology across its industrial chain. These advancements include, but are not limited to, high-efficiency substrate preparation equipment and intelligent mycelium cultivation facilities. These advancements have significantly improved the overall mechanization level of black fungus production, particularly in the early stages of production, where fully mechanized operations have been largely achieved.

[0003] However, it is worth noting that the mechanization level in the crucial later stage of the black fungus production chain—harvesting—is relatively lagging behind and has not yet met the needs of the industry's rapid development. Currently available harvesting equipment generally suffers from several significant technical bottlenecks, such as low precision in control systems, complex mechanical designs, and cumbersome operating procedures. These issues limit the widespread application and promotion of such equipment in black fungus cultivation areas.

[0004] Currently, most of the automatic harvesting robots on the market are designed for other types of crops. They are often unable to effectively handle edible fungi such as black fungus, which has special growth characteristics and harvesting requirements. Traditional black fungus harvesting mainly relies on manual labor, but this method has many problems.

[0005] First, manual harvesting is inefficient. The growth of black fungus is seasonal and time-sensitive, requiring harvesting within a short period. However, manual harvesting is slow and cannot meet the needs of large-scale cultivation, leading to a prolonged harvesting cycle and affecting the quality and yield of the black fungus.

[0006] Secondly, manual harvesting is physically demanding. Harvesters need to bend over and reach for extended periods, which can easily lead to fatigue and injury, especially in large-scale planting environments where the labor intensity is even greater.

[0007] Furthermore, the precision of manual harvesting is difficult to guarantee. Due to the subjectivity and variability of manual operation, it is difficult to accurately identify and harvest each black fungus, which can easily damage the fungus and affect product quality.

[0008] Furthermore, manual harvesting is poorly adapted to the growing environment. In some complex or special growing areas, manual harvesting is limited and cannot be carried out smoothly. Therefore, we have made improvements and proposed a black fungus harvesting robot. Utility Model Content

[0009] The purpose of this utility model is to address the problems raised in the existing background technology. To achieve the above-mentioned purpose, this utility model provides the following technical solution: a black fungus harvesting robot, including a black fungus harvesting robot support frame, a black fungus collection box disposed on the rear side of the black fungus harvesting robot support frame, a rotating platform disposed on the top of the black fungus harvesting robot support frame, the rotating platform being connected to a rotating motor, a black fungus harvesting main arm disposed on the top of the rotating platform, a main arm motor disposed on the side of the black fungus harvesting main arm, the black fungus harvesting main arm being linked to a black fungus harvesting forearm via a linkage rod, a black fungus harvesting mechanical claw disposed at the front section of the black fungus harvesting forearm, a mechanical claw motor disposed on the black fungus harvesting mechanical claw, and a black fungus harvesting cylinder disposed at the front section of the black fungus harvesting mechanical claw.

[0010] As a preferred technical solution of this utility model, an infrared probe is provided on the inner cylinder of the black fungus picking tube, and a picking telescopic blade is provided on the side of the infrared probe.

[0011] As a preferred technical solution of this utility model, the harvesting telescopic blade is disposed inside the telescopic blade pneumatic telescopic mounting base.

[0012] As a preferred technical solution of this utility model, a robot track wheel is provided below the support frame of the black fungus harvesting robot, and the outer surface of the robot track wheel is provided with track wheel teeth.

[0013] As a preferred technical solution of this utility model, the robot track wheel is connected to the track wheel servo motor through a rotating shaft, and the outer surface of the robot track wheel is provided with a rigid track.

[0014] As a preferred technical solution of this utility model, the rigid track meshes with the track wheel teeth.

[0015] As a preferred technical solution of this utility model, the front section of the black fungus harvesting robot support is equipped with a binocular camera.

[0016] As a preferred technical solution of this utility model, the harvesting telescopic blade and the telescopic blade pneumatic telescopic mounting seat are arranged in a row, with four harvesting telescopic blades and telescopic blade pneumatic telescopic mounting seats in each row.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0018] 1. Improve harvesting efficiency: The automated harvesting method can quickly and accurately locate and harvest black fungus, greatly improving the speed and efficiency of harvesting and saving labor and time costs.

[0019] 2. Reduce labor intensity: Replacing manual labor with picking reduces the labor intensity of workers, avoids tiring movements such as bending over and stretching for long periods of time, and helps protect the health of workers.

[0020] 3. Precise Harvesting: Equipped with a binocular camera and infrared probe, it can accurately identify the location and size of black fungus, achieving precise harvesting, reducing damage to the black fungus, and improving product quality.

[0021] 4. Improve the consistency of harvesting quality: Due to the adoption of standardized harvesting procedures and equipment, the harvested black fungus can be guaranteed to have a high degree of consistency in size, shape and quality, which is beneficial to subsequent processing and sales.

[0022] 5. Adaptable to different planting environments: The robot's tracked wheel design allows it to move flexibly in various terrains and planting environments, giving it strong adaptability and meeting the harvesting needs of different planting sites.

[0023] 6. Increased yield and economic benefits: Efficient harvesting methods can harvest mature black fungus in a timely manner, avoiding yield losses caused by untimely harvesting, thereby increasing the total yield and economic benefits of black fungus.

[0024] 7. Promote the development of the black fungus industry: The application of black fungus harvesting robots will help promote the modernization and large-scale development of the black fungus industry, and improve the industry's competitiveness and sustainable development capabilities. Attached Figure Description

[0025] Figure 1 This is a structural schematic diagram of the present invention;

[0026] Figure 2 A schematic diagram of the main arm structure for harvesting black fungus provided by this utility model;

[0027] Figure 3 A schematic diagram of the robot track wheel structure provided by this utility model;

[0028] Figure 4 A schematic diagram of the binocular camera structure provided by this utility model;

[0029] Figure 5 This is a schematic diagram of the main structure provided for this utility model;

[0030] Figure 6 A schematic diagram of the black fungus harvesting tube provided by this utility model;

[0031] Figure 7 A schematic diagram of the internal structure of the black fungus harvesting tube provided by this utility model.

[0032] The image shows:

[0033] 1. Black fungus harvesting robot support frame; 2. Black fungus collection box; 3. Rotary table; 31. Rotary motor; 4. Black fungus harvesting main arm; 41. Main arm motor; 5. Linkage rod; 6. Black fungus harvesting forearm; 7. Black fungus harvesting mechanical claw; 8. Mechanical claw motor; 9. Black fungus harvesting tube; 91. Infrared probe; 10. Harvesting telescopic blade; 101. Telescopic blade pneumatic telescopic mounting base; 11. Robot track wheel; 111. Track wheel teeth; 12. Track wheel servo motor; 13. Rigid track; 14. Binocular camera. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model.

[0035] Therefore, the following detailed description of the embodiments of this utility model is not intended to limit the scope of the claimed utility model, but merely illustrates some embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model. It should be noted that, in the absence of conflict, the embodiments and features and technical solutions in the embodiments of this utility model can be combined with each other. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] Example 1: Please refer to Figures 1-7 A black fungus harvesting robot includes a black fungus harvesting robot support 1, a black fungus collection box 2 located at the rear of the support 1, a rotating platform 3 above the support 1 connected to a rotary motor 31, a black fungus harvesting main arm 4 above the rotating platform 3, a main arm motor 41 located on the side of the main arm 4, and a black fungus harvesting forearm 6 connected to the main arm 4 via a linkage rod 5. A black fungus harvesting mechanical claw 7 is located at the front of the forearm 6, a mechanical claw motor 8 is mounted on the claw 7, and a black fungus harvesting cylinder 9 is located at the front of the claw 7. An infrared probe 91 is located on the inner cylinder of the harvesting cylinder 9, and a harvesting telescopic blade 10 is located on the side of the infrared probe 91. The harvesting telescopic blade 10 is housed within a telescopic blade pneumatic telescopic mounting base 101.

[0037] The robot track wheel 11 is installed below the support frame 1 of the black fungus harvesting robot, and the outer surface of the robot track wheel 11 is provided with track wheel teeth 111. The robot track wheel 11 is connected to the track wheel servo motor 12 through a rotating shaft, and the outer surface of the robot track wheel 11 is provided with a rigid track 13.

[0038] The rigid track 13 meshes with the track wheel teeth 111. A binocular camera 14 is installed at the front of the black fungus harvesting robot support 1. The harvesting telescopic blades 10 and the telescopic blade pneumatic telescopic mounting bases 101 are arranged in rows, with four harvesting telescopic blades 10 and telescopic blade pneumatic telescopic mounting bases 101 in each row.

[0039] The working principle of the black fungus harvesting robot: The robot's track wheels 11 are driven by a rotating shaft via a track wheel servo motor 12, causing the robot's track wheels 11 to rotate. The rigid track 13 meshes with the track wheel teeth 111, enabling the robot to move stably within the planting area. The binocular camera 14 at the front of the black fungus harvesting robot's support frame 1 captures images of the surrounding environment, helping the robot identify the growth location of the black fungus and achieve precise positioning.

[0040] When the robot reaches the black fungus growing area, the rotary motor 31 drives the rotary table 3 to rotate, adjusting the direction of the black fungus harvesting main arm 4. The main arm motor 41 controls the movement of the black fungus harvesting main arm 4, and through the linkage rod 5, drives the black fungus harvesting forearm 6 to adjust its position, so that the black fungus harvesting mechanical claw 7 is aligned with the black fungus to be harvested.

[0041] The mechanical claw motor 8 on the black fungus harvesting claw 7 drives the claw to align the black fungus harvesting cylinder 9 with the black fungus. An infrared probe 91 on the inner cylinder of the black fungus harvesting cylinder 9 is used to detect the position and size of the black fungus. When the infrared probe 91 detects the black fungus, the harvesting telescopic blade 10 inside the telescopic blade pneumatic telescopic mounting base 101 extends to cut and harvest the black fungus. Each row is equipped with four harvesting telescopic blades 10 and telescopic blade pneumatic telescopic mounting bases 101, which improves harvesting efficiency.

[0042] The harvested black fungus falls into the black fungus harvesting tube 9 and is then sent to the black fungus collection box 2 behind the black fungus harvesting robot support 1 for storage.

[0043] Through the coordinated work of the above steps, the black fungus harvesting robot can achieve automated harvesting and collection of black fungus, improving harvesting efficiency and reducing the intensity of manual labor.

[0044] The workflow of the black fungus harvesting robot is as follows: Start-up and movement: The robot is started, and the servo motor 12 drives the robot's track wheels 11 to rotate through the rotating shaft. The rigid track 13 meshes with the track wheel teeth 111, enabling the robot to move within the planting area according to a preset route. A binocular camera 14 at the front of the black fungus harvesting robot's support frame 1 collects real-time images of the surrounding environment, providing visual information for the robot's movement and harvesting. Positioning and recognition: Based on the image information collected by the binocular camera 14, combined with preset black fungus growth location data, the robot performs precise positioning. Once the robot reaches the black fungus growing area, image recognition technology determines the specific location of the black fungus to be harvested.

[0045] Harvesting preparation: The rotary motor 31 drives the rotary table 3 to rotate, adjusting the main arm 4 for harvesting black fungus to the appropriate direction. The main arm motor 41 controls the movement of the main arm 4 for harvesting black fungus, and drives the forearm 6 for harvesting black fungus through the linkage rod 5, aligning the mechanical claw 7 for harvesting black fungus with the black fungus to be harvested.

[0046] Harvesting Operation: The mechanical claw motor 8 on the black fungus harvesting claw 7 drives the claw to move, bringing the black fungus harvesting cylinder 9 close to the black fungus. An infrared probe 91 on the inner cylinder of the black fungus harvesting cylinder 9 detects the position and size of the black fungus. When the infrared probe 91 detects the black fungus, the harvesting telescopic blades 10 inside the telescopic blade pneumatic telescopic mounting base 101 extend to cut and harvest the black fungus. The four harvesting telescopic blades 10 in each row and the telescopic blade pneumatic telescopic mounting base 101 work simultaneously to improve harvesting efficiency.

[0047] Collection and Storage: The harvested black fungus falls into the black fungus harvesting tube 9, and then is transported by a mechanical claw to the black fungus collection box 2 behind the black fungus harvesting robot support 1 for storage. Repeated Operation: After completing one harvest, the robot continues to move along the preset route to find the next black fungus to be harvested, repeating the above harvesting process until the black fungus harvesting task of the entire planting area is completed.

[0048] Example 2: A black fungus harvesting robot, through technologies such as a PLC controller, vision system, mobile platform, navigation system, robotic arm, communication system, power supply, Q-learning algorithm, and HSV color space, solves long-standing harvesting problems in the black fungus industry, such as high harvesting difficulty, low efficiency, and low accuracy. It truly liberates manpower, significantly improves the accuracy and efficiency of black fungus harvesting, promotes the further development of smart agriculture in my country, and solves the most difficult problems in the black fungus harvesting process. Specific details are as follows: The PLC controller is the core processing unit of the black fungus harvesting robot. Based on the robot's functions, it can be divided into a vision control module, a position control module, and a navigation control module. The PLC controller can actively process information from each module through the Q-learning algorithm before issuing instructions.

[0049] To improve the path planning efficiency of the mushroom harvesting robot, the Q-learning algorithm is used for path planning, and the motion control of the mushroom harvesting robot is realized through interaction with the control system of the mushroom harvesting robot.

[0050] The vision system is mainly used to collect information about the harvesting environment around the robot. Its hardware mainly includes a binocular camera 14, an image acquisition card, a memory card, auxiliary circuits, and a vision processor. It selects the H value in the HSV color space as the color feature of the wood ear mushroom for image enhancement, slot removal, and segmentation preprocessing. By comprehensively comparing the Hough transform under three edge operators (Canny, Sobel, and LOG), the optimal scheme for wood ear mushroom recognition was finally determined. Experimental results show that the wood ear mushroom algorithm based on the Hough transform under the Sobel edge detection operator is the best, achieving a success rate of 98.6% for recognizing mature wood ear mushrooms, which can effectively ensure the successful recognition of mature wood ear mushrooms by the robot to a certain extent.

[0051] The mobile platform serves two purposes: controlling the harvesting robot to move to the harvesting area and carrying the robot's harvesting components. To ensure stability during movement, it utilizes rigid tracks (13) and a rigid chassis. The mobile platform's motion during operation can be analyzed using a four-wheel model.

[0052] The communication system is used to connect various parts of the robot and transmit signals. This robot uses a CAN bus as the internal signal transmission method and a wireless network to transmit information between the robot and the remote control device, thereby realizing remote control of the robot.

[0053] 1. Data transmission and information communication between various modules of the mushroom harvesting robot are realized through PLC controller, and it is combined with Q-learning algorithm to realize autonomous planning and implementation of the movement route of mushroom harvesting robot. It can also issue a stop command in time when the mushroom harvesting robot malfunctions, so as to realize the rational operation of the mushroom harvesting robot as a whole.

[0054] 2. The vision system accurately collects environmental information around the robot and feeds it back to the PLC controller through the communication system. The HSV color space can accurately distinguish the size of the wood ear mushrooms on the mushroom sticks in the harvesting container, and then feeds back to the control center to issue instructions to achieve accurate harvesting of large wood ear mushrooms and collection of information about the surrounding environment.

[0055] The 3 mobile platform replaces the traditional four-wheeled vehicle model with rigid tracks 13, which have better strength and rigidity, and can better adapt to different complex environments such as farmland.

[0056] (4) The communication system provides a guarantee for the signal transmission of each internal module and the connection with the external wireless network, so as to achieve remote control of the robot and normal automatic operation of the robot.

[0057] 5Q-learning algorithm

[0058] The Q-learning algorithm provides support for data processing between various modules, enabling better, faster, and more accurate transmission to the PCL controller to ensure the normal operation of the mushroom harvesting robot.

[0059] The PLC controller is the core processing unit of the mushroom harvesting robot. Based on the robot's functions, it can be divided into a vision control module, a position control module, and a navigation control module. The vision control module controls the vision system to collect environmental information and analyze and process the images. The position control module acquires the location information of the fruits and vegetables and positions the harvesting robot in real time. The navigation control module plans the robot's path based on the positions of the robot and the fruits and vegetables, ensuring the robotic arm harvests the fruits and vegetables in the shortest time, with the fewest obstacles, and the safest path.

[0060] To improve the path planning efficiency of the mushroom harvesting robot, the Q-learning algorithm is used for path planning, and the motion control of the mushroom harvesting robot is realized through interaction with the control system of the mushroom harvesting robot.

[0061] The Q-learning algorithm optimizes the movement path of the harvesting robot based on its motion state and feedback values. The specific process is as follows:

[0062] 1. Obtain the turning angles of the harvesting robot in two directions using sensors. and Determine its state, that is

[0063]

[0064] This represents the state vector of the harvesting robot; This represents the motion vector of the harvesting robot; and These represent the two movement angles of the four wheels of the harvesting robot; r k This represents the evaluation component calculated by the Q-learning algorithm after the harvesting robot performs a movement; Q k This represents the learning experience value of the system obtained by the Q-learning algorithm based on the current state and the feedback value.

[0065] 2. Calculate the actual position and turning angle of the harvesting robot based on coordinate changes and obstacle conditions.

[0066] The 3Q-learning algorithm calculates the next state and feedback value, and then performs path planning.

[0067] The vision system is mainly used to collect information about the harvesting environment around the robot. Its hardware mainly includes a binocular camera 14, an image acquisition card, a memory card, auxiliary circuitry, and a vision processor. The binocular camera 14 consists of two cameras, left and right, that simultaneously capture the same frame of image. Then, using the principle of binocular stereo vision, the image is converted into a three-dimensional stereo image, thereby obtaining three-dimensional information about the environment. To ensure image resolution, the binocular camera 14 uses a Panasonic WV-CP470 camera. The acquired images are generally in analog format, while computers can process digital signals. The image acquisition card converts the analog signals into digital signals that the computer can recognize. The memory card stores the acquired and processed image information. The auxiliary circuitry connects the various hardware components of the system. The vision processor issues commands to the vision system to acquire images, selects the H value in the HSV color space as the color feature of the wood ear mushroom, and performs image enhancement, slotting, and segmentation preprocessing operations. By comprehensively comparing the Hough transform under the Canny, Sobel, and LOG edge operators, the optimal scheme for wood ear mushroom recognition is finally determined. Experimental results show that the wood ear algorithm based on Hough transform under Sobel edge detection operator is optimal, with a success rate of up to 97% in recognizing mature wood ear mushrooms. To a certain extent, it can effectively ensure the successful recognition of mature wood ear mushrooms by the wood ear robot.

[0068] The mobile platform serves two purposes: controlling the harvesting robot to move to the harvesting area and carrying the robot's harvesting components. To ensure stability during movement, it utilizes rigid tracks (13) and a rigid chassis. The mobile platform's motion during operation can be analyzed using a four-wheel model.

[0069] The communication system is used to connect various parts of the robot and transmit signals. This robot uses a CAN bus as the internal signal transmission method and a wireless network to transmit information between the robot and the remote control device, thereby realizing remote control of the robot.

[0070] The power supply provides power for the normal operation of the harvesting robot. In order to reduce dependence on traditional fossil fuels and reduce environmental pollution, the power supply uses a combination of solar panels and batteries.

[0071] The above embodiments are only used to illustrate the present utility model and are not intended to limit the technical solutions described in the present utility model. Although the present utility model has been described in detail with reference to the above embodiments, the present utility model is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present utility model, and all technical solutions and improvements that do not depart from the spirit and scope of the utility model, are covered within the scope of the claims of the present utility model.

Claims

1. A black fungus harvesting robot, comprising a black fungus harvesting robot support (1), wherein a black fungus collection box (2) is provided on the rear side of the black fungus harvesting robot support (1), characterized in that, A rotating platform (3) is provided above the support frame (1) of the black fungus harvesting robot. The rotating platform (3) is connected to a rotary motor (31). A black fungus harvesting main arm (4) is provided above the rotating platform (3). A main arm motor (41) is provided on the side of the black fungus harvesting main arm (4). The black fungus harvesting main arm (4) is linked to the black fungus harvesting forearm (6) through a linkage rod (5). A black fungus harvesting mechanical claw (7) is provided at the front end of the black fungus harvesting forearm (6). A mechanical claw motor (8) is provided on the black fungus harvesting mechanical claw (7). A black fungus harvesting cylinder (9) is provided at the front end of the black fungus harvesting mechanical claw (7).

2. The black fungus harvesting robot according to claim 1, characterized in that, An infrared probe (91) is provided on the inner tube of the black fungus picking tube (9), and a picking telescopic blade (10) is provided on the side of the infrared probe (91).

3. The black fungus harvesting robot according to claim 2, characterized in that, The harvesting telescopic blade (10) is installed inside the telescopic blade pneumatic telescopic mounting base (101).

4. A black fungus harvesting robot according to claim 3, characterized in that, The black fungus harvesting robot support (1) is provided with a robot track wheel (11) below it, and the outer surface of the robot track wheel (11) is provided with track wheel teeth (111).

5. A black fungus harvesting robot according to claim 4, characterized in that, The robot track wheel (11) is connected to the track wheel servo motor (12) via a rotating shaft, and a rigid track (13) is provided on the outer surface of the robot track wheel (11).

6. A black fungus harvesting robot according to claim 5, characterized in that, The rigid track (13) meshes with the track wheel teeth (111).

7. A black fungus harvesting robot according to claim 6, characterized in that, The front section of the black fungus harvesting robot support (1) is equipped with a binocular camera (14).

8. A black fungus harvesting robot according to claim 7, characterized in that, The harvesting telescopic blades (10) and the telescopic blade pneumatic telescopic mounting bases (101) are arranged in a row, with four harvesting telescopic blades (10) and four telescopic blade pneumatic telescopic mounting bases (101) in each row.

Images