Automated harvesting robot

Abstract

The present invention relates to an automatic picking robot, which solves the technical problems of high labor intensity, high difficulty, long time consumption, low efficiency, long cycle and high cost in the existing factory mushroom cultivation process. The robot comprises a base, a walking mechanism, an X-direction linear module, a Y-direction linear module and a picking device. The X-direction linear module is connected to the base, the Y-direction linear module is connected to the X-direction linear module, and the picking device is connected to the Y-direction linear module. The Y-direction linear module comprises a support plate, a Y-direction translation drive motor, an active synchronous pulley, a driven synchronous pulley, a synchronous belt, a slide rail assembly and a binocular camera. The picking device comprises a bracket, a lifting screw motor, a nut seat, a guide rail assembly, a suction cup mounting frame, a suction cup rotation drive motor, a main synchronous pulley, a slave synchronous pulley, a hollow shaft, a suction cup, a sensor mounting seat, a vacuum pump, an air pipe and a distance sensor. The present invention is widely used for picking edible fungi, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to an automatic picking robot. Background Art

[0002] As we all know, common mushrooms (edible fungi) include: shiitake mushrooms, straw mushrooms, button mushrooms, black fungus, white fungus, hericium erinaceus, bamboo fungus, pine mushroom (Matsutake), button mushrooms, red mushrooms and boletus, etc.

[0003] At present, mushroom cultivation has achieved factory production. Factory mushroom houses need to be equipped with heating, cooling, ventilation and humidification equipment, etc. The temperature, humidity, ventilation and light conditions can be automatically or semi-automatically controlled. Production is not restricted by seasons, and mushrooms can be grown every day and year-round, with high yields and good benefits. Factory mushroom houses are generally 20 to 30 meters long, 6 to 10 meters wide and 5 to 6 meters high. 2 to 4 rows of multi-layer bed frames can be set along the length of the mushroom house. The bed frames are mostly made of metal structural profiles, with a bed width of 1 to 1.6 meters, 5 to 6 layers, and a layer spacing of 50 to 70 cm. The distance between the bottom layer of the bed frame and the ground is about 30 cm, and the top layer is more than 1 meter from the roof. The passage between the bed frames is 80 to 100 cm wide, and the passage between the bed frame and the wall is 40 to 80 cm wide.

[0004] After mushrooms grow and mature, a large number of workers are needed to manually pick them. This is labor-intensive, time-consuming, inefficient, and costly. Picking is the longest and most laborious part of the entire production chain. In addition, the anisotropic growth and uneven density of mushrooms also increase the difficulty of manual picking. Summary of the invention

[0005] The present invention aims to solve the technical problems in the existing factory-based mushroom cultivation process, such as high labor intensity, great difficulty, long time consumption, low efficiency, long cycle and high cost of manual picking operations, and provides an automatic picking robot with high efficiency and low cost to replace manual operation.

[0006] The technical solution of the present invention is to provide an automatic picking robot, including a base, a walking mechanism, an X-direction linear module, a Y-direction linear module and a picking device, the walking mechanism is connected to the base, the X-direction linear module is connected to the base, the Y-direction linear module is connected to the X-direction linear module, the picking device is connected to the Y-direction linear module, the Y-direction linear module includes a support plate, a Y-direction translation drive motor, an active synchronous pulley, a driven synchronous pulley, a synchronous belt, a slide rail assembly and a binocular camera, the Y-direction translation drive motor is fixedly connected to the support plate, the active synchronous pulley is connected to the output shaft of the Y-direction translation drive motor, the driven synchronous pulley is rotatably connected to the support plate, the synchronous belt is connected between the active synchronous pulley and the driven synchronous pulley, the slide rail assembly is fixedly connected to the support plate, the support plate is provided with a hole, the binocular camera is connected to the support plate, and the support plate is connected to the X-direction linear module;

[0007] The picking device includes a bracket, a lifting screw motor, a nut seat, a guide rail assembly, a suction cup mounting frame, a suction cup rotation drive motor, a main synchronous pulley, a slave synchronous pulley, a hollow shaft, a suction cup, a sensor mounting frame, a vacuum pump, an air pipe and a distance sensor. The lifting screw motor is fixedly connected to the top surface of the bracket, the screw on the lifting screw motor passes through the bracket, the nut seat is connected and matched with the screw of the lifting screw motor, the guide rail assembly is fixedly connected to the bracket, the suction cup mounting frame is provided with a nut seat connecting part, the nut seat connecting part is fixedly connected to the nut seat, the nut seat connecting part is provided with a through hole, the screw passes through the through hole, the slider on the guide rail assembly is fixedly connected to the side of the nut seat connecting part, the suction cup mounting frame is provided with a guide rail channel, and the guide rail channel is used to allow the guide rail assembly to pass through; the suction cup rotation drive motor is connected to one end of the suction cup mounting frame, the main synchronous pulley and The suction cup is connected to the output shaft of the driving motor, the hollow shaft is rotatably connected to the other end of the suction cup mounting frame through a bearing, the slave synchronous pulley is fixedly connected to the upper end of the hollow shaft, a synchronous belt is connected between the main synchronous pulley and the slave synchronous pulley, the suction cup is fixedly connected to the lower end of the hollow shaft, the sensor mounting seat is fixedly connected to the hollow shaft, the distance sensor is connected to the sensor mounting seat, one end of the air pipe is connected to the suction cup after passing through the central through hole of the hollow shaft, the vacuum pump is fixedly connected to the bottom surface of the bracket, and the other end of the air pipe is connected to the vacuum pump; the nut seat connecting part is located between the main synchronous pulley and the slave synchronous pulley; the bracket is fixedly connected to the synchronous belt of the Y-direction linear module through the synchronous belt connector, the top surface of the bracket is fixedly connected to the slider of the slide rail assembly in the Y-direction linear module, and the body of the lifting screw motor passes through the hole of the support plate.

[0008] Preferably, the automatic picking robot also includes a transfer device, which is connected to the base and is located below the Y-direction linear module.

[0009] Preferably, the transfer device includes a left end connecting frame, a transfer drive motor, a bevel gear assembly, a first left synchronous belt pulley, a second left synchronous belt pulley, a first right synchronous belt pulley, a second right synchronous belt pulley, a first transmission synchronous belt, a second transmission synchronous belt, a right end connecting frame and a rotating shaft, the transfer drive motor is fixedly connected to the left end connecting frame, the rotating shaft is rotatably connected to the left end connecting frame, the output shaft of the transfer drive motor is connected to the rotating shaft through the bevel gear assembly, the first left synchronous belt pulley and the second left synchronous belt pulley are respectively fixedly connected to the rotating shaft, the first right synchronous belt pulley and the second right synchronous belt pulley are respectively rotatably connected to the right end connecting frame, the first transmission synchronous belt is connected between the first left synchronous belt pulley and the first right synchronous belt pulley, the second transmission synchronous belt is connected between the second left synchronous belt pulley and the second right synchronous belt pulley, and the first transmission synchronous belt and the second transmission synchronous belt are arranged parallel to each other; the right end connecting frame is fixedly connected to the right side of the base, the left end connecting frame is fixedly connected to the left side of the base, and an outlet is provided on the right side of the base opposite to the right end connecting frame.

[0010] Preferably, the number of distance sensors is 3 or more.

[0011] Preferably, the X-direction linear module comprises an X-direction translation drive motor, an X-direction active synchronous pulley, an X-direction driven synchronous pulley, an X-direction synchronous belt and an X-direction slide rail assembly, the X-direction translation drive motor is fixedly connected to the base through a motor bracket, the X-direction active synchronous pulley is connected to the output shaft of the X-direction translation drive motor, the X-direction driven synchronous pulley is rotationally connected to the top of the base, the X-direction synchronous belt is connected between the X-direction active synchronous pulley and the X-direction driven synchronous pulley, the X-direction slide rail assembly is connected to the top of the base, the support plate of the Y-direction linear module is connected to the slider of the X-direction slide rail assembly, and the support plate is connected to the X-direction synchronous belt through a synchronous belt connector.

[0012] Preferably, the walking mechanism includes a wheel drive motor, two active wheels and two driven wheels, the two active wheels are connected to the rear of the base, the two driven wheels are connected to the front of the base, the wheel drive motor is connected to the rear side of the base through a bracket, and the output shaft of the wheel drive motor is connected to the two active wheels through a rotating shaft.

[0013] The beneficial effects of the present invention are as follows: the present invention occupies a small space, especially a small height, so it is suitable for bed frames with small inter-layer spacing. It realizes automated and intelligent picking operations, replaces manual picking operations, does not require a large amount of labor, has a fast picking speed, high accuracy, high efficiency, and greatly reduces production costs; the picking quality is high and no omissions occur. The present invention is also applicable to mushrooms that grow together in uneven density.

[0014] Further features of the present invention will be clearly described in the following description of the specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional picture of the automatic mushroom picking robot;

[0016] Figure 2 This is the front view of the automatic mushroom picking robot;

[0017] Figure 3 This is a top view of the automatic mushroom picking robot;

[0018] Figure 4 This is the left view of the automatic mushroom picking robot;

[0019] Figure 5 It is a stereoscopic view of the picking device and the Y-direction linear module installed together;

[0020] Figure 6 yes Figure 5 A front view of the structure shown;

[0021] Figure 7 yes Figure 5 a top view of the structure shown;

[0022] Figure 8 yes Figure 5 a left side view of the structure shown;

[0023] Fig. 9 is a stereogram of the picking device;

[0024] Fig.10 is a front view of the removal device;

[0025] Fig.11 is a top view of the picking device;

[0026] Fig.12 is a cross-sectional view of the extraction device;

[0027] Fig.13 It is a schematic diagram of the structure of the transfer device;

[0028] Fig.14 yes Fig.13 A schematic diagram showing a plurality of mushrooms placed on the transfer device shown;

[0029] Fig.15 It is a schematic diagram of the structure of the automatic mushroom picking robot installed on a multi-layer bed frame;

[0030] Fig.16 yes Fig.15 A magnified view of a local position in the figure;

[0031] Fig.17 It is a schematic diagram of the structure of the outlet of the base for outputting mushrooms;

[0032] Fig.18It is a schematic diagram of the structure of the linear module in the X direction;

[0033] Fig.19 It is a cross-sectional view of the linear module in the X direction;

[0034] Fig. 20 It is the principle block diagram of the control system;

[0035] Fig.21 It is a flow chart of the working process of the automatic mushroom picking robot;

[0036] Fig. 22 yes Fig.21 The process shown is a flowchart of a specific implementation process of the image algorithm.

[0037] Explanation of symbols in the figure:

[0038] 100. Base, 200. Walking mechanism, 300. X-direction linear module, 301. X-direction translation drive motor, 302. X-direction active synchronous pulley, 303. X-direction driven synchronous pulley, 304. X-direction synchronous belt, 305. X-direction slide rail assembly, 306. Motor bracket, 307. Synchronous belt connector; 400. Y-direction linear module, 401. Support plate, 401-1. Channel, 402. Y-direction translation drive motor, 403. Active synchronous pulley, 404. Driven synchronous pulley, 405. Synchronous belt, 406. Slide rail assembly, 406-1. Slider, 407. Binocular camera, 500. Picking device, 501. Bracket, 502. Synchronous belt connector, 503. Lifting screw motor, 503-1. Nut seat, 503-2. Screw, 504. Guide Rail assembly, 504-1. Slider, 505. Suction cup mounting frame, 505-1. Nut seat connecting part, 505-2. Guide rail channel, 506. Suction cup rotation drive motor, 507. Main synchronous pulley, 508. Slave synchronous pulley, 510. Hollow shaft, 511. Bearing, 512. Suction cup, 513. Sensor mounting seat, 514. Vacuum pump, 515. Air pipe, 516. Distance sensor, 517. Synchronous belt; 600. Transfer device, 601. Left end connecting frame, 602. Transfer drive motor, 603. Bevel gear assembly, 604. First left synchronous pulley, 605. Second left synchronous pulley, 606. First right synchronous pulley, 607. Second right synchronous pulley, 608. First transmission synchronous belt, 609. Second transmission synchronous belt, 610. Right end connecting frame, 611. Rotating shaft,

[0039] 1.Mushroom, 2.Multi-layer bed frame, 2-1.Metal profile. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below with reference to the accompanying drawings by way of specific embodiments.

[0041] like Figure 1-4 As shown, the automatic mushroom picking robot includes a base 100, a walking mechanism 200, an X-direction linear module 300, a Y-direction linear module 400, a picking device 500, and a transfer device 600. The walking mechanism 200 is installed at the bottom of the base 100. The walking mechanism 200 adopts an existing well-known structure, specifically a structure of a rotating wheel and a motor. The output shaft of the motor is connected to the rotating wheel through a transmission mechanism such as a chain transmission component or a belt transmission component; the X-direction linear module 300 is connected to the base 100, and the Y-direction linear module 400 is connected to the X-direction linear module 300. The movement of the X-direction linear module 300 can drive the Y-direction linear module 400 to move according to Figure 3 The picking device 500 is connected to the Y-direction linear module 400, and the movement of the Y-direction linear module 400 can drive the picking device 500 to move in accordance with Figure 3 The orientation shown is an up and down translation movement.

[0042] like Figure 5-8 As shown, the Y-direction linear module 400 includes a support plate 401, a Y-direction translation drive motor 402, an active synchronous pulley 403, a driven synchronous pulley 404, a synchronous belt 405, a slide rail assembly 406, and a binocular camera 407. The Y-direction translation drive motor 402 is fixedly mounted on the support plate 401 through a bracket, the active synchronous pulley 403 is fixedly connected to the output shaft of the Y-direction translation drive motor 402, the driven synchronous pulley 404 is rotationally connected to the support plate 401, the synchronous belt 405 is connected between the active synchronous pulley 403 and the driven synchronous pulley 404, and the slide rail assembly 406 is fixedly mounted on the support plate 401; the support plate 401 is provided with a hole 401-1. The binocular camera 407 is mounted on the support plate 401, and the binocular camera 407 can collect image information of mushrooms in the area below the support plate 401.

[0043] like Figure 9-12As shown, the picking device 500 is located in the Z direction, and the picking device 500 includes a bracket 501, a synchronous belt connector 502, a lifting screw motor 503, a nut seat 503-1, a guide rail assembly 504, a suction cup mounting frame 505, a suction cup rotation drive motor 506, a main synchronous pulley 507, a slave synchronous pulley 508, a hollow shaft 510, a bearing 511, a suction cup 512, a sensor mounting seat 513, a vacuum pump 514, an air pipe 515, a distance sensor 516, and a synchronous belt 517. The lifting screw motor 503 is fixedly mounted on the top surface of the bracket 501, and the lifting screw motor 503 is fixedly mounted on the top surface of the bracket 501. The screw rod 503-2 on the screw rod motor 503 passes through the bracket 501, the nut seat 503-1 is connected and matched with the screw rod of the lifting screw rod motor 503, the guide rail assembly 504 is fixedly installed on the bracket 501, the suction cup mounting frame 505 is provided with a nut seat connecting part 505-1, the nut seat connecting part 505-1 is fixedly connected with the nut seat 503-1 by screws, the nut seat connecting part 505-1 is provided with a through hole 505-1-1, the screw rod 503-2 passes through the through hole 505-1-1, the slider 504-1 on the guide rail assembly 504 is connected with the nut seat connecting part 505-1 The side of the suction cup mounting frame 505 is fixedly connected, and the suction cup mounting frame 505 is provided with a guide rail channel 505-2; when the lifting screw motor 503 works to drive the suction cup mounting frame 505 to move up and down in the vertical direction, the guide rail assembly 504 can pass through the guide rail channel 505-2; the suction cup rotation drive motor 506 is fixedly installed at one end of the suction cup mounting frame 505, the main synchronous pulley 507 is fixedly connected to the output shaft of the suction cup rotation drive motor 506, the hollow shaft 510 is rotatably connected to the other end of the suction cup mounting frame 505 through the bearing 511, and the slave synchronous pulley 508 is sleeved on the upper end of the hollow shaft 510 A fixed connection is made, the synchronous belt 517 is connected between the main synchronous pulley 507 and the slave synchronous pulley 508, the suction cup 512 is fixedly connected to the lower end of the hollow shaft 510, the sensor mounting seat 513 is fixedly connected to the hollow shaft 510, the distance sensor 516 is connected to the sensor mounting seat 513 (the number of distance sensors 516 is preferably more than 3), one end of the air pipe 515 passes through the central through hole of the hollow shaft 510 and is connected to the suction cup 512, the vacuum pump 514 is fixedly installed on the bottom surface of the bracket 501, and the other end of the air pipe 515 is connected to the vacuum pump 514. The suction cup rotation drive motor 506 can drive the hollow shaft 510 to rotate through the transmission assembly composed of the main synchronous pulley 507, the synchronous belt 517 and the slave synchronous pulley 508, and the hollow shaft 510 then drives the suction cup 512 to rotate. The nut seat connection part 505-1 is located between the main synchronous pulley 507 and the slave synchronous pulley 508. Reference Figure 5The bracket 501 is fixedly connected to the synchronous belt 405 of the Y-direction linear module 400 through the synchronous belt connector 502, the top surface of the bracket 501 is fixedly connected to the slider 406-1 of the slide rail assembly 406 in the Y-direction linear module 400, and the body of the lifting screw motor 503 passes through the hole 401-1 of the support plate 401. The entire picking device 500 has an ingenious structure, a miniaturized design, and occupies a small space.

[0044] like Fig.13 As shown, the transfer device 600 includes a left end connecting frame 601, a transfer drive motor 602, a bevel gear assembly 603, a first left synchronous belt pulley 604, a second left synchronous belt pulley 605, a first right synchronous belt pulley 606, a second right synchronous belt pulley 607, a first transmission synchronous belt 608, a second transmission synchronous belt 609, a right end connecting frame 610, and a rotating shaft 611. The transfer drive motor 602 is fixedly mounted on the left end connecting frame 601, and the rotating shaft 611 is rotatably connected to the left end connecting frame 601. The output shaft of the transfer drive motor 602 is connected to the bevel gear assembly 603. 03 is connected to the rotating shaft 611, the first left synchronous pulley 604 and the second left synchronous pulley 605 are fixedly connected to the rotating shaft 611 respectively, the first right synchronous pulley 606 and the second right synchronous pulley 607 are rotatably connected to the right end connecting frame 610 respectively, the first transmission synchronous belt 608 is connected between the first left synchronous pulley 604 and the first right synchronous pulley 606, the second transmission synchronous belt 609 is connected between the second left synchronous pulley 605 and the second right synchronous pulley 607, and the first transmission synchronous belt 608 and the second transmission synchronous belt 609 are arranged parallel to each other. The transfer drive motor 602 can drive the first transmission synchronous belt 608 and the second transmission synchronous belt 609 to move synchronously in the direction of the arrow in the figure. Reference Figure 1 and 3 The right end connecting frame 610 is fixedly installed on the right side of the base 100, and an outlet 100-1 (such as Fig.17 As shown), the left end connecting frame 601 is fixedly installed on the left side of the base 100, and the transfer device 600 is located below the Y-direction linear module 400.

[0045] like Fig.18 and 19As shown, the X-direction linear module 300 includes an X-direction translation drive motor 301, an X-direction active synchronous pulley 302, an X-direction driven synchronous pulley 303, an X-direction synchronous belt 304, an X-direction slide rail assembly 305, a motor bracket 306, and a synchronous belt connector 307. The X-direction translation drive motor 301 is fixedly mounted on the side of the base 100 through the motor bracket 306, the X-direction active synchronous pulley 302 is connected to the output shaft of the X-direction translation drive motor 301, the X-direction driven synchronous pulley 303 is rotationally connected to the top 100-2 of the base 100, the X-direction synchronous belt 304 is connected between the X-direction active synchronous pulley 302 and the X-direction driven synchronous pulley 303, and the X-direction slide rail assembly 305 is mounted on the top 100-2 of the base 100. The rear end of the support plate 401 of the Y-direction linear module 400 is connected to the slider of the X-direction slide rail assembly 305, and the rear end of the support plate 401 is connected to the X-direction synchronous belt 304 through the synchronous belt connector 307. The X-direction translation drive motor 301 can drive the support plate 401 to move along the X-axis direction.

[0046] like Figure 1 and 19 As shown, the walking mechanism 200 includes a wheel driving motor 201, a rotating shaft 203, two active wheels 202 and two driven wheels, the two active wheels 202 are installed at the rear of the base 100, the two driven wheels are installed at the front of the base 100, the wheel driving motor 201 is installed at the rear side of the base 100 through a bracket, and the output shaft of the wheel driving motor 201 is connected to the two active wheels 202 through the rotating shaft 203. The wheel driving motor 201 can drive the two active wheels 202 to rotate when it works.

[0047] Taking the picking of Agaricus bisporus as an example, the working process of the automatic mushroom picking robot is explained below:

[0048] like Fig.15 and 16 As shown, the automatic mushroom picking robot is installed on the metal profiles 2-1 on both sides of one layer of the multi-layer bed frame 2, and the wheels on the left and right sides of the walking mechanism 200 are placed on the two metal profiles 2-1. The two metal profiles 2-1 are used as tracks. The operation of the walking mechanism 200 enables the entire robot to move along the two metal profiles 2-1 on one layer of the bed frame.

[0049] like Fig.21 As shown, the workflow of the automatic mushroom picking robot includes the following steps:

[0050] Step S101, under the control instruction of the controller, the robot moves along the track as a whole and enters the picking area.

[0051] In step S102, the X-direction linear module 300 moves to drive the support plate 401 of the Y-direction linear module 400 to move at a constant speed, and the support plate 401 drives the binocular camera 407 to move at a constant speed. The binocular camera 407 performs an image pre-scan on the Agaricus bisporus in the picking area and sends the collected image information to the controller.

[0052] Step S103: the controller selects all mature Agaricus bisporus in the picking area through an image algorithm.

[0053] Step S104: the controller calculates the coordinates (x, y, z) of all mature Agaricus bisporus.

[0054] In step S105 , the controller instructs the X-direction linear module 300 and the Y-direction linear module 400 to move the suction cup 512 of the picking device 500 to the top of the Agaricus bisporus according to the coordinates (x, y).

[0055] Step S106, the controller coordinate value z instructs the lifting screw motor 503 of the picking device 500 to work, and the lifting screw motor 503 works to drive the suction cup 512 to move downward and approach the cap of the Agaricus bisporus.

[0056] In step S107, the suction cup 512 continues to approach the cap of the Agaricus bisporus, and the distance sensor 516 detects the distance d between the suction cup 512 and the cap and feeds back to the controller.

[0057] In step S108 , the controller determines whether d is less than or equal to 0, and if so, proceeds to step S109 .

[0058] Step S109, the vacuum pump 514 works, and the suction cup 512 generates negative pressure to suck the mushroom cap.

[0059] In step S110, the controller determines whether the negative pressure is less than a set value, and if so, proceeds to step S111.

[0060] Step S111 , the suction cup rotation driving motor 506 works to drive the suction cup 512 to first rotate forward a certain angle, and then rotate backward a certain angle, thereby breaking the stem of the Agaricus bisporus.

[0061] Step S112, the lifting screw motor 503 works to drive the suction cup 512 to move upward to lift the Agaricus bisporus.

[0062] In step S113 , the X-direction linear module 300 and the Y-direction linear module 400 work together to move the Agaricus bisporus to above the first conveyor synchronous belt 608 and the second conveyor synchronous belt 609 .

[0063] In step S114, the vacuum pump 514 releases the pressure, the suction cup 512 releases the button mushroom, and the button mushroom falls into the gap between the first conveyor synchronous belt 608 and the second conveyor synchronous belt 609. The first conveyor synchronous belt 608 and the second conveyor synchronous belt 609 support the button mushroom, and the transport drive motor 602 works to output the button mushroom, and then the button mushroom is collected by an external collection device.

[0064] Step S115, whether the area has been harvested, if so, proceed to step S116, otherwise proceed to step S105 to continue the next Agaricus bisporus harvesting action.

[0065] Step S116, determine whether it is the last picking area, if yes, proceed to step S117, otherwise proceed to step S101 to make the robot enter the next picking area.

[0066] Step S117, the robot stops working.

[0067] In the above steps S103 and S104, one implementation form of the specific process of the image algorithm is (refer to Fig. 22 ):

[0068] The binocular vision method is used to identify and calculate the Agaricus bisporus. First, training is carried out based on the sample images of the Agaricus bisporus to be picked, and a sample model library is established, and then a feature library of the Agaricus bisporus is formed for image recognition and comparison in the subsequent picking process. At the beginning of the picking operation, the binocular camera takes pictures of the Agaricus bisporus in the picking area to obtain several photos. The image features of the Agaricus bisporus are extracted through the deep learning algorithm, and the features are matched with the previously established Agaricus bisporus feature library to achieve target recognition. On this basis, contour recognition is carried out and the diameter of the Agaricus bisporus is calculated. The Agaricus bisporus that meets the picking standard (mature) is screened out, and the x, y, and z coordinate values ​​of the mature Agaricus bisporus are calculated respectively. The coordinate set of all mature Agaricus bisporus is obtained and sent to the robot's control system.

[0069] In order to overcome the measurement error of the z coordinate of Agaricus bisporus calculated by binocular vision algorithm, more than three distance sensors are evenly arranged around the suction cup. When the suction cup moves downward along the z direction (vertical direction) and approaches Agaricus bisporus, multiple distance sensors will measure a series of distance values ​​{di}, and take the average value D = (d1 + d2 + ... + dn) / n. When D is less than the set threshold, it can be considered that the suction cup has zero distance contact with the cap part of the edible fungus, which will not cause air leakage during the adsorption process, thus facilitating the smooth picking.

[0070] It should be noted that after the suction cup of the present invention sucks the Agaricus bisporus, the suction cup 512 first rotates a certain angle in one direction, and then rotates a certain angle in the opposite direction, thereby breaking the stem of the Agaricus bisporus. This is a new, highly accurate, and highly successful picking method. Of course, after the suction cup sucks the Agaricus bisporus, the suction cup can be kept from rotating and the mushroom can be directly lifted.

[0071] It should be noted that this embodiment only takes Agaricus bisporus as an example, and is not limited to picking Agaricus bisporus, and other edible fungi can also be picked.

[0072] The above description is only for the preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may be modified and varied in various ways. If those skilled in the art are inspired by it and adopt other forms of part configurations, drive devices and connection methods without creative design, structural methods and embodiments similar to the technical solution shall all fall within the protection scope of the present invention without departing from the purpose of the present invention.

Claims

1. An automatic picking robot, characterized in that: It includes a base, a walking mechanism, an X-direction linear module, a Y-direction linear module, a picking device and a transfer device, the walking mechanism is connected to the base, the X-direction linear module is connected to the base, the Y-direction linear module is connected to the X-direction linear module, the picking device is connected to the Y-direction linear module, the Y-direction linear module includes a support plate, a Y-direction translation drive motor, an active synchronous pulley, a driven synchronous pulley, a synchronous belt, a slide rail assembly and a binocular camera, the Y-direction translation drive motor is fixedly connected to the support plate, the active synchronous pulley is connected to the output shaft of the Y-direction translation drive motor, the driven synchronous pulley is rotatably connected to the support plate, the synchronous belt is connected between the active synchronous pulley and the driven synchronous pulley, the slide rail assembly is fixedly connected to the support plate, the support plate is provided with a hole, the binocular camera is connected to the support plate, and the support plate is connected to the X-direction linear module; The picking device includes a bracket, a lifting screw motor, a nut seat, a guide rail assembly, a suction cup mounting frame, a suction cup rotation drive motor, a main synchronous pulley, a slave synchronous pulley, a hollow shaft, a suction cup, a sensor mounting frame, a vacuum pump, an air pipe and a distance sensor. The lifting screw motor is fixedly connected to the top surface of the bracket, the screw on the lifting screw motor passes through the bracket, the nut seat is connected and matched with the screw of the lifting screw motor, the guide rail assembly is fixedly connected to the bracket, the suction cup mounting frame is provided with a nut seat connecting part, the nut seat connecting part is fixedly connected to the nut seat, the nut seat connecting part is provided with a through hole, the screw passes through the through hole, the slider on the guide rail assembly is fixedly connected to the side of the nut seat connecting part, and the suction cup mounting frame is provided with a guide rail channel, which is used to allow the guide rail assembly to pass through; the suction cup rotation drive motor is connected to one end of the suction cup mounting frame, and the main synchronous pulley is connected to the suction cup The output shaft of the rotating drive motor is connected, the hollow rotating shaft is rotatably connected to the other end of the suction cup mounting bracket through a bearing, the slave synchronous pulley is fixedly connected to the upper end of the hollow rotating shaft, a synchronous belt is connected between the main synchronous pulley and the slave synchronous pulley, the suction cup is fixedly connected to the lower end of the hollow rotating shaft, the sensor mounting seat is fixedly connected to the hollow rotating shaft, the distance sensor is connected to the sensor mounting seat, one end of the air pipe is connected to the suction cup after passing through the central through hole of the hollow rotating shaft, the vacuum pump is fixedly connected to the bottom surface of the bracket, and the other end of the air pipe is connected to the vacuum pump; the nut seat connecting part is located between the main synchronous pulley and the slave synchronous pulley; the bracket is fixedly connected to the synchronous belt of the Y-direction linear module through a synchronous belt connector, the top surface of the bracket is fixedly connected to the slider of the slide rail assembly in the Y-direction linear module, and the body of the lifting screw motor passes through the hole of the support plate; The transfer device is connected to the base, and the transfer device is located below the linear module in the Y direction; The transfer device includes a left-end connecting frame, a transfer driving motor, a bevel gear assembly, a first left synchronous belt pulley, a second left synchronous belt pulley, a first right synchronous belt pulley, a second right synchronous belt pulley, a first transmission synchronous belt, a second transmission synchronous belt, a right-end connecting frame and a rotating shaft, the transfer driving motor is fixedly connected to the left-end connecting frame, the rotating shaft is rotatably connected to the left-end connecting frame, the output shaft of the transfer driving motor is connected to the rotating shaft through the bevel gear assembly, the first left synchronous belt pulley and the second left synchronous belt pulley are respectively fixedly connected to the rotating shaft, the first right synchronous belt pulley and the second right synchronous belt pulley are respectively rotatably connected to the right-end connecting frame, the first transmission synchronous belt is connected between the first left synchronous belt pulley and the first right synchronous belt pulley, the second transmission synchronous belt is connected between the second left synchronous belt pulley and the second right synchronous belt pulley, and the first transmission synchronous belt and the second transmission synchronous belt are arranged parallel to each other; the right-end connecting frame is fixedly connected to the right side of the base, the left-end connecting frame is fixedly connected to the left side of the base, and an outlet is provided on the right side of the base opposite to the right-end connecting frame.

2. The automatic picking robot according to claim 1, characterized in that: The number of the distance sensors is 3 or more.

3. The automatic picking robot according to claim 1, characterized in that: The X-direction linear module comprises an X-direction translation drive motor, an X-direction active synchronous pulley, an X-direction driven synchronous pulley, an X-direction synchronous belt and an X-direction slide rail assembly, wherein the X-direction translation drive motor is fixedly connected to the base through a motor bracket, the X-direction active synchronous pulley is connected to the output shaft of the X-direction translation drive motor, the X-direction driven synchronous pulley is rotationally connected to the top of the base, the X-direction synchronous belt is connected between the X-direction active synchronous pulley and the X-direction driven synchronous pulley, the X-direction slide rail assembly is connected to the top of the base, the support plate of the Y-direction linear module is connected to the slider of the X-direction slide rail assembly, and the support plate is connected to the X-direction synchronous belt through a synchronous belt connector.

4. The automatic picking robot according to claim 1, characterized in that: The walking mechanism includes a wheel drive motor, two active wheels and two driven wheels, the two active wheels are connected to the rear of the base, the two driven wheels are connected to the front of the base, the wheel drive motor is connected to the rear side of the base through a bracket, and the output shaft of the wheel drive motor is connected to the two active wheels through a rotating shaft.

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