An automatic mushroom picking device and method for walking outside

Abstract

The present invention discloses an external walking type automatic mushroom picking device and method, which belongs to the technical field of agricultural automated picking. The present invention is designed on the basis of the existing mushroom bed truss structure to meet the automated mushroom picking needs of the multi-layer multi-grid three-dimensional interval structure mushroom bed, including an external walking type mobile mechanism, a swing arm mechanism and a picking platform. The device realizes intelligent picking functions such as autonomous mobile obstacle avoidance, automatic target recognition, autonomous non-destructive picking, and automatic sorting and transportation. The device is designed with an integrated structure with the mushroom bed, does not occupy space, and has a modular structure design, saving maintenance costs.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural automated picking, and in particular relates to an external walking type automatic mushroom picking device and method. Background Art

[0002] Agaricus bisporus, also known as mushroom, is the most widely cultivated, largest-scale, and most productive global edible fungus in the world. my country is a major producer of Agaricus bisporus. Factory cultivation is a modern Agaricus bisporus production technology that has developed rapidly in China in recent years. An intelligent technology system integrating the entire process of formulation, fermentation, loading and unloading has been established, and an advanced intelligent equipment group suitable for large-scale production of Agaricus bisporus has been developed. However, the picking and sorting of Agaricus bisporus still requires a lot of manpower. In order to solve the labor cost and improve the picking efficiency and quality, and also to enrich the construction of a systematic solution for the factory production of Agaricus bisporus, an external walking type automatic picking device and method of Agaricus bisporus is designed.

[0003] However, the cultivation beds of Agaricus bisporus are mostly truss-type, multi-layer, multi-grid three-dimensional compartment structures, which will limit the working space of the automatic picking device. In particular, the autonomous cross-compartment movement on the mushroom bed is difficult to achieve with a single-structure picking device.

[0004] In order to solve the above problems, the purpose of the present invention is to provide a device and method based on the existing mushroom bed truss structure to achieve the purpose of automatic mushroom picking. Summary of the invention

[0005] In order to improve the picking efficiency and quality and solve the problem that mobile picking machines are difficult to move across intervals on a truss-type mushroom cultivation bed during mushroom picking, an external walking automatic mushroom picking device is provided.

[0006] In the device of the present invention, the picking platform is rotatably connected to the moving mechanism, and the moving mechanism enables the picking platform to move horizontally on the mushroom cultivation bed.

[0007] The picking platform moves from the inner area of ​​the mushroom cultivation bed to the outer area by rotating on the moving mechanism, avoiding the brackets between the mushroom cultivation bed areas, and moves from the outer area of ​​the mushroom cultivation bed to the inner area by rotating, thereby avoiding the brackets between the mushroom cultivation bed areas.

[0008] The mobile mechanism described in this solution includes but is not limited to one or more of a working vehicle, a wheeled, tracked, multi-legged robot, a track mobile machine, or a mobile machine arranged on a mushroom cultivation bed frame, and its essence is a controllable mobile rotary arm mechanism and a picking platform.

[0009] The beneficial effects of this program are:

[0010] By rotating the picking platform on the mobile mechanism, the brackets between the cultivation bed areas are avoided, and the device can move across the areas on the mushroom bed autonomously, so that a single picking machine can cover a larger cultivation bed space and save equipment costs.

[0011] The relative position of the picking platform and the mushroom bed can be changed by rotating the picking platform on the mobile mechanism, eliminating the common docking structure of the picking platform in the prior art. This saves equipment costs and reduces maintenance work and pollution risks caused by the docking structure.

[0012] Preferably, the rotating connection includes a rotating arm mechanism, an electric screw slider module, a rotating seat, a rotating arm, and a rotating knot. The motor of the electric screw slider module is fixedly mounted on the movable plate, the slider is fixedly connected to the rotating seat, the rotating seat has guide grooves on the upper and lower inner sides, and is slidably connected to the upper and lower outer guide rails of the movable plate, the front section of the rotating arm is hinged to the rotating seat, the inner front section of the rotating arm is hinged to the rotating knot, the inner rear section is mounted with a rack, and the base of the rotating knot is fixedly connected to the movable plate.

[0013] The beneficial effect of this preferred solution is that

[0014] The slider in the electric screw slider module has a fixed maximum limit position, which plays a role in limiting the rotation angle of the swing arm. The swing arm mechanism with the slider limit can accurately control the position of the picking platform inside and outside the mushroom cultivation bed, with small repeatability error.

[0015] The device uses a rotating knot structure, which has higher rigidity than the existing belt-driven swing arm structure. When the picking platform rotates, picks and transports, it is not easy to move when the center of gravity changes, and has better reliability.

[0016] Preferably, the moving mechanism in the present invention is arranged outside the mushroom cultivation bed truss, and is not exposed to the space above the culture medium of the Agaricus bisporus mushroom cultivation bed when working.

[0017] In this description, it is necessary to understand that the space above the culture medium refers to the space above the culture medium of the mushroom bed, which is perpendicular to the ground and is not blocked by baffles, truss covers, etc.; and exposed means that there is no obstruction between the moving mechanism and the culture medium.

[0018] This preferred solution utilizes the rotational connection of the picking platform on the mobile mechanism so that the parts of the mobile mechanism are not arranged in the culture medium area of ​​the mushroom cultivation bed, thereby reducing the difficulty of installation and maintenance, and reducing the contact of the mechanical structure with moisture and fungi, effectively reducing corrosion, and increasing the life of the device. It can also prevent debris and lubricants from automated mechanical equipment from contaminating the culture medium or product.

[0019] Preferably, the moving mechanism includes a moving frame, an X-direction guide rail, an X-direction walking wheel, an X-direction motor, an X-direction gear, and an X-direction rack.

[0020] There are one or more X-direction guide rails installed on the outside of the cross beam of the mushroom cultivation bed layer; one or more X-direction walking wheels are arranged on the mobile frame, and the X-direction walking wheels are mounted on the X-direction guide rail; the X-direction motor is fixed on the mobile frame, the X-direction gear is installed on the output shaft of the X-direction motor, and the X-direction rack is installed under the X-direction guide rail and meshes with the X-direction gear.

[0021] In the description of the present invention, it should be understood that the term X-direction is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device referred to must use the X-direction, X-axis or horizontal direction, nor does it imply or explicitly indicate that the device referred to must use a linear transmission rack device or a linear guide rail. Therefore, it should not be understood as a limitation of the present invention.

[0022] In this preferred embodiment, a moving mechanism is arranged on the outer edge of the cross beam of the mushroom cultivation bed layer, so that the transmission rack, guide rail, etc. are not exposed above the culture medium, which solves the problems of the rack transmission structure contaminating the culture medium during lubrication and maintenance, the gear being stuck by mycelium and other debris, and the rack being rusted due to humidity. The performance of the rack transmission structure is improved, and the guide rail is prevented from being unclean and contaminating the mushroom cultivation bed.

[0023] Preferably, the device has multiple X-guide rails, some of which are arranged above the center of gravity of the mobile frame, the rotary arm device and the picking platform, and some of which are arranged below the center of gravity of the mobile frame, the rotary arm device and the picking platform.

[0024] The guide rail arranged above the center of gravity of the mobile frame, the rotary arm device and the picking platform is called the X-upward guide rail, and the guide rail arranged below the center of gravity of the mobile frame, the rotary arm device and the picking platform is called the X-downward guide rail.

[0025] The X-upward guide rail and the X-down guide rail of the preferred solution maintain the balance of the device during movement, reduce movement errors, and withstand the movement, vibration and weight changes of the picking platform device during the picking process without derailing. The X-direction walking wheel has better horizontal movement freedom and will not be stuck by debris on the track.

[0026] The junction between the upper end surface of the X-direction guide rail and the traveling wheel has a convex arc top, the surface shape of the X-direction traveling wheel is a concave arc, the convex arc of the X-direction guide rail is greater than the concave arc of the X-direction traveling wheel, and the angle between the arc edge of the guide rail and the plane of the arc bottom of the upper end surface of the guide rail is slightly greater than 90 degrees and does not exceed 180 degrees.

[0027] The beneficial effect of this preferred solution is that

[0028] The walking wheel uses gravity to press the guide rail, and the arc shape is easy to install and can prevent derailment.

[0029] The joint between the guide rail and the walking wheel is in an arc shape, and the arc direction is upward. A large amount of debris will fall during the harvesting, transportation, and replenishment of culture medium of mushrooms. This solution can automatically remove the debris from the guide rail during harvesting to maintain the normal operation of the mechanism.

[0030] The convex curvature of the guide rail is greater than the concave curvature of the walking wheel, which helps prevent the wheel from being stuck by debris. During the movement, the curvature produces a gap from small to large from the center of the combination of the guide rail and the walking wheel to the outside, through which the debris is squeezed out of the guide rail. The curvature difference also helps to reduce the contact area, reduce friction, and save driving energy.

[0031] The included angle between the arc-shaped edge of the guide rail and the plane of the arc-shaped bottom of the upper end surface of the guide rail is slightly greater than 90 degrees, so that the debris can fall off the guide rail smoothly.

[0032] Preferably, the X-axis rack is fixed to the lower end surface of an X-axis guide rail, with the tooth surface of the rack facing downward.

[0033] The beneficial effect of this preferred solution is that

[0034] The combination of the transmission rack and the travel guide rail makes the guide rail structure more compact and suitable for mass production. At the same time, the travel guide rail improves the rigidity of the transmission rack, which is beneficial to improving the performance of the transmission rack when arranged over long distances.

[0035] The rack is set at the lower end of the guide rail, with the tooth surface facing downward to avoid contact with debris, increase the service life of the device and reduce failures.

[0036] Preferably, the mobile mechanism further comprises a Z-guide rail, a mobile plate, a Z-motor, a Z-gear and a Z-rack. There are multiple Z-guide rails, and the Z-guide rails are located on both sides or one side of the mobile frame, wherein the position of the Z-guide rails does not interfere with the rotation trajectory of the picking platform.

[0037] The picking platform is rotatably connected to the mobile flat plate, the guide rail groove on the mobile flat plate is assembled on the Z-direction guide rail of the mobile frame, the Z-direction motor is fixed on the mobile flat plate, the Z-direction gear is mounted on the output shaft of the Z-direction motor, and the Z-direction rack is mounted on one side of the mobile frame and meshes with the Z-direction gear.

[0038] The beneficial effect of this preferred solution is that

[0039] Through the Z-guide rail and the rotation of the picking platform, the picking platform can avoid the vertical frame structure of each layer of mushroom cultivation bed, thereby achieving the vertical movement of the picking platform of the device. One machine can complete the harvesting of multiple layers of mushroom cultivation beds.

[0040] A multi-guide method is used to prevent the mobile frame from being displaced as the picking platform rotates.

[0041] In order to improve the picking efficiency and quality and solve the problem that mobile picking machines are difficult to move across intervals on a truss-type mushroom cultivation bed during mushroom picking, a mushroom picking platform is provided, which is characterized in that a three-axis picking frame has X / Y / Z three-coordinate walking function, a picking mechanism picks mushrooms on the mushroom cultivation bed, and a conveying mechanism classifies and conveys the processed mushrooms.

[0042] The picking platform uses a combination of the same or different structures including but not limited to synchronous belt sliders, chains, gear racks, and electric screw sliders to achieve X / Y / Z three-coordinate walking functions.

[0043] The picking mechanism uses a combination of one or more mechanisms including but not limited to a suction cup, a mechanical arm, a cutter, and a clamp to complete the function of harvesting mushrooms from the mushroom cultivation bed.

[0044] The beneficial effects of this program are:

[0045] The mushroom picking automation is achieved through the X / Y / Z movement function of the three-axis picking frame.

[0046] Preferably, the three-axis picking frame is connected to the picking mechanism via a synchronous belt slide bar mechanism, and the rotating arm support is arranged at the center position of the three-axis picking frame in the Y direction.

[0047] Preferably, the device further comprises a camera travel mechanism, including a camera light source assembly and a camera synchronous belt linear guide rail module, wherein the lateral support of the camera light source assembly has a guide rail groove and a synchronous belt slot, and is connected to the camera synchronous belt linear guide rail module. The camera travel mechanism has two sets, which are symmetrically installed parallel to the rotating arm support.

[0048] In this preferred embodiment, two sets of camera travel mechanisms are symmetrically installed so that the captured structured light point cloud images cover the mushroom bed without blind spots.

[0049] Preferably, the picking mechanism comprises a picking support, a manipulator, and a cutting knife. The picking support is slidably connected to a synchronous belt slide bar mechanism of a three-axis picking frame, and the manipulator and the cutting knife are installed below the picking support.

[0050] Preferably, the robot arm can achieve the functions of pitching up and down 90 degrees and rotating left and right 180 degrees, and pressure sensors are provided on the inner sides of the finger pulps and fingertips of at least two of the robot fingers.

[0051] The beneficial effect of this preferred solution is that

[0052] During the picking process, the robot's fingertips move down to the upper surface of the mushroom cap, apply a certain amount of pressure, and then shake the mushroom to loosen the roots and the soil of the mushroom bed. The feedback signal from the pressure sensor on the inside of the fingertips can control the downward pressure on the mushroom to prevent direct damage to the product during the downward pressure process.

[0053] After shaking the mushrooms, the robot releases its fingers and reaches down to grab the lower surface of the mushroom cap. The pressure sensor on the fingertips provides feedback on the robot's grasping force, allowing the device to accurately control the robot's grasping force to avoid damage to the product during picking.

[0054] Preferably, the manipulator can achieve the functions of pitching 90 degrees up and down and rotating 180 degrees left and right, and pressure sensors are provided on the inner and outer sides of the manipulator fingers;

[0055] The manipulator includes a storage device having an outer wall and a central column. When the manipulator is partially extended, the pressure sensor on the outer side contacts the inner wall of the storage device; when the manipulator is partially closed, the pressure sensor on the inner side contacts the central column of the storage device. Before each picking process begins, the manipulator is adjusted by the automatic opening stroke.

[0056] The beneficial effect of this preferred solution is that

[0057] 1. Through the pressure sensor, the feedback of the robot's action is formed, so that the device can accurately control the gripping force of the robot to avoid damage to the target during picking. At the same time, it also accurately controls the pressure exerted by the robot on adjacent mushrooms to avoid damaging adjacent mushrooms that are not the picking target.

[0058] 2. The pressure sensors on the inside and outside of the manipulator are used to automatically adjust the manipulator, greatly reducing

[0059] The difficulty of installing the robot avoids wasting products, which is more in line with the needs of low maintenance and zero maintenance in the factory, and avoids the dilemma of unsatisfactory installation during the factory promotion of existing solutions.

[0060] 3. This solution can achieve self-adaptation to errors, thus greatly improving the selection of robot materials and the ability to adapt to external force deformation, which is more conducive to promotion.

[0061] Preferably, the cutting knife of the picking mechanism is installed adjacent to the manipulator below the picking support, and the blade of the cutting knife is installed in the card slot in a card-connected manner.

[0062] The beneficial effect of this preferred solution is that

[0063] Through the snap-on method, the cutting knife blade can be quickly installed and replaced, thus improving production efficiency.

[0064] 2. The cutting knife and the manipulator are installed adjacent to each other, and the gap between them can be adjusted by adjusting the position of the cutting knife blade in the slot to meet the needs of different root cutting lengths and adapt to mushrooms of different varieties and growth periods.

[0065] The cutting blade structure provided by this solution has strong versatility and is conducive to reducing production costs.

[0066] Preferably, the conveying mechanism is a double conveyor belt structure, including a finished mushroom conveyor belt and a mushroom stem conveyor belt. The two conveyor belts are arranged in parallel and adjacent to each other, sharing the same conveyor belt driving device, and there is a certain interval between the two conveyor belts.

[0067] The beneficial effect of this preferred solution is that

[0068] The double conveyor belt structure can automatically sort finished mushrooms and mushroom stems, speeding up the sorting efficiency after picking.

[0069] The two conveyor belts are driven by the same driving device, so the structure is simpler and suitable for the narrow working space on the mushroom cultivation bed.

[0070] In order to improve the picking efficiency and quality and solve the problem that the mobile picking machine is difficult to move across the interval on the truss type cultivation mushroom bed during mushroom picking, an external walking type automatic picking method of Agaricus bisporus is provided, comprising the following steps:

[0071] S1, the external signal drives the camera light source assembly to move along the camera guide rail, collects the structured light point cloud image of the mushroom bed within the camera field of view at the required frame rate, and transmits it to the external control system;

[0072] S2, the external control system uses image processing algorithms to identify, locate, plan picking paths, and calculate picking angles for mature mushrooms, and transmits relevant control signals to the three-axis picking frame and picking mechanism;

[0073] S3, the three-axis picking frame drives the picking mechanism to move the target X / Y / Z coordinates according to the picking path, so that the manipulator reaches the position above the mushrooms to be picked;

[0074] S4, the robot picks mushrooms, the cutting knife cuts the mushroom stems, and the finished mushrooms and mushroom stems are classified and placed on the conveyor belt; the picking actions from S2 to S4 are repeated until the ripe mushrooms in this layer are picked.

[0075] This solution uses image processing algorithms to control the three-axis picking mechanism to complete efficient and automatic mushroom picking.

[0076] Preferably, the picking platform is moved out of the current layer and current grid of the mushroom bed by horizontal rotation of the swing arm mechanism, and the external walking mobile mechanism completes the X-coordinate walking of the picking platform on the X-guide rail outside the crossbeam of the mushroom bed through the X-direction walking small wheel according to the external control signal, and completes the Z-coordinate walking of the picking platform on the Z guide rail by the moving plate to reach the target grid of the target layer of the mushroom bed, and then rotates horizontally through the swing arm mechanism to enter the target grid of the target layer for picking.

[0077] This preferred solution completes the operation of avoiding obstacles by the swing arm through the control means of avoiding obstacles.

[0078] Preferably, when the camera generates the internal image, it generates the external image of the cultivation bed through two sets of camera walking mechanisms in the front and rear directions. When it detects that there may be moving objects or obstacles outside, it actively reduces the working speed. When it detects fast-moving objects or moving objects that are clear, it suspends the obstacle avoidance action and reports its position height through the speaker. After the foreign object sensing disappears, the picking device resumes slow action after a certain period of time, and resumes normal working speed after another certain period of time.

[0079] It will resume slow motion 1 second to 2 minutes after the foreign object sensing disappears.

[0080] The movement speed returns to normal 2 seconds to 15 minutes after the foreign body sensing disappears.

[0081] The sound and light alarm lasts for 10 seconds to 20 minutes.

[0082] Because the device may jump out of the mushroom bed range from any height when avoiding obstacles or changing layers, unwary workers may be easily hit or tripped. Speed ​​adjustment and sound and light alarms can prevent the device from hitting obstacles such as patrol workers, transportation and maintenance vehicles, thereby improving safety.

[0083] Preferably, the steps of picking mushrooms by the robot are as follows: the robot makes pitch and rotation adjustments according to the picking angle, reaches down with fingers to lightly grab the upper surface of the mushroom cap and shake it to loosen the mushroom root and the soil of the mushroom bed, releases the fingers and reaches down to the lower surface of the mushroom cap to grab the mushroom, lift and return it to its original position to complete the picking; the three-axis picking frame then drives the picking mechanism to the top of the conveying mechanism, the robot rotates 90 degrees to make the mushroom stems of the picked mushrooms located below the cutting knife, the cutting knife returns to its original position after cutting the mushroom stems, and the mushroom stems fall into the mushroom stem conveyor belt; the robot places the finished mushrooms on the finished mushroom conveyor belt and returns to its original position. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0085] Figure 1 This is a schematic structural diagram of an external walking type automatic mushroom picking device of the present invention;

[0086] Figure 2 It is a structural schematic diagram of the external walking type mobile mechanism;

[0087] Figure 3 It is a structural schematic diagram of the rotary arm mechanism;

[0088] Figure 4 It is a structural schematic diagram of the picking platform;

[0089] Figure 5 It is a structural schematic diagram of the picking mechanism and the conveying mechanism;

[0090] In the figure: 1, external walking type moving mechanism; 1.1, moving frame; 1.2.1, X upward guide rail; 1.2.2, X downward guide rail; 1.3, X walking small wheel; 1.4, X motor; 1.5, X gear; 1.6, X rack; 1.7, Z guide rail; 1.8, moving plate; 1.9, Z motor; 1.10, Z gear; 1.11, Z rack; 2, swing arm mechanism; 2.1, electric screw slider module; 2.2, rotating seat; 2.3, swing arm; 2.4, swing joint; 3, Picking platform; 3.1, three-axis picking frame; 3.1.1, synchronous belt slide module; 3.2, rotating arm support; 3.2.1, support motor; 3.3, camera walking mechanism; 3.3.1, camera light source assembly; 3.3.2, camera synchronous belt linear guide module; 3.4, picking mechanism; 3.4.1, picking support; 3.4.2, manipulator; 3.4.3, cutting knife; 3.4.3.1, blade slot; 3.5, conveying mechanism; 3.5.1, finished mushroom conveyor belt; 3.5.2, mushroom stem conveyor belt. DETAILED DESCRIPTION

[0091] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. The described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0092] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "left", "right", "inside", "outside", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0093] like Figure 1The figure shows an embodiment of the present invention: an external walking type automatic mushroom picking device, comprising an external walking type mobile mechanism 1, a swing arm mechanism 2 and a picking platform 3. The external walking type mobile mechanism 1 and the swing arm mechanism 2 are slidably connected via a guide rail and a guide groove, and the swing arm mechanism 2 and the picking platform 3 are connected via a fixed mounting seat. The external walking type mobile mechanism 1 realizes the X-direction and Z-direction walking functions of the device, and the swing arm mechanism 2 rotates to drive the picking platform 3 so that it can move in and out of the mushroom bed, and the picking platform 3 realizes the visual recognition, picking, root cutting and transportation of mature mushrooms.

[0094] like Figure 2 The external walking mobile mechanism 1 shown is attached to the outer side of the mushroom bed truss, and includes a mobile frame 1.1, an X-upward guide rail 1.2.1, an X-downward guide rail 1.2.2, an X-direction walking wheel 1.3, an X-direction motor 1.4, an X-direction gear 1.5, and an X-direction rack 1.6, which constitute a horizontal moving mechanism; the X-upward guide rail 1.2.1 is installed on the outer side of the cross beam of the top layer of the mushroom bed, and the X-downward guide rail 1.2.2 is installed on the outer side of the cross beam of the second layer of the mushroom bed; the inner sides of the left and right frames of the mobile frame 1.1 are fixed with the X-direction walking wheel 1.3, and there are four X-direction walking wheels 1.3, which are respectively mounted on the X-upward guide rail 1.2.1 and the X-downward guide rail 1.2.2 in a group of two; the mobile frame 1.1 is also fixed with the X-direction motor 1.4, the X-direction gear 1.5 is installed on the output shaft of the X-direction motor 1.4, and the X-direction rack 1.6 is installed below the X-upward guide rail 1.2.1 and meshes with the X-direction gear. During operation, an external control signal drives the X-direction motor 1.4 to make the X-direction gear 1.5 and the X-direction rack 1.6 produce X-coordinate movement, and the mobile frame 1.1 realizes the X-coordinate walking function on two X-direction guide rails through the X-direction walking small wheel 1.3.

[0095] The external walking mobile mechanism also includes a Z-direction guide rail 1.7, a mobile plate 1.8, a Z-direction motor 1.9, a Z-direction gear 1.10, and a Z-direction rack 1.11, which constitute a vertical moving mechanism. The Z-direction guide rail 1.7 has two roots, which are respectively installed on the outer sides of the left and right frames of the mobile frame 1.1. The upper and lower outer sides of the mobile plate 1.8 have guide rails, and the left and right inner sides have guide rail grooves, which are slidably connected with the Z-direction guide rail 1.7. The mobile plate 1.8 is also fixed with the Z-direction motor 1.9, and the Z-direction gear 1.10 is installed on the output shaft of the Z-direction motor 1.9. The Z-direction rack 1.11 is installed on one side of the mobile frame 1.1 and meshes with the Z-direction gear. When working, the external control signal drives the Z-direction motor 1.9 to make the Z-direction gear 1.10 and the Z-direction rack 1.11 generate Z coordinate movement, and the mobile plate 1.8 realizes the Z coordinate walking function on the Z-direction guide rail 1.7.

[0096] like Figure 3The swing arm mechanism 2 shown includes an electric screw slider module 2.1, a rotating seat 2.2, a rotating arm 2.3, and a rotating knot 2.4, and the motor of the electric screw slider module 2.1 is fixedly mounted on the mobile plate 1.8, the slider is fixedly connected to the rotating seat 2.2, the rotating seat 2.2 has guide grooves on the upper and lower inner sides, and is slidably connected to the upper and lower outer guide rails of the mobile plate 1.8, the front section of the rotating arm 2.3 is hinged to the rotating seat 2.2, the hinge point is the rotation center of the rotating arm 2.3, the inner front section of the rotating arm 2.3 is hinged to the rotating knot 2.4, the inner rear section is mounted with a rack, and the base of the rotating knot 2.4 is fixedly connected to the mobile plate 1.8. When working, the external control signal drives the electric screw slider module 2.1 to make the rotating seat 2.2 slide on the mobile plate 1.8, driving the rotating arm 2.3 to rotate horizontally.

[0097] like Figure 4 The picking platform 3 shown includes a three-axis picking frame 3.1, a rotating arm support 3.2, a camera walking mechanism 3.3, a picking mechanism 3.4, and a conveying mechanism 3.5. The three-axis picking frame 3.1 has an X / Y / Z three-coordinate walking function, and is connected to the picking mechanism 3.4 through a synchronous belt slide bar module 3.1.1 therein. The rotating arm support 3.2 is placed in the Y-direction center position above the three-axis picking frame 3.1, and the conveying mechanism 3.5 is placed in the Y-direction center position below the three-axis picking frame 3.1. There are two sets of camera walking mechanisms 3.3, which are symmetrically installed parallel to the rotating arm support 3.2.

[0098] Furthermore, a support motor 3.2.1 is installed above the rotating arm support 3.2, a gear is installed on the motor output shaft, the rotating arm 2.3 is installed in the rotating arm support 3.2, and the rotating arm 2.3 cooperates with the gear on the output shaft of the support motor 3.2.1 through the inner rack. When working, the external control signal drives the rack and gear through the support motor 3.2.1 to realize the walking function of the picking platform 3 along the rotating arm 2.3. 2-3 picking platforms 3 can be installed in parallel on the rotating arm 2.3 to speed up the picking efficiency, and the end of the rotating arm 2.3 is set on the inner mushroom bed layer beam.

[0099] Furthermore, the camera walking mechanism 3.3 includes a camera light source assembly 3.3.1 and a camera synchronous belt linear guide module 3.3.2, and the lateral support of the camera light source assembly 3.3.1 has a guide groove and a synchronous belt slot, which is connected to the camera synchronous belt linear guide module 3.3.2. When working, the external control signal drives the camera synchronous belt linear guide module 3.3.2 to make the camera light source assembly 3.3.1 move along the Y coordinate, and collect the structured light point cloud image of the mushroom bed within the camera field of view at the required frame rate, and transmit it to the external control system. The two sets of camera walking mechanisms 3.3 installed in parallel enable the structured light point cloud image taken by the camera to cover the interior of the mushroom bed without blind spots.

[0100] like Figure 5The figure shows a picking mechanism 3.4 and a conveying mechanism 3.5. The picking mechanism 3.4 includes a picking support 3.4.1, a manipulator 3.4.2, and a cutting knife 3.4.3; the conveying mechanism 3.5 includes a finished mushroom conveyor belt 3.5.1 and a mushroom stem conveyor belt 3.5.2. The picking support 3.4.1 is connected to the synchronous belt slide bar module 3.1.1 at the top, and is connected to the manipulator 3.4.2 and the cutting knife 3.4.3 at the bottom. The manipulator 3.4.2 can achieve the functions of 90 degrees of pitch up and down and 180 degrees of rotation left and right, and the finger pulp, the inner side of the fingertip and the outer side of the fingertip are equipped with pressure sensors. The cutting knife 3.4.3 is provided with a blade slot 3.4.3.1. The cutting knife 3.4.3 and the manipulator 3.4.2 are installed adjacent to each other, and the gap between them is electrically adjustable through the blade slot 3.4.3.1. The conveyor belt 3.5 is installed under the picking platform 3, and is a double conveyor belt structure, including a finished mushroom conveyor belt 3.5.1 and a mushroom stem conveyor belt 3.5.2. During operation, the external control signal drives the three-axis picking frame 3.1 to make the synchronous belt slide bar module 3.1.1 drive the picking mechanism 3.4 to perform X / Y / Z three-coordinate walking. The manipulator 3.4.2 moves accurately to the top of the picked mushrooms. According to the received picking angle control signal, the manipulator 3.4.2 adjusts the pitch and rotation angles, reaches down with fingers to lightly grasp the upper surface of the mushroom cap, adjusts the grasping force according to the pressure sensor signal on the inner side of the fingertips, and then shakes the mushrooms to loosen the mushroom roots and the soil on the mushroom bed. Release the fingers and then reach down to the lower surface of the mushroom cap, adjusts the grasping force according to the pressure sensor signal on the fingertips, grasps the mushrooms, lifts them, and returns them to their original positions to complete the picking. The pressure on the outer side of the fingertips The force sensor is used to determine whether there are adjacent mushrooms. Otherwise, the robot arm will be lifted and the angle will be changed before picking. The three-axis picking frame 3.1 then drives the picking mechanism 3.4 to the top of the conveying mechanism 3.5, and the robot arm 3.4.2 flips upward 90 degrees so that the stems of the picked mushrooms are located below the cutting knife 3.4.3. The external control signal adjusts the gap between the cutting knife 3.4.3 and the robot arm 3.4.2 in advance through the blade slot 3.4.3.1 according to the length information of the mushroom stems of this batch. The cutting knife 3.4.3 returns to its original position after cutting the mushroom stems, and the mushroom stems fall into the mushroom stem conveyor belt 3.5.2. The robot arm 3.4.2 places the finished mushrooms on the finished mushroom conveyor belt 3.5.1 and returns to its original position.

[0101] The working steps of the specific external walking type automatic mushroom picking device are described below.

[0102] Before the device of the present invention works, Figure 1 The picking platform 3 shown is located in a certain layer of the mushroom bed, which is the initial state of the device.

[0103] Step 1: The external control signal drives the camera synchronous belt linear guide module 3.3.2 to make the camera light source assembly 3.3.1 move along the Y coordinate, collect the structured light point cloud image of the mushroom bed within the camera field of view at the required frame rate and transmit it to the external control system until all images are collected; the external control system uses the image processing algorithm to identify, locate, plan the picking path and calculate the picking angle of the mature mushrooms, and transmit the relevant control signals to the three-axis picking frame 3.1 and the picking mechanism 3.4;

[0104] Step 2: The three-axis picking frame 3.1 drives the picking mechanism 3.4 to move in the target X / Y / Z coordinates according to the received external control signal, so that the manipulator 3.4.2 reaches the upper position of the mushrooms to be picked; the external control signal simultaneously drives the picking mechanism manipulator 3.4.2 to perform a series of actions such as pitching, rotating, reaching down, shaking, grabbing, lifting, and returning to the original position to complete the picking;

[0105] Step 3: The three-axis picking frame 3.1 then drives the picking mechanism 3.4 to the top of the conveyor belt 3.4.4. The manipulator 3.4.2 turns upward 90 degrees so that the stems of the picked mushrooms are located below the cutting knife 3.4.3. The external control signal pre-adjusts the gap between the cutting knife 3.4.3 and the manipulator 3.4.2 through the blade slot 3.4.3.1. The cutting knife 3.4.3 returns to its original position after cutting the stems, and the stems fall into the stem conveyor belt 3.5.2. The manipulator 3.4.2 places the finished mushrooms on the finished mushroom conveyor belt 3.5.1 and returns to its original position.

[0106] Repeat steps 2 and 3 until all the mature mushrooms within the current camera field of view are picked.

[0107] Step 4: The external control signal drives the picking platform 3 to move forward along the rotating arm 2.3 through the support motor 3.2.1, and steps 1 to 3 are repeated until all the mature mushrooms in the current layer are picked.

[0108] Step 5: The picking platform 3 is moved out of the current layer of the mushroom bed by horizontal rotation of the swing arm mechanism 2. The external walking mobile mechanism 1 completes the X-coordinate walking of the picking platform on the X-direction guide rail outside the crossbeam of the mushroom bed through the X-direction walking small wheel 1.3 according to the external control signal, and completes the Z-coordinate walking of the picking platform on the Z-guide rail by following the mobile flat plate 1.8 to reach the target layer of the mushroom bed, and then rotates horizontally through the swing arm mechanism 2 to enter the target layer for picking.

[0109] Repeat steps 1 to 5 until all the mature mushrooms in the mushroom bed are picked.

[0110] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic mushroom picking device with an external walking type, wherein the picking platform is rotatably connected to a moving mechanism, and the moving mechanism enables the picking platform to move horizontally and vertically on a mushroom cultivation bed, characterized in that: The rotary connection comprises a rotary arm mechanism: an electric screw slider module, a rotary seat, a rotary arm, and a rotary knot. The motor of the electric screw slider module is fixedly mounted on the movable plate, the slider is fixedly connected to the rotary seat, the rotary seat has guide rail grooves on the upper and lower inner sides, and is slidably connected to the upper and lower outer guide rails of the movable plate, the front section of the rotary arm is hinged to the rotary seat, the inner front section of the rotary arm is hinged to the rotary knot, the inner rear section is mounted with a rack, and the base of the rotary knot is fixedly connected to the movable plate.

2. The automatic mushroom picking device according to claim 1 is characterized in that: The moving mechanism is arranged outside the mushroom cultivation bed truss and is not exposed to the space above the culture medium of the Agaricus bisporus mushroom cultivation bed when working.

3. The automatic mushroom picking device according to claim 1 is characterized in that: The moving mechanism comprises a moving frame, an X-direction guide rail, an X-direction travel wheel, an X-direction motor, an X-direction gear and an X-direction rack; there is one or more X-direction guide rails installed on the outer side of the cross beam of the mushroom cultivation bed layer; one or more X-direction travel wheels are arranged on the moving frame, and the X-direction travel wheels are mounted on the X-direction guide rail; the X-direction motor is fixedly mounted on the moving frame, the X-direction gear is mounted on the output shaft of the X-direction motor, and the X-direction rack is installed below the X-direction guide rail and meshes with the X-direction gear.

4. The automatic mushroom picking device according to claim 3 is characterized in that: There are multiple X-direction guide rails, some of which are arranged above the center of gravity of the mobile frame, the rotary arm device and the picking platform, and some of which are arranged below the center of gravity of the mobile frame, the rotary arm device and the picking platform.

5. The automatic mushroom picking device according to claim 3 is characterized in that: The junction between the upper end surface of the X-direction guide rail and the traveling wheel has a convex arc top, the surface shape of the X-direction traveling wheel is a concave arc, the convex arc of the X-direction guide rail is greater than the concave arc of the X-direction traveling wheel, and the angle between the arc edge of the guide rail and the plane of the arc bottom of the upper end surface of the guide rail is slightly greater than 90 degrees and does not exceed 180 degrees.

6. The automatic mushroom picking device according to claim 3 is characterized in that: The X-axis rack is fixed on the lower end surface of an X-axis guide rail, and the tooth surface of the rack faces downward.

7. The automatic mushroom picking device according to claim 1 is characterized in that: The mobile mechanism also includes a Z-guide rail, a mobile plate, a Z-motor, a Z-gear, and a Z-rack; there are multiple Z-guide rails, and the positions of the Z-guide rails are on both sides or one side of the mobile frame, wherein the position of the Z-guide rail does not interfere with the rotation trajectory of the picking platform; the picking platform is rotationally connected to the mobile plate, the guide groove on the mobile plate is assembled on the Z-guide rail of the mobile frame, the Z-motor is fixed on the mobile plate, the Z-gear is mounted on the output shaft of the Z-motor, and the Z-rack is mounted on one side of the mobile frame and meshes with the Z-gear.

8. The automatic mushroom picking device according to claim 1, characterized in that: The three-axis picking frame of the picking platform has X / Y / Z three-coordinate walking functions. The picking platform also includes a picking mechanism and a conveying mechanism. The picking mechanism picks mushrooms, and the conveying mechanism classifies and conveys mushrooms.

9. The automatic mushroom picking device according to claim 8, characterized in that: The three-axis picking frame is connected to the picking mechanism through a synchronous belt slide rod mechanism, and the rotating arm support is arranged at the center position of the three-axis picking frame in the Y direction.

10. The automatic mushroom picking device according to claim 8, characterized in that: It also includes a camera walking mechanism, including a camera light source assembly and a camera synchronous belt linear guide module. The lateral support of the camera light source assembly has a guide groove and a synchronous belt slot, which is connected to the camera synchronous belt linear guide module. The camera walking mechanism has two sets, which are symmetrically installed parallel to the rotating arm support.

11. The automatic mushroom picking device according to claim 8, characterized in that: The picking mechanism comprises a picking support, a manipulator and a cutting knife. The picking support is slidably connected with a synchronous belt slide bar mechanism of a three-axis picking frame, and the manipulator and the cutting knife are installed below the picking support.

12. The automatic mushroom picking device according to claim 11, characterized in that: The manipulator can achieve the functions of pitching up and down 90 degrees and rotating left and right 180 degrees, and pressure sensors are installed on the inner sides of the finger pulps and fingertips of at least two mechanical fingers.

13. The automatic mushroom picking device according to claim 11, characterized in that: The cutting knife is installed adjacent to the manipulator below the picking support, and the blade of the cutting knife is installed in the card slot in a card connection manner.

14. The automatic mushroom picking device according to claim 8, characterized in that: The conveying mechanism is a double conveyor belt structure, including a finished mushroom conveyor belt and a mushroom stem conveyor belt. The two conveyor belts are arranged parallel and adjacent to each other, share the same conveyor belt driving device, and there is a certain interval between the two conveyor belts.

15. A mushroom picking method based on the external walking type automatic mushroom picking device according to claim 10, characterized in that: The steps include: S1, the external signal drives the camera light source assembly to move along the camera synchronous belt linear guide rail, collects the structured light point cloud image of the mushroom bed within the camera field of view at the required frame rate, and transmits it to the external control system; S2, the external control system uses image processing algorithms to identify, locate, plan picking paths and calculate picking angles for mature mushrooms, and transmits relevant control signals to the three-axis picking frame and picking mechanism; S3, the three-axis picking frame drives the picking mechanism to move the target X / Y / Z coordinates according to the picking path, so that the manipulator reaches the position above the mushrooms to be picked; S4, the robot picks mushrooms, the cutting knife cuts the mushroom stems, and the finished mushrooms and mushroom stems are classified and placed on the conveyor belt; the picking actions from S2 to S4 are repeated until the ripe mushrooms in this layer are picked.

16. A mushroom picking method according to claim 15, characterized in that: After the ripe mushrooms in the current layer and grid are picked, the picking platform is horizontally rotated by the swing arm mechanism to move out of the current layer and grid of the mushroom bed. The external walking mobile mechanism completes the Z coordinate walking of the picking platform on the Z guide rail by moving the mobile plate according to the external control signal.

17. A mushroom picking method according to claim 15, characterized in that: The picking platform is horizontally rotated out of the current layer and grid of the mushroom bed through the swing arm mechanism. The external walking mobile mechanism completes the X-coordinate walking of the picking platform on the X-guide rail at the outer edge of the mushroom bed beam through the X-direction walking small wheel according to the external control signal.

18. A mushroom picking method according to claim 15, characterized in that: When the camera generates internal images, it generates external images of the mushroom bed through two sets of camera walking mechanisms in the front and rear directions. When it detects possible moving objects or obstacles outside, it actively reduces the working speed. When it detects fast-moving objects or clear moving objects, it suspends the obstacle avoidance action and reports its position height through the speaker. After the foreign object sensing disappears, the picking device resumes slow movement after a certain period of time, and resumes normal working speed after another certain period of time.

19. A mushroom picking method according to claim 15, characterized in that: The robot makes pitch and rotation adjustments according to the picking angle. It reaches down with its fingers to lightly grab the upper surface of the mushroom cap and shake it to loosen the mushroom roots and the soil of the mushroom bed. It releases its fingers and reaches down to the lower surface of the mushroom cap to grab the mushrooms, lift them, and return them to their original positions to complete the picking. The three-axis picking frame then drives the picking mechanism to the top of the conveying mechanism. The robot rotates 90 degrees to place the stems of the picked mushrooms under the cutting knife. The cutting knife returns to its original position after cutting the stems, and the stems fall into the stem conveyor belt. The robot places the finished mushrooms on the finished mushroom conveyor belt and returns to its original position.

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