A device and method for grading and picking shiitake mushrooms

Abstract

The present application provides a kind of lentinus edodes grading picking device and method, belong to lentinus edodes picking technical field, including mobile chassis, the mobile chassis is provided with lifting support, the lifting support is slidably connected with fungus stick taking and placing device and lentinus edodes picking device, the lentinus edodes picking device is located in fungus stick taking and placing device, the lentinus edodes grading device is arranged below the lentinus edodes picking device, the lentinus edodes grading device is fixed on mobile chassis, and fungus stick taking and placing device is connected with lentinus edodes grading device by nylon cloth air pipe.The present application can accurately identify mature lentinus edodes and implement intelligent picking, and realize fast, accurate lentinus edodes grading and sorting operation.

Description

Technical Field

[0001] This invention belongs to the field of shiitake mushroom harvesting technology, and particularly relates to a shiitake mushroom grading and harvesting device and method. Background Technology

[0002] Shiitake mushrooms are a widely cultivated and consumed edible fungus, and one of the most common edible fungi in the world. With their tender flesh, rich flavor, and high content of protein, fat, minerals, and vitamins, they are highly prized and widely used in various cooking methods. Due to the huge market demand for shiitake mushrooms, their cultivation scale is correspondingly large. However, the current level of automation in the shiitake mushroom industry is relatively low, and the production process is relatively cumbersome and relies heavily on manual labor. This results in high production costs, low production efficiency, and the fact that manual harvesting and grading are easily affected by subjective factors, thus reducing the quality of the shiitake mushrooms.

[0003] Most existing shiitake mushroom harvesting robots can only grasp shiitake mushrooms from the substrate logs using mechanical claws, and cannot move or arrange the logs autonomously. Furthermore, commonly used mechanical claws are usually made of hard plastic or metal, which can easily damage the mushrooms during harvesting. In addition, grading shiitake mushrooms requires complex image processing algorithms, making it difficult for robots alone to simultaneously achieve intelligent harvesting and sorting. Summary of the Invention

[0004] In view of the defects or deficiencies in the existing technology, the present invention provides a shiitake mushroom grading and harvesting device and method, which can accurately identify mature shiitake mushrooms and carry out intelligent harvesting, and realize the rapid and accurate grading and sorting of shiitake mushrooms.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, embodiments of the present invention provide a shiitake mushroom grading and harvesting device, including a movable chassis, a lifting support mounted on the movable chassis, a mushroom log picking and placing device and a shiitake mushroom harvesting device slidably connected on the lifting support, the shiitake mushroom harvesting device being located above the mushroom log picking and placing device, a shiitake mushroom grading device being located below the shiitake mushroom harvesting device, the shiitake mushroom grading device being fixed on the movable chassis, and the mushroom log picking and placing device and the shiitake mushroom grading device being connected by a nylon fabric duct.

[0007] Furthermore, lifting devices are provided on both sides of the top of the lifting support. The lifting device includes a first drive motor. The output shaft of the first drive motor is fixedly connected to a winding shaft. The winding shaft is connected to one end of a belt, and the other end of the belt is fixed to the mushroom stick picking and placing device.

[0008] Furthermore, the mushroom stick handling device includes a horizontal support frame and a vertical support frame. The horizontal support frame and the vertical support frame are arranged perpendicularly. Sliding rods are slidably connected to both sides of the horizontal support frame. A sliding rod cylinder is provided on the sliding rod. One end of the sliding rod cylinder is connected to the sliding rod, and the other end is fixedly connected to the vertical support rod. A rotary pressing cylinder is connected to the sliding rod through a printed part. A rotating plate is connected to the output shaft of the rotary pressing cylinder.

[0009] Furthermore, a mushroom log groove is provided in the middle of the supporting cross frame. The cross-section of the mushroom log groove is U-shaped, and its two sides are welded and fixed to the supporting cross frame. A placement opening is provided at the bottom of the end of the mushroom log groove near the supporting vertical frame. The placement opening is connected to the shiitake mushroom grading device through a nylon fabric duct.

[0010] Furthermore, two push cylinders are arranged in parallel on the support frame, and the ends of the telescopic shafts of the two push cylinders are connected by a push plate.

[0011] Furthermore, the shiitake mushroom harvesting device includes a first support plate, on which a second slider is slidably connected. The second slider is connected to a miniature cylinder via a harvesting connecting plate. The telescopic shaft of the miniature cylinder is fixedly connected to a finger connecting piece, on which multiple soft fingers are symmetrically arranged.

[0012] Furthermore, the shiitake mushroom grading device includes a second support plate, on which a third slider is slidably connected. The third slider is connected to a nylon fabric duct via a pipe connecting plate.

[0013] Furthermore, the mobile chassis includes a base frame and omnidirectional wheels. Multiple omnidirectional wheels are provided and fixed to the base frame via motor connecting seats. A fourth drive motor is provided on the motor connecting seats, and the output shaft of the fourth drive motor is connected to the omnidirectional wheels.

[0014] Furthermore, a positioning device is provided in the middle of the mobile chassis. The positioning device includes an encoder and a miniature omnidirectional wheel. The encoder is fixed on the encoder connector, and the output shaft of the encoder is fixedly connected to the miniature omnidirectional wheel through a flange.

[0015] Secondly, embodiments of the present invention provide a method for grading and harvesting shiitake mushrooms, utilizing a shiitake mushroom grading and harvesting device as described above, comprising the following steps:

[0016] First, take the mushroom logs from the bottom of the storage rack, and then harvest the mature shiitake mushrooms. After all the shiitake mushrooms on the logs have been harvested, put the logs back on the support rack. Then, the first drive motor starts to rotate a fixed number of times and raises the log picking and harvesting device and the shiitake mushroom harvesting device to a fixed height via a belt, thereby harvesting the shiitake mushrooms from the second row of logs on the storage rack. Repeat the above process until the top logs have been harvested, thus completing the harvesting of one row of logs.

[0017] Next, the first drive motor starts to rotate a fixed number of times and uses the belt to lower the mushroom stick picking device and the shiitake mushroom picking device to the bottom layer. Then the moving chassis device starts to move along the X-axis and moves to the position of the next row of mushroom sticks before performing the above operation.

[0018] Repeat the above steps until all the mushroom sticks on the mushroom stick support frame have been harvested, then stop working.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. This invention, by setting up a mushroom stick picking and placing device, can automatically pick up and place mushroom sticks placed on the mushroom stick storage rack. By setting up a shiitake mushroom picking device above the mushroom stick picking and placing device, and connecting a shiitake mushroom grading device below the mushroom stick picking and placing device through a nylon cloth air duct, the automatic picking and sorting of shiitake mushrooms can be realized.

[0021] 2. This invention utilizes three soft fingers to harvest shiitake mushrooms, greatly increasing the contact area with the mushrooms and adapting to different shapes and sizes of shiitake mushrooms. Furthermore, due to the soft nature of the soft fingers, they can provide a certain cushioning effect when in contact with objects, reducing damage and deformation to the shiitake mushrooms.

[0022] 3. The mobile chassis described in this invention has the ability to move freely in multiple directions by setting omnidirectional wheels, which can achieve high mobility and flexibility in narrow spaces. At the same time, it is equipped with a positioning device and a laser ranging module. Compared with visual positioning and GPS positioning, it has higher measurement accuracy and faster response speed when moving over short distances, and does not depend on the ambient lighting conditions and the visibility of visual features.

[0023] 4. By setting up a shiitake mushroom grading device, this invention avoids secondary damage to shiitake mushrooms caused by manual grading. At the same time, the grading method is based on deep learning to determine the type of shiitake mushroom. Compared with manual grading, this grading method is more accurate and is not affected by subjective factors, effectively improving the efficiency of shiitake mushroom grading.

[0024] 5. The mushroom stick groove in this invention is semi-circular, which increases the contact area between the mushroom stick and the groove, avoids damage to the mushroom stick, and allows the friction wheel to flip the mushroom stick, thus improving the harvesting efficiency of shiitake mushrooms.

[0025] 6. The lifting device provided in this invention can adjust the height of the mushroom picking device and the mushroom stick taking and placing device. It is suitable for tiered mushroom storage racks and can store and retrieve mushroom sticks at any position on the mushroom storage rack, thus improving the flexibility of the device. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the grading and harvesting device in Embodiment 1 of the present invention;

[0027] Figure 2 This is a schematic diagram of the lifting support structure in Embodiment 1 of the present invention;

[0028] Figure 3 This is a schematic diagram of the mushroom stick taking and placing device in Embodiment 1 of the present invention;

[0029] Figure 4 This is a top view of the mushroom stick taking and placing device in Embodiment 1 of the present invention;

[0030] Figure 5 This is a schematic diagram of the shiitake mushroom harvesting device in Embodiment 1 of the present invention;

[0031] Figure 6 This is a schematic diagram of the shiitake mushroom grading device in Embodiment 1 of the present invention;

[0032] Figure 7 This is a schematic diagram of the mobile chassis structure in Embodiment 1 of the present invention;

[0033] Figure 8 This is a diagram showing the connection relationship of the omnidirectional wheels in Embodiment 1 of the present invention;

[0034] Figure 9 This is a schematic diagram of the positioning device structure in Embodiment 1 of the present invention;

[0035] Figure 10 This is a schematic diagram of the mushroom stick storage rack structure in Embodiment 1 of the present invention;

[0036] The components include: 1. Mobile chassis; 101. Base frame; 102. Omnidirectional wheel; 103. Connecting shaft; 104. Motor connecting seat; 105. Fourth drive motor; 106. Coupling pressure block; 107. Encoder; 108. Miniature omnidirectional wheel; 109. Encoder connecting seat; 110. Fourth slide rail; 111. Fourth slider; 112. Connecting piece; 113. Limiting post; 2. Lifting bracket; 201. First drive motor; 202. Winding shaft; 20 3. Belt; 204. Motor encoder; 205. First laser ranging module; 206. Second laser ranging module; 3. Mushroom stick picking and placing device; 301. Supporting horizontal frame; 302. Supporting vertical frame; 303. Lifting slider; 304. Pressing plate; 305. Sliding rod; 306. First slider; 307. First slide rail; 308. Sliding rod cylinder; 309. Printed part; 310. Rotary clamping cylinder; 311. Rotating plate; 312. Friction wheel; 313. 314. Impurity storage box; 315. Mushroom stick groove; 316. Placement opening; 317. Push cylinder; 4. Shiitake mushroom harvesting device; 401. First support plate; 402. Support side frame; 403. Second slide rail; 404. Second slider; 405. First T-shaped lead screw; 406. Second drive motor; 407. First flange; 408. Harvesting connecting piece; 409. Miniature cylinder; 410. Finger connecting piece; 411. Soft finger; 4 12. Guide rod; 413. Depth camera; 5. Shiitake mushroom grading device; 501. Second support plate; 502. Bracket; 503. Third slide rail; 504. Third slider; 505. Second T-shaped lead screw; 506. Third drive motor; 507. Second flange; 508. Pipe connection plate; 509. Nylon fabric duct; 510. Storage basket; 601. Mushroom stick storage rack; 602. Mushroom stick support frame; 701. Mushroom stick; 702. Mushroom stick body. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0038] Terminology Explanation: The terms "installation," "connection," "linking," and "fixing" in this invention should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction relationship between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] Example 1

[0040] A typical embodiment of the present invention, such as Figure 1As shown, a shiitake mushroom grading and harvesting device includes a movable base 1, a lifting support 2 is provided on the movable base 1, a mushroom stick picking and placing device 3 and a shiitake mushroom harvesting device 4 are slidably connected on the lifting support 2, the shiitake mushroom harvesting device 4 is located above the mushroom stick picking and placing device 3, and a shiitake mushroom grading device 5 is provided below the shiitake mushroom harvesting device 4, the shiitake mushroom grading device 5 is fixed on the movable base 1.

[0041] like Figure 2 As shown, the lifting support 2 is a rectangular frame structure, vertically fixed on the movable base 1. The mushroom stick picking and placing device 3 can move up and down along the lifting support 1. Lifting devices are provided on both sides of the top of the lifting support 1. The lifting device includes a first drive motor 201, which can be an RE35 motor. The first drive motor 201 is fixedly connected to the lifting support 2 through a motor base. The output shaft of the first drive motor 201 is fixedly connected to a winding shaft 202. A belt 203 is provided on the winding shaft 202. One end of the belt 203 is fixed to the winding shaft 202 through a set screw, and the other end of the belt 203 is fixed to the mushroom stick picking and placing device 3. When the first drive motor 201 rotates, the winding shaft 202 winds the belt 203, thereby driving the mushroom stick picking and placing device 3 to move up and down along the lifting support 2. The first drive motor 201 is also equipped with a motor encoder 204, which detects the rotation speed and number of rotations of the first drive motor 201, thereby accurately controlling the lifting position of the mushroom stick picking and placing device 3.

[0042] The first laser ranging module 205 and the second laser ranging module 206 are also fixed on both sides below the lifting bracket 2.

[0043] like Figure 3 and Figure 4 As shown, the mushroom stick picking and placing device 3 includes a support frame, which is an L-shaped structure, including a horizontal support frame 301 and a vertical support frame 302. Lifting sliders 303 are provided on both sides of the horizontal support frame 301 at positions corresponding to the lifting bracket 2. The lifting sliders 303 are slidably connected to the lifting bracket 2, thereby enabling the mushroom stick picking and placing device 3 to slide along the lifting bracket 2. Pressure plates 304 are also provided on both sides of the horizontal support frame 301. The pressure plates 304 fix one end of the belt 203 away from the winding shaft 202 to the horizontal support frame 301, thereby using the belt 203 to drive the mushroom stick picking and placing device 3 to move.

[0044] Slide rods 305 are provided on the upper sides of both sides of the support crossbeam 301. The slide rods 305 are L-shaped. A first slider 306 is provided on the bottom surface of the slide rod 305 near the support vertical frame 302. The first slider 306 is slidably connected to the first slide rail 307 provided on the upper surface of both sides of the support crossbeam 301, so that the slide rod 305 can slide along the length direction of the support crossbeam 301. A slide rod cylinder 308 is provided above the slide rod 305. One end of the slide rod cylinder 308 is fixed to the slide rod 305, and the other end is fixed to the support vertical frame 302. The slide rod cylinder 308 can drive the slide rod 305 to move.

[0045] The slide bar 305 is also provided with a printing part 309, which is located on the side of the slide bar 305 away from the slide bar cylinder 308. A rotary clamping cylinder 310 is fixed on the printing part 309. A rotating plate 311 is connected to the output shaft of the rotary clamping cylinder 310, and the rotary clamping cylinder 310 can drive the rotating plate 311 to rotate.

[0046] A friction wheel 312 is provided at one end of the support crossbeam 301 away from the support vertical frame 302. There are two friction wheels 312, which are symmetrically arranged at the end of the support crossbeam 301. The friction wheel 312 has a built-in rotating motor. By rotating the motor, the arc-shaped outer surface of the friction wheel 312 can be rotated around the axis. An impurity collection box 313 is provided below the two friction wheels 312 and is fixed on the support crossbeam 301.

[0047] The support frame 301 has a mushroom stick groove 314 in the middle, which is used to place mushroom sticks 701. The cross-section of the mushroom stick groove 314 is U-shaped, and its two sides are welded and fixed to the support frame 301. The bottom of the end of the mushroom stick groove 314 near the support frame 302 has a placement opening 315, which is connected to the shiitake mushroom grading device 5 through a nylon fabric air duct 509.

[0048] Two push cylinders 316 are arranged in parallel on the support frame 302. The two push cylinders 316 are fixed on both sides of the support frame 302 by cylinder seats. The ends of the telescopic shafts of the two push cylinders 316 are connected by push plates 317, which are located above the mushroom stick groove 314.

[0049] When picking up or placing the mushroom stick 701, the lifting device 3 is adjusted to a suitable height. The sliding cylinders 308 on both sides of the device extend the sliding rods 305, placing the rotating plates 311 behind the mushroom stick 701. Then, the rotary pressing cylinder 310 rotates the rotating plates 311 horizontally. The sliding cylinders 308 then retract the sliding rods 305, pulling the mushroom stick 701 onto the mushroom stick groove 314. The rotary pressing cylinders 310 then rotate the rotating plates 311 to a vertical position, completing the picking up of the mushroom stick 701. After the mushroom stick 701 is picked from the mushroom stick groove 314, the telescopic rods of the two pushing cylinders 316 extend, and the pushing plate 317 pushes the mushroom stick 701, causing it to fall onto the mushroom stick support frame 602, thus completing the placement of the mushroom stick 701.

[0050] During the shiitake mushroom harvesting process, the arc-shaped outer surface of the friction wheel 312 contacts the mushroom log 701. The rotation of the friction wheel 312 causes the side of the mushroom log 701 to face upwards, allowing the shiitake mushroom bodies 702 on the side to be harvested. Additionally, during the handling of shiitake mushrooms, a large amount of impurities will fall off the mushroom log 701. The impurity collection box 313 can automatically store these impurities, preventing them from interfering with the normal handling of the mushroom log 701.

[0051] like Figure 5 As shown, the shiitake mushroom harvesting device 4 is positioned directly above the mushroom log picking and placing device 3, and is used to harvest shiitake mushrooms from the mushroom logs 701. The shiitake mushroom harvesting device 4 includes a first support plate 401, one end of which is fixed to the top of the vertical support frame 302, and the other end of which is fixedly connected to the horizontal support frame 301 via a side support frame 402, thereby placing the first support plate 401 horizontally. A second slide rail 403 is provided on the upper surface of the first support plate 401, and a second slider 4 is slidably connected to the second slide rail 403. 04. The middle part of the second slider 404 is threadedly connected to a first T-shaped lead screw 405. The two ends of the first T-shaped lead screw 405 are fixed to the first support plate 401 through bearing seats. One end of the first T-shaped lead screw 405 is connected to a second drive motor 406 through a coupling. The second drive motor 406 is fixed to the first support plate 401 through a first flange 407. By controlling the second drive motor 406, the first T-shaped lead screw 405 is driven to rotate, so that the second slider 404 moves along the length direction of the second slide rail 403.

[0052] The upper surface of the second slider 404 is provided with a picking connecting plate 408. A miniature cylinder 409 is fixed to one end of the picking connecting plate 408 away from the second slider 404. The miniature cylinder 409 is vertically fixed on the picking connecting plate 408. A finger connecting piece 410 is fixedly connected to the telescopic shaft of the miniature cylinder 409. The miniature cylinder 409 can drive the finger connecting piece 410 to move up and down. Multiple mounting slots are symmetrically opened on the finger connecting piece 410. Soft fingers 411 are fixed in the mounting slots by screws. A guide rod 412 is also fixedly connected to the picking connecting plate 408. The fixed end of the guide rod 412 is fixed to the picking connecting plate 408, and the telescopic end of the guide rod 412 is fixed to the finger connecting piece 410. The guide rod 412 ensures the stability of the finger connecting piece 410 when it moves up and down.

[0053] A depth camera 413 is provided on the lower surface of the first support plate 401. The camera of the depth camera 412 is positioned facing the mushroom stick groove 314. The depth camera 413 is used to acquire images of the mushroom stick 701 placed in the mushroom stick groove 314.

[0054] When harvesting shiitake mushrooms, the depth camera 413 first captures an image of the top of the mushroom log 701 placed in the log groove 314, and transmits the captured image to a microcomputer. The microcomputer processes the image to obtain the location and type of each mature shiitake mushroom 702, and then sends this data to a microcontroller circuit. The microcontroller circuit controls the second drive motor 406 to rotate, thereby moving the position of the finger connecting piece 410. When the finger connecting piece 410 moves to the top of the shiitake mushroom 702... At the top, the three soft fingers 411 begin to inflate and open. Then, the miniature cylinder 409 extends, causing the mushroom body 702 to fall inside the three soft fingers 411. Then, the three soft fingers 411 retract to grasp the mushroom body 702, while the miniature cylinder 409 retracts to remove the mushroom body 702 from the mushroom stick 701. The mushroom body 702 is then brought above the placement opening 315, and the three soft fingers 411 open again, allowing the mushroom body 702 to fall into the placement opening 315, thus completing the mushroom harvesting process.

[0055] like Figure 6As shown, the shiitake mushroom grading device 5 is located directly below the mushroom stick handling device 3. The shiitake mushroom grading device 5 includes a second support plate 501, which is fixed to the movable base 1 by a bracket 502. A third slide rail 503 is provided on the upper surface of the second support plate 501. A third slider 504 is slidably connected to the third slide rail 503. A second T-shaped lead screw 505 is threadedly connected to the middle of the third slider 504. Both ends of the second T-shaped lead screw 505 are fixed to the second support plate 501 by bearing seats. One end of the second T-shaped lead screw 505 is connected to a third drive motor 506 by a coupling. The third drive motor 506 is fixed to the second support plate 501 by a second flange 507. By controlling the third drive motor 506, the second T-shaped lead screw 505 is rotated, causing the third slider 504 to slide along the length direction of the third slide rail 503.

[0056] The side of the third slider 504 is fixedly connected to a pipe connecting plate 508. The pipe connecting plate 508 is connected to the end of the nylon cloth air duct 509 away from the placement port 315. A storage basket 510 is also placed on the movable base 1. There are three storage baskets 510. The three storage baskets 510 are placed side by side on the movable base 1. The end of the nylon cloth air duct 509 moves between the three storage baskets 510 under the drive of the mushroom grading device 5.

[0057] When grading shiitake mushrooms, the type of shiitake mushroom 702 is determined based on the image of the shiitake mushrooms obtained during harvesting. The third drive motor 506 is then controlled to rotate according to the type of shiitake mushroom 702, so that the bottom end of the nylon cloth duct 509 is on different shiitake mushroom storage baskets 510. The shiitake mushroom 702 will be output from the bottom end of the nylon cloth duct 509 and fall into the different shiitake mushroom storage baskets 510, thus completing one shiitake mushroom grading operation.

[0058] like Figures 7-9 As shown, the mobile chassis 1 includes a base frame 101 and four omnidirectional wheels 102. The omnidirectional wheels 102 are symmetrically arranged at the four corners of the base frame 101. The omnidirectional wheels 102 are fixedly connected to the motor connecting seat 104 via a connecting shaft 103. The motor connecting seat 104 is fixed with a fourth drive motor 105. The fourth drive motor 105 can be a DJI 3508 motor. The output shaft of the fourth drive motor 105 is connected to the connecting shaft 103 via a coupling pressure block 106, thereby driving the omnidirectional wheels 102 to rotate. The motor connecting seat 104 is fixed on the base frame 101.

[0059] A positioning device is provided in the middle of the mobile chassis 1. The positioning device includes an encoder 107 and a miniature omnidirectional wheel 108. The encoder 107 is fixed on the encoder connecting seat 109. The output shaft of the encoder 107 is fixedly connected to the miniature omnidirectional wheel 108 through a flange. A fourth slide rail 110 is provided on one side of the encoder connecting seat 109. A fourth slider 111 is slidably connected on the fourth slide rail 110. A connecting piece 112 is provided on the fourth slider 111. The positioning device is fixed to the base frame 101 through the connecting piece 112. A limit post 113 is provided on the top of the fourth slide rail 110.

[0060] When movement is required, the mobile chassis 1 can receive data from the microcontroller circuit, including the position coordinates of the X and Y axes and the movement speed on the X and Y axes. After receiving the data, the processor on the mobile chassis 1 will compare the target position with the current position in real time and output the speed values ​​of the four fourth drive motors 105 through PID control. After receiving the speed of the four fourth drive motors 105 from the processor, the motor driver will control the rotation of the four fourth drive motors 105. The rotation of the fourth drive motors 105 drives the rotation of the omnidirectional wheels 102. By combining the rotation and speed of the four omnidirectional wheels 102, the mobile chassis 1 can be precisely controlled to reach the target position. The current position is obtained through encoder 107, first laser ranging module 205 and second laser ranging module 206. The movement of the mobile chassis 1 on the X-axis will drive the rotation of the micro omnidirectional wheel 108. The rotation of the micro omnidirectional wheel 108 will cause encoder 107 to rotate. By integrating the speed transmitted from encoder 107, the current position on the X-axis can be obtained. First laser ranging module 205 and second laser ranging module 206 can irradiate the laser point onto the mushroom stick storage rack 601, thereby measuring the distance between the laser and the mushroom stick storage rack 601. By converting this distance, the current position of the mobile chassis 1 on the Y-axis can be obtained.

[0061] Furthermore, the heading angle of the current mobile chassis 1 can be calculated from the distances measured by the first laser ranging module 205 and the second laser ranging module 206. The calculation method is as follows:

[0062] Assuming the distance obtained by the first laser ranging module 205 is y1 and the distance obtained by the second laser ranging module 206 is y2, the parallel distance z between the first laser ranging module 205 and the second laser ranging module 206 when they are installed is obtained by the heading angle formula yaw=arctan(z / (y1-y2)).

[0063] The X-axis mentioned above is parallel to the mushroom stick support frame 602, and the Y-axis is perpendicular to the mushroom stick support frame 602.

[0064] Example 2

[0065] This embodiment discloses a method for grading and harvesting shiitake mushrooms, utilizing a shiitake mushroom grading and harvesting device as described in Embodiment 1, including the following steps:

[0066] First, take the mushroom logs from the bottom of the storage rack, and then harvest the mature shiitake mushrooms. After all the shiitake mushrooms on the logs have been harvested, put the logs back on the support rack. Then, the first drive motor starts to rotate a fixed number of times and raises the log picking and harvesting device and the shiitake mushroom harvesting device to a fixed height via a belt, thereby harvesting the shiitake mushrooms from the second row of logs on the storage rack. Repeat the above process until the top logs have been harvested, thus completing the harvesting of one row of logs.

[0067] Next, the first drive motor starts to rotate a fixed number of times and uses the belt to lower the mushroom stick picking device and the shiitake mushroom picking device to the bottom layer. Then the moving chassis device starts to move along the X-axis and moves to the position of the next row of mushroom sticks before performing the above operation.

[0068] Repeat the above steps until all the mushroom sticks on the mushroom stick support frame have been harvested, then stop working.

[0069] The above description is merely a preferred embodiment of the present invention and is not intended to limit this disclosure. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A shiitake mushroom grading and harvesting device, characterized in that, The device includes a mobile chassis, on which a lifting support is mounted. A mushroom log picking and placing device and a shiitake mushroom harvesting device are slidably connected to the lifting support. The shiitake mushroom harvesting device is located above the mushroom log picking and placing device, and below the shiitake mushroom harvesting device is a shiitake mushroom grading device. The shiitake mushroom grading device is fixed to the mobile chassis. The mushroom log picking and placing device and the shiitake mushroom grading device are connected by a nylon fabric duct. The mushroom stick handling device includes a horizontal support frame and a vertical support frame. The horizontal support frame is perpendicular to the vertical support frame. Sliding rods are slidably connected to both sides of the horizontal support frame. A sliding rod cylinder is installed on each sliding rod. One end of the sliding rod cylinder is connected to the sliding rod, and the other end is fixedly connected to the vertical support rod. A rotary pressing cylinder is connected to the sliding rod through a printed part. A rotating plate is connected to the output shaft of the rotary pressing cylinder. The support crossbeam has a mushroom stick groove in the middle, the cross-section of the mushroom stick groove is U-shaped, and its two sides are welded and fixed to the support crossbeam. The bottom of the end of the mushroom stick groove near the support vertical frame has a placement opening, which is connected to the shiitake mushroom grading device through a nylon fabric air duct. Two push cylinders are arranged in parallel on the support frame, and the ends of the telescopic shafts of the two push cylinders are connected by a push plate; The mushroom harvesting device includes a first support plate, on which a second slider is slidably connected. The second slider is connected to a miniature cylinder via a harvesting connecting plate. The telescopic shaft of the miniature cylinder is fixedly connected to a finger connecting piece, on which multiple soft fingers are symmetrically arranged.

2. The shiitake mushroom grading and harvesting device as described in claim 1, characterized in that, The lifting support is provided with lifting devices on both sides of the top end. The lifting device includes a first drive motor. The output shaft of the first drive motor is fixedly connected to a winding shaft. The winding shaft is connected to one end of a belt, and the other end of the belt is fixed to the mushroom stick picking and placing device.

3. The shiitake mushroom grading and harvesting device as described in claim 1, characterized in that, The shiitake mushroom grading device includes a second support plate, on which a third slider is slidably connected. The third slider is connected to a nylon fabric duct via a pipe connecting plate.

4. The shiitake mushroom grading and harvesting device as described in claim 1, characterized in that, The mobile chassis includes a base frame and omnidirectional wheels. Multiple omnidirectional wheels are fixed to the base frame via motor connectors. A fourth drive motor is mounted on the motor connector, and the output shaft of the fourth drive motor is connected to the omnidirectional wheels.

5. A shiitake mushroom grading and harvesting device as described in claim 4, characterized in that, A positioning device is provided in the middle of the mobile chassis. The positioning device includes an encoder and a miniature omnidirectional wheel. The encoder is fixed on the encoder connector, and the output shaft of the encoder is fixedly connected to the miniature omnidirectional wheel through a flange.

6. A method for grading and harvesting shiitake mushrooms, utilizing a shiitake mushroom grading and harvesting device as described in any one of claims 1-5, characterized in that, Includes the following steps: First, take the mushroom logs from the bottom of the storage rack, and then harvest the mature shiitake mushrooms. After all the shiitake mushrooms on the logs have been harvested, put the logs back on the support rack. Then, the first drive motor starts to rotate a fixed number of times and raises the log picking and harvesting device and the shiitake mushroom harvesting device to a fixed height via a belt, thereby harvesting the shiitake mushrooms from the second row of logs on the storage rack. Repeat the above process until the top logs have been harvested, thus completing the harvesting of one row of logs. Next, the first drive motor starts to rotate a fixed number of times and uses the belt to lower the mushroom stick picking device and the shiitake mushroom picking device to the bottom layer. Then the moving chassis device starts to move along the X-axis and moves to the position of the next row of mushroom sticks before performing the above operation. Repeat the above steps until all the mushroom sticks on the mushroom stick support frame have been harvested, then stop working.

Images