A method and system for automatically picking Agaricus bisporus

Abstract

The present invention relates to the technical field of mushroom picking, and in particular to an automatic picking method and system for Agaricus bisporus, comprising a load-bearing platform and a picking balance arm, wherein a lifting mechanism is controlled by a picking control system to adjust the height up and down in the vertical direction, so that picking can be performed on each layer of a multi-layer frame, and the picking is switched to the next layer after the picking is completed. The matching sliding mechanism can realize picking in each row in turn during the picking process of each layer, and the picking efficiency is high. Through the matching of the X-direction and the Y-direction, accurate grasping and picking of mushrooms can be achieved, and the picking positioning is accurate and the picking efficiency is high. The mushrooms in the field of view can be captured by a monitoring camera and the information can be stored for standby use, and the distribution and actual spacing of Agaricus bisporus can be analyzed and fed back, so as to achieve accurate picking. The picking head is used in conjunction with an air pump, and the air pressure can be effectively controlled and adjusted. The mushroom body is picked and released by suction and deflation, and the mushroom body will not be stabbed or scratched by the outside, so as to ensure the original ecology of the mushroom body surface.

Description

Technical Field

[0001] The invention relates to the technical field of mushroom picking, and in particular to an automatic picking method and system for Agaricus bisporus. Background Art

[0002] Agaricus bisporus is a mushroom that is cultivated and consumed worldwide. It is known as the "world mushroom" and can be sold fresh, canned, or salted. It has a round appearance without scales, a thick cap that is not easy to open, and a medium-thick, straight and short stem.

[0003] With the continuous development of Agaricus bisporus cultivation technology, its cultivation process has been industrialized, and uninterrupted production can be achieved all year round through environmental control of the mushroom house. Currently, the picking of Agaricus bisporus mainly relies on manual labor, which has the disadvantages of low efficiency and high cost, and the pickers are at risk of suffering from occupational diseases such as "mushroom lung".

[0004] The cultivation rack of Agaricus bisporus is a multi-layer rack, and mushrooms are cultivated on each layer of the rack. After picking one layer of Agaricus bisporus, it is impossible to pick mushrooms on other layers;

[0005] The randomness of the growth process of Agaricus bisporus is relatively large, which will cause some aggregation and dispersion of Agaricus bisporus. During the picking process, the location of the mushrooms cannot be accurately obtained, the picking positioning is not precise, it is easy to grab the wrong place or grab empty, and it is easy to accidentally damage the mushroom body. Moreover, each time the mushrooms are picked, the intermediate step is unstable, resulting in incomplete picking of the mushrooms, which needs to be re-picked later, which invisibly prolongs the picking time and increases the production cost, affecting the picking quality and efficiency of the mushrooms. Summary of the invention

[0006] Based on this, it is necessary to provide an automatic picking method and system for Agaricus bisporus to address the problems that the current picking devices cannot achieve picking at each layer and the picking positioning is inaccurate during the picking process of Agaricus bisporus, which affects the picking quality and picking efficiency of Agaricus bisporus.

[0007] The above purpose is achieved through the following technical solutions:

[0008] An automatic picking method and system for Agaricus bisporus, comprising a load-bearing platform 1, on which a picking balance arm arranged in a horizontal direction is disposed, on which a group of picking actuators and a picking control system arranged in a mirror image are disposed, and between the load-bearing platform and the picking balance arm is a lifting mechanism for driving the picking balance arm to rise and fall in a Z direction, the lifting mechanism can adjust the height up and down in a vertical direction, so as to realize picking on each layer of a multi-layer frame, and after picking is completed, the picking is switched to the next layer for picking.

[0009] The picking balance arm is provided with two sliding mechanisms along the length direction to drive the picking actuator to slide along the X direction. The sliding mechanism can realize picking in each row in turn during the picking process of each layer, and the picking efficiency is high. Each picking actuator includes a picking part and a horizontal pushing mechanism that drives the picking part to move along the Y direction. Each horizontal pushing mechanism includes a horizontal guide rail, a horizontal slider is provided on the horizontal guide rail, and an outward push motor is horizontally provided on one side of the horizontal slider, and the horizontal slider is arranged at the shaft end of the outward push motor. At the same point in the X direction, the picking in the width direction is realized by the horizontal pushing mechanism, and the precise grasping and picking of mushrooms is realized by the cooperation of the X direction and the Y direction, and the picking positioning is accurate and the picking efficiency is high.

[0010] The picking part is arranged at the end of the horizontal slider. The picking part includes a picking head, a monitoring camera, and a picking motor that drives the picking head to rise and fall in the Z direction. It also includes an air pump that forms negative pressure when the picking head fits with the mushroom. The monitoring camera can capture the mushrooms in the field of view and store the information for standby use, analyze and feedback the distribution and actual spacing of Agaricus bisporus, and achieve accurate picking. The picking head is used in conjunction with the air pump, so that the air pressure can be effectively controlled and adjusted during the picking process of mushrooms. The mushroom body is picked through the process of suction and degassing, and the mushroom body will not be punctured or scratched from the outside, ensuring the original ecology of the mushroom body surface.

[0011] As a further solution of the present invention, the monitoring camera is arranged in front of the horizontal slider on this side to realize independent shooting and positioning on both sides; the independent shooting and positioning on both sides do not interfere with each other and are carried out synchronously, the picking efficiency is high, the captured information does not affect each other, and the pertinence is strong.

[0012] The picking head includes two picking suction cups, which are symmetrically arranged along the two sides of the monitoring camera, and the picking suction cups are fixed to the telescopic shaft end of the picking motor through a suction cup fixing piece. An air inlet is arranged on the top of the picking suction cup, and the air inlet is connected to the air pump through an air pipe. An air outlet is arranged at the bottom of the picking suction cup, and the air outlet is arranged at a flexible concave arc surface that matches the surface of the mushroom. The flexible concave arc surface is adapted to the surface of the mushroom, so as to ensure that the mushroom will not be damaged or destroyed when it contacts the picking suction cup.

[0013] As a further solution of the present invention, the picking balance arm also has a set of two mirror-image drag chains, one end of each drag chain is fixedly arranged below the picking balance arm and close to the load platform, and the movable ends of the drag chains are connected to the horizontal push mechanism through communication or electricity. The drag chains are independent of each other and effectively store communication lines and wires to achieve safe and efficient operation of the equipment.

[0014] As a further solution of the present invention, the lifting mechanism includes a lifting motor, which is vertically fixed on the load-bearing platform, and the telescopic shaft end of the lifting motor is vertically arranged with the picking balance arm. The lifting motor provides driving force for the picking balance arm during the lifting process.

[0015] As a further solution of the present invention, the sliding mechanism includes a longitudinal guide rail arranged along the length direction of the picking balance arm, a longitudinal slider and a sliding motor driving the longitudinal slider to reciprocate are arranged on the longitudinal guide rail, the longitudinal slider is arranged at the telescopic shaft end of the sliding motor, and the horizontal push mechanism is arranged on the longitudinal slider and slides synchronously with the longitudinal slider. The sliding motor drives the horizontal push mechanism to reciprocate on the longitudinal guide rail, and the sliding is smooth and efficient.

[0016] As a further solution of the present invention, the picking control system includes a picking control module, a motor control module, a mushroom positioning module, and a mushroom detection algorithm module. The mushroom positioning module is connected to the monitoring camera in communication, and the picking control module, the mushroom detection algorithm module, and the motor control module are all connected to the sliding motor, the lifting motor, the picking motor, and the extrapolation motor in communication. The picking control system controls and realizes the automated picking process, and comprehensively improves the picking efficiency and picking accuracy.

[0017] As a further solution of the present invention, one end of the picking balance arm is set as a picking end, and the other end is provided with a balancing tail, so as to ensure the balance of the entire picking balance arm and prevent it from tilting or tipping over.

[0018] As a further solution of the present invention, a picking method of the Agaricus bisporus automatic picking system comprises the following steps:

[0019] (1) Return to zero: When the picking control module is started, the motor initialization function in the motor control module is called, and the sliding mechanism, the extrapolation mechanism, and the lifting mechanism in the X, Y, and Z directions all return to zero;

[0020] (2) Visual positioning: The mushroom positioning module controls the surveillance camera to capture visual information and feeds it back to the picking control module. The surveillance cameras on both sides move along the picking sliding direction at a certain sliding step length. Each time a step length is reached, a photo is taken to capture RGB images and depth images. The mushroom detection algorithm module is used to obtain the 3D position information of the mushroom relative to the current camera coordinates.

[0021] (3) Picking grouping: The picking control module divides the Z-axis information in the collected mushroom 3D position information into multiple picking groups according to size. Each picking group corresponds to a picking height. The picking group heights are arranged from high to low. The picking control module calls the picking balance arm lifting function in the motor control module. The picking balance arm descends to the picking position to pick the mushrooms in the current picking group.

[0022] (4) Picking point: Based on the 3D position of the mushroom and the X-axis position information of the mushroom, the picking control module calls the motor control module to drive the sliding motor to move the picking actuator to the corresponding picking sliding position;

[0023] The picking control module calls the motor control module to drive the push motor and the picking motor. The push motor and the picking motor in the picking actuator complete the push and descend motion in parallel to the top of the mushroom and fit the mushroom.

[0024] (10) Picking: In the mushroom position set of the same picking group, two mushrooms will be picked on each side until all mushrooms are picked. The picking control module calls the motor control module to drive the air pump, and then drives the picking motor after negative pressure is formed in the mushroom bonding stage, until the mushroom position set is empty and then rises.

[0025] (11) Double-side picking comparison: picking on both sides is carried out in parallel without interfering with each other. Comparison of whether the picking on the opposite side of each picking layer is completed serves as the basis for the next operation;

[0026] (12) Return to the origin to place the mushrooms: The picking control module calls the motor control module to drive the sliding motor and the extrapolation motor to move the sliding mechanism and the extrapolation mechanism in the picking actuator to the zero position. The picking control calls the motor control module to drive the lifting motor. The lifting mechanism performs the descending motion until it is completed. The picking control calls the motor control module to drive the air pump to form positive pressure at the mushroom attachment point. The mushrooms fall down. Then the lifting motor is driven. The lifting mechanism performs the ascending motion to the zero position.

[0027] (13) Replacing the picking group: After the picking control module receives the information that there is no mushroom position in the bilateral mushroom picking group, the picking control module calls the motor control module to drive the platform lifting motor to descend to another picking height to execute a new round of picking operation process, and repeats steps (4) to (7);

[0028] (14) Picking completed: the platform is raised and lowered to return to its initial state.

[0029] The beneficial effects of the present invention are:

[0030] In the process of picking Agaricus bisporus, the lifting mechanism can adjust the height up and down in the vertical direction, so as to pick the Agaricus bisporus on each layer of the multi-layer frame, and switch to the next layer for picking after the picking is completed. The matching sliding mechanism can pick the Agaricus bisporus in each row in turn during the picking process of each layer, and the picking efficiency is high. Each picking actuator includes a picking part and a horizontal push mechanism that drives the picking part to move along the Y direction, and each horizontal push mechanism includes a horizontal guide rail, a horizontal slider is provided on the horizontal guide rail, and an outward push motor is horizontally provided on one side of the horizontal slider, and the horizontal slider is arranged at the shaft end of the outward push motor. At the same point in the X direction, the picking in the width direction is realized by the horizontal push mechanism, and the mushrooms can be accurately grasped and picked by the cooperation of the X direction and the Y direction, and the picking positioning is accurate and the picking efficiency is high. The mushrooms in the field of view can be captured by the monitoring camera and the information can be stored for standby use, and the distribution and actual spacing of the Agaricus bisporus can be analyzed and fed back to realize accurate picking. The picking head is used in conjunction with the air pump to effectively control and adjust the air pressure during the picking process. The mushroom bodies are picked and released through the process of suction and deflation, and the mushroom bodies will not be stabbed or scratched from the outside, ensuring the original ecology of the mushroom body surface. The entire picking process is controlled by the picking control system to achieve an automated picking process, which comprehensively improves the picking efficiency and picking accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The three-dimensional structure diagram of the automatic Agaricus bisporus picking system of the present invention is shown in FIG. Figure 1 ;

[0032] Figure 2 The three-dimensional structure diagram of the automatic Agaricus bisporus picking system of the present invention is shown in FIG. Figure 2 ;

[0033] Figure 3 The three-dimensional structure diagram of the automatic Agaricus bisporus picking system of the present invention is shown in FIG. Figure 3 ;

[0034] Figure 4 A bottom view of the automatic Agaricus bisporus picking system of the present invention;

[0035] Figure 5 It is a front view of the automatic Agaricus bisporus picking system of the present invention.

[0036] Among them: 1-loading platform, 2-lifting mechanism, 3-sliding mechanism, 301-longitudinal slider, 302-longitudinal guide rail, 303-sliding motor, 4-drag chain, 5-picking balance arm, 6-transverse pushing mechanism, 601-external pushing motor, 602-transverse guide rail, 603-transverse slider, 604-picking motor, 605-picking head, 7-air pump, 8-monitoring camera, 9-picking control system. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0038] The serial numbers of the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationship shown in the accompanying drawings, which is 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0039] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0040] like Figures 1 to 5 As shown, an automatic Agaricus bisporus picking method and system provided by an embodiment of the present invention is used for picking Agaricus bisporus; it includes a load-bearing platform 1, on which a picking balance arm 5 arranged in a horizontal direction is provided, one end of the picking balance arm is set as a picking end, and the other end is provided with a balancing tail.

[0041] A group of mirror-image picking actuators and a picking control system 9 are provided on the picking balance arm. The picking control system 9 includes a picking control module, a motor control module, a mushroom positioning module, and a mushroom detection algorithm module. The mushroom positioning module is communicatively connected to the monitoring camera, and the picking control module, the mushroom detection algorithm module, and the motor control module are all communicatively connected to the sliding motor, the lifting motor, the picking motor, and the extrapolation motor.

[0042] A lifting mechanism 2 is provided between the load-bearing platform and the picking balance arm to drive the picking balance arm to rise and fall along the Z direction. The lifting mechanism 2 includes a lifting motor, which is vertically fixed on the load-bearing platform. The telescopic shaft end of the lifting motor is vertically arranged with the picking balance arm.

[0043] The picking balance arm is provided with two sliding mechanisms 3 along the length direction for driving the picking actuator to slide along the X direction. The sliding mechanism includes a longitudinal guide rail 302 arranged along the length direction of the picking balance arm, and the longitudinal guide rail is provided with a longitudinal slider 301 and a sliding motor 303 for driving the longitudinal slider to reciprocate. The longitudinal slider is arranged at the telescopic shaft end of the sliding motor, and the transverse pushing mechanism is arranged on the longitudinal slider 301 and slides synchronously with the longitudinal slider.

[0044] Each picking actuator includes a picking part and a horizontal pushing mechanism 6 that drives the picking part to move along the Y direction. There is also a group of two mirror-image-arranged drag chains 4 on the picking balance arm 5. One end of each drag chain is fixedly arranged on the side of the loading platform below the picking balance arm, and the movable ends of the drag chains are connected to the horizontal pushing mechanism through communication or electrical connection.

[0045] Each transverse pushing mechanism includes a transverse guide rail 602, a transverse slider is provided on the transverse guide rail, an outward push motor 601 is horizontally provided on one side of the transverse slider, a transverse slider 603 is arranged at the shaft end of the outward push motor 601, a picking part is arranged at the end of the transverse slider, and the picking part includes a picking head 605, a monitoring camera 8 and a picking motor 604 that drives the picking head to rise and fall along the Z direction, and the monitoring camera is arranged in front of the transverse slider on this side to realize independent shooting and positioning on both sides;

[0046] It also includes an air pump 7 that forms negative pressure when the picking head is in contact with the mushroom. The picking head includes two picking suction cups, which are symmetrically arranged on both sides of the monitoring camera 8. The picking suction cups are fixed to the telescopic shaft ends of the picking motor 604 through suction cup fixing parts. An air inlet is arranged on the top of the picking suction cup, which is connected to the air pump through an air pipe. An air outlet is arranged at the bottom of the picking suction cup, and the air outlet is arranged to be a flexible concave arc surface that matches the surface of the mushroom.

[0047] The picking method of the automatic picking system for Agaricus bisporus comprises the following steps:

[0048] (1) Return to zero: When the picking control module is started, the motor initialization function in the motor control module is called, and the sliding mechanism, the extrapolation mechanism, and the lifting mechanism in the X, Y, and Z directions all return to zero;

[0049] (2) Visual positioning: The mushroom positioning module controls the surveillance camera to capture visual information and feeds it back to the picking control module. The surveillance cameras on both sides move along the picking sliding direction at a certain sliding step length. Each time a step length is reached, a photo is taken to capture RGB images and depth images. The mushroom detection algorithm module is used to obtain the 3D position information of the mushroom relative to the current camera coordinates.

[0050] (3) Picking grouping: The picking control module divides the Z-axis information in the collected mushroom 3D position information into multiple picking groups according to size. Each picking group corresponds to a picking height. The picking group heights are arranged from high to low. The picking control module calls the picking balance arm lifting function in the motor control module. The picking balance arm descends to the picking position to pick the mushrooms in the current picking group.

[0051] (4) Picking point: Based on the 3D position of the mushroom and the X-axis position information of the mushroom, the picking control module calls the motor control module to drive the sliding motor to move the picking actuator to the corresponding picking sliding position;

[0052] The picking control module calls the motor control module to drive the push motor and the picking motor. The push motor and the picking motor in the picking actuator complete the push and descend motion in parallel to the top of the mushroom and fit the mushroom.

[0053] (5) Picking: In the mushroom position set of the same picking group, two mushrooms will be picked on each side until all mushrooms are picked. The picking control module calls the motor control module to drive the air pump, and after negative pressure is formed in the mushroom bonding stage, the picking motor is driven until the mushroom position set is empty and then the mushroom moves upward.

[0054] (6) Double-side picking comparison: picking on both sides is carried out in parallel without interfering with each other. Comparison of whether the picking on the opposite side of each picking layer is completed serves as the basis for the next operation.

[0055] (7) Return to the origin to place the mushrooms: The picking control module calls the motor control module to drive the sliding motor and the push motor to move the sliding mechanism and the push mechanism in the picking actuator to the zero position. The picking control calls the motor control module to drive the lifting motor. The lifting mechanism performs the descending motion until it is completed. The picking control calls the motor control module to drive the air pump to form positive pressure at the mushroom attachment point. The mushrooms fall down. Then the lifting motor is driven. The lifting mechanism performs the ascending motion to the zero position.

[0056] (8) Replacing the picking group: After the picking control module receives the information that there is no mushroom position in the bilateral mushroom picking group, the picking control module calls the motor control module to drive the platform lifting motor to descend to another picking height to execute a new round of picking operation process, and repeats steps (4) to (7);

[0057] (9) Picking completed: the platform is raised and lowered to return to its initial state.

[0058] Example 1

[0059] When picking begins, move the load-carrying platform to one side of the planting rack, which is a multi-layer rack or a single-layer rack. Prepare to start the picking control module, call the motor initialization function in the motor control module, and return the sliding mechanism, the extrapolation mechanism, and the lifting mechanism to zero in the three directions of X, Y, and Z;

[0060] Extend the picking end of the picking balance arm to the uppermost frame of the planting rack and start the picking control module.

[0061] The picking control module drives the mushroom positioning module to control the monitoring camera to capture visual information and feed it back to the picking control module to complete the preliminary visual positioning.

[0062] The picking control module divides the Z-axis information in the collected mushroom 3D position information into multiple picking groups according to size. Each picking group corresponds to a picking height, and the picking group heights are arranged from high to low to perform picking grouping. The picking control module calls the picking balance arm lifting function in the motor control module, and the picking balance arm descends to the picking position to pick the mushrooms in the current picking group.

[0063] After entering the selected picking group, the sliding motor starts, driving the two sliding mechanisms to move along the longitudinal guide rails set along the length direction of the picking balance arm, and the horizontal push mechanism slides synchronously with the longitudinal slider. The surveillance cameras corresponding to the horizontal push mechanisms on both sides move along the picking sliding direction according to a certain sliding step length, taking a picture at each step length, taking RGB pictures and depth pictures, converting the captured information and feeding it back to the picking control module, and using the mushroom detection algorithm module to obtain the mushroom 3D position information relative to the current camera coordinates;

[0064] According to the 3D position of the mushroom and the X-axis position information of the mushroom, the picking control module calls the motor control module to drive the sliding motor to move the picking actuator to the corresponding picking sliding position to obtain the picking point.

[0065] The picking control module calls the motor control module to drive the push motor and the picking motor. The push motor and the picking motor in the picking actuator complete the push and drop motion in parallel to the top of the mushroom and fit the mushroom. On the basis of the X-axis position being fixed, the push motor drives the lateral slider to move on the lateral guide rail to continuously change the moving position on the Y-axis, and coordinates with the X-axis coordinate to complete the picking coordinate positioning. After the picking coordinate is determined, the picking motor starts to drive the picking unit to move downward as a whole.

[0066] The picking part performs picking. After the picking head is aligned with the mushroom body, it moves downward, and the flexible concave arc surface at the bottom of the picking suction cup contacts the mushroom surface. The picking control module calls the motor control module to drive the air pump, and then drives the picking motor after negative pressure is formed in the mushroom fitting stage, until the mushroom position set is empty and then moves upward; complete an adsorption action, inhale and realize a circle action at the same time, the circle action is a combination of multiple sliding and extrapolation movements, and moves to 12 points to simulate a circle.

[0067] In the mushroom position set of the same picking group, two mushrooms will be picked on each side until all mushrooms are picked.

[0068] During the picking process, picking on both sides is carried out in parallel without interfering with each other. The picking on both sides is compared, and whether the picking on the opposite side on each picking layer is completed is used as the basis for the next operation.

[0069] The shooting and picking on both sides are carried out in parallel without interfering with each other. After finishing the picking on each picking layer, they will wait to see whether the opposite side has finished. If the opposite side has finished, they will enter the next operation procedure.

[0070] Return to the origin to place the mushrooms. The picking control module calls the motor control module to drive the sliding motor and the push motor to move the sliding mechanism and the push mechanism in the picking actuator to the zero position. The picking control calls the motor control module to drive the lifting motor. The lifting mechanism performs the descending movement until it is completed. The picking control calls the motor control module to drive the air pump to form positive pressure at the mushroom joint. The mushrooms fall. During the picking and descending process, air is blown to prevent the mushrooms from sticking and smoothly detaching from the picking suction cup. Then the lifting motor is driven, and the lifting mechanism performs the ascending movement to the zero position.

[0071] After picking is completed, the platform is raised and lowered to return to its initial state.

[0072] Example 2

[0073] For multi-layer racks, after the picking of the previous layer is completed, the picking group of the next layer will start picking. The picking control module calls the lifting function of the picking balance arm in the motor control module, and the picking balance arm descends to a picking height to the replacement picking group to pick mushrooms in the new picking group.

[0074] After the picking control module receives the information that there is no mushroom position in the bilateral mushroom picking group, the picking control module calls the motor control module to drive the platform lifting motor to descend to another picking height to execute a new round of picking operation process, repeating the steps of picking point, picking, bilateral picking comparison, and returning to the origin to place mushrooms for picking.

[0075] After picking is completed, the platform is lifted and restored to its initial state, waiting for the next picking group to pick.

[0076] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0077] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic Agaricus bisporus picking system, characterized in that: The invention comprises a load-bearing platform (1), on which a picking balance arm (5) is arranged in a horizontal direction, on which a group of picking actuators arranged in a mirror image and a picking control system (9) are arranged, between which a lifting mechanism (2) for driving the picking balance arm to rise and fall in the Z direction is arranged, and along the length direction of the picking balance arm, two sliding mechanisms (3) for driving the picking actuator to slide in the X direction are arranged, each picking actuator comprises a picking part and a horizontal pushing mechanism (6) for driving the picking part to move in the Y direction, each horizontal pushing mechanism comprises a horizontal guide rail (602), on which a horizontal slide block (603) is arranged, on one side of which an outward thrust motor (601) is arranged horizontally, the horizontal slide block is arranged at the end of the outward thrust motor shaft, the picking part is arranged at the end of the horizontal slide block, the picking part comprises a picking head (605), a monitoring camera (8) and a picking motor (604) for driving the picking head to rise and fall in the Z direction, and also comprises an air pump (7) for causing the picking head to form a negative pressure in the stage of bonding with mushrooms; The monitoring camera (8) is arranged in front of the horizontal slider on the side to achieve independent shooting and positioning on both sides; The picking head (605) comprises two picking suction cups, which are symmetrically arranged along the two sides of the monitoring camera. The picking suction cups are fixed to the telescopic shaft ends of the picking motor through suction cup fixing pieces. An air inlet is arranged on the top of the picking suction cup, which is connected to the air pump through an air pipe. An air outlet is arranged on the bottom of the picking suction cup, which is arranged to be a flexible concave arc surface that matches the surface of the mushroom. The picking balance arm (5) also has a set of two mirror-image-arranged drag chains (4), one end of each drag chain is fixedly arranged below the picking balance arm and close to the load platform, and the movable ends of the drag chains are connected to the horizontal pushing mechanism through communication or electrical connection; The lifting mechanism (2) comprises a lifting motor, which is vertically fixed on the load-bearing platform, and the telescopic shaft end of the lifting motor is vertically arranged with the picking balance arm; The sliding mechanism (3) comprises a longitudinal guide rail (302) arranged along the length direction of the picking balance arm, a longitudinal slider (301) and a sliding motor (303) driving the longitudinal slider to reciprocate are arranged on the longitudinal guide rail, the longitudinal slider is arranged at the end of the telescopic shaft of the sliding motor, and the transverse pushing mechanism is arranged on the longitudinal slider and slides synchronously with the longitudinal slider; One end of the picking balance arm is set as a picking end, and the other end is provided with a balancing tail.

2. The automatic Agaricus bisporus picking system according to claim 1, characterized in that: The picking control system (9) comprises a picking control module, a motor control module, a mushroom positioning module, and a mushroom detection algorithm module. The mushroom positioning module is connected to the monitoring camera for communication. The picking control module, the mushroom detection algorithm module, and the motor control module are all connected to the sliding motor, the lifting motor, the picking motor, and the extrapolation motor for communication.

3. The picking method of the Agaricus bisporus automatic picking system according to any one of claims 1 to 2, characterized in that: The following steps are involved: (1) Return to zero: When the picking control module is started, the motor initialization function in the motor control module is called, and the sliding mechanism, the extrapolation mechanism, and the lifting mechanism in the X, Y, and Z directions all return to zero; (2) Visual positioning: The mushroom positioning module controls the surveillance camera to capture visual information and feeds it back to the picking control module. The surveillance cameras on both sides move along the picking sliding direction at a certain sliding step length. Each time a step length is reached, a photo is taken to capture RGB images and depth images. The mushroom detection algorithm module is used to obtain the 3D position information of the mushroom relative to the current camera coordinates. (3) Picking grouping: The picking control module divides the Z-axis information in the collected mushroom 3D position information into multiple picking groups according to size. Each picking group corresponds to a picking height, and the picking group heights are arranged from high to low. The picking control module calls the picking balance arm lifting function in the motor control module, and the picking balance arm descends to the picking position to pick the mushrooms in the current picking group; (4) Picking point: Based on the 3D position of the mushroom and the X-axis position information of the mushroom, the picking control module calls the motor control module to drive the sliding motor to move the picking actuator to the corresponding picking sliding position; The picking control module calls the motor control module to drive the push motor and the picking motor. The push motor and the picking motor in the picking actuator complete the push and descend motion in parallel to the top of the mushroom and fit the mushroom. (5) Picking: In the mushroom position set of the same picking group, two mushrooms will be picked on each side until all mushrooms are picked. The picking control module calls the motor control module to drive the air pump, and after negative pressure is formed during the mushroom bonding stage, the picking motor is driven until the mushroom position set is empty and then the mushroom moves upward. (6) Double-side picking comparison: Picking on both sides is carried out in parallel without interfering with each other. Comparison of whether the picking on the opposite side of each picking layer is completed serves as the basis for the next operation. (7) Return to the origin to place the mushrooms: The picking control module calls the motor control module to drive the sliding motor and the push-out motor to move the sliding mechanism and the push-out mechanism in the picking actuator to the zero position. The picking control calls the motor control module to drive the lifting motor. The lifting mechanism performs the descending motion until it is completed. The picking control calls the motor control module to drive the air pump to form positive pressure at the mushroom attachment point. The mushrooms fall down. Then the lifting motor is driven. The lifting mechanism performs the ascending motion to the zero position. (8) Replacing the picking group: After the picking control module receives the information that there is no mushroom position in the mushroom picking group on both sides, the picking control module calls the motor control module to drive the platform lifting motor to descend to another picking height to execute a new round of picking operation process, and repeats steps (4) to (7); (9) After picking, the platform is raised and lowered to return to its initial state.

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