A mushroom picking device and picking method based on visual detection

Abstract

The present invention discloses a mushroom picking device and a picking method based on visual detection, and the present invention relates to the field of agricultural picking technology, including a composite mechanism. The mushroom picking device and the picking method based on visual detection, through the composite mechanism design, place the mushroom culture pile on both sides of the composite frame, and then grab the mushrooms through the grabbing mechanism, so as to achieve the picking of mushrooms, the linear module frame slides on the slide rail, and the slider slides on the linear module frame, so as to achieve the effect of multi-directional movement, improve the flexibility of picking, and control the buffer mechanism and the grabbing mechanism to rise and fall through the first electric push rod, so as to achieve the effect of facilitating the grabbing of mushrooms, increase the accuracy of grabbing through the visual sensor, and improve the working efficiency, when the grabbing mechanism grabs the mushrooms, it comes into contact with the air cushion block, and the air cushion material has a certain flexibility, so as to reduce the collision with the mushrooms, avoid damage to the mushrooms, and avoid affecting the quality of the mushrooms.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural picking, and in particular to a mushroom picking device and a picking method based on visual detection. Background Art

[0002] Mushroom picking equipment is a tool or mechanical device specifically used to pick mushrooms. Common mushroom picking equipment includes small manual picking tools, as well as some semi-automatic or automated picking machines. In large-scale mushroom cultivation bases, equipment similar to small harvesters may be used, which can automatically identify and pick mature mushrooms along the mushroom bed; while in small cultivation sites, simple hand-held picking tools with collection baskets and cutting parts may be used.

[0003] Most of the existing picking equipment adopts batch picking, which causes collision between the mushroom surface and components, causing the mushroom surface to be worn and affecting the appearance of the product. Therefore, a new design was made to address this situation. Summary of the invention

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a mushroom picking device and picking method based on visual detection, including.

[0005] A composite mechanism for picking mushrooms;

[0006] a handling mechanism for transporting the mushrooms;

[0007] The inner side of the composite mechanism is fixedly connected to the outer side of the processing mechanism;

[0008] The composite mechanism comprises a composite frame, and the mushroom culture pile is placed on both sides of the composite frame, and then the mushrooms are grabbed by the grabbing mechanism, so as to achieve the picking of mushrooms, the opposite surfaces of the composite frame are fixedly connected to the two sides outside the processing mechanism, the two sides of the top of the composite frame are fixedly connected with slide rails, the outer side of the slide rails is slidably connected with a linear module frame, the linear module frame slides on the slide rails, and the slider slides on the linear module frame, so as to achieve the effect of multi-directional movement and improve the flexibility of picking, the top of the linear module frame is slidably connected with a slider, the bottom of the slider is fixedly connected with a first electric push rod, and the buffer mechanism and the grabbing mechanism are controlled to rise and fall by the first electric push rod, so as to achieve the effect of facilitating the grabbing of mushrooms, the side of the first electric push rod away from the slider is fixedly connected with a connecting block, and the side outside the connecting block is fixedly connected with a visual sensor, the visual sensor is used to increase the accuracy of grabbing and improve the working efficiency, the bottom of the connecting block is fixedly connected with a buffer mechanism, and the outer side of the buffer mechanism is fixedly connected with a grabbing mechanism.

[0009] Preferably, the buffer mechanism includes a buffer shell, the top of the buffer shell is fixedly connected to the bottom of the connecting block, the inner wall of the buffer shell is provided with a spring block, and the inner wall of the buffer shell is slidably connected with a sliding rod. When the sliding rod comes into contact with the mushroom, the sliding rod is extended toward the inside of the buffer shell, and the spring block is compressed at the same time, so as to achieve the effect of shock absorption and buffering, reduce the structural amplitude, maintain the stability of the structure, prevent damage to the mushrooms, and avoid affecting the quality of the mushrooms. An air cushion block is fixedly connected to the side of the sliding rod away from the spring block. When the grasping mechanism grasps the mushrooms, it comes into contact with the air cushion block. The air cushion material has a certain flexibility, which reduces the collision with the mushrooms, avoids damage to the mushrooms, and avoids affecting the quality of the mushrooms. An inner groove is provided on the side of the air cushion block away from the sliding rod. By providing the inner groove and fitting the mushroom curve through the groove, the collision is further reduced.

[0010] Preferably, the grasping mechanism includes an annular block, the inner side of the annular block is fixedly connected to the outer side of the buffer shell, the outer side of the annular block is fixedly connected to a second electric push rod, the side of the second electric push rod away from the annular block is fixedly connected to a mechanical claw, the mechanical claw is controlled to retract by the second electric push rod, so as to clamp the mushrooms and facilitate picking of the mushrooms, the two sides of the outside of the mechanical claw are fixedly connected to connecting frames, the connecting frames support the mechanical claw, so as to maintain the stability of the structure.

[0011] Preferably, the side of the connecting frame away from the mechanical claw is fixedly connected to the outer side of the buffer shell, and the side of the mechanical claw close to the tooth mark incision adopts an arc structure to improve the fit to the mushroom and the clamping effect. A tooth mark incision is provided on one side of the outside of the mechanical claw. By providing the tooth mark incision, the friction effect is increased, thereby achieving an anti-slip effect and preventing the mushroom from falling off. The side of the mechanical claw close to the tooth mark incision is fixedly connected with an adjustment mechanism.

[0012] Preferably, the adjustment mechanism includes an arc block, one side of the outside of the arc block is fixedly connected to one side of the mechanical claw, the inside of the arc block is slidably connected with a connecting rod, the connecting rod is connected to a spring coil, which supports the clamping block and, at the same time, expands the clamping range according to the size of the mushroom, thereby avoiding excessive clamping pressure of the grasping mechanism; one side of the outside of the connecting rod is fixedly connected to a clamping block, and the clamping block is connected to a silicone block, which has a shock-absorbing and buffering effect through the silicone material when clamping the mushroom, and secondly plays a protective role, reduces the friction of components on the material, and avoids damage to the mushroom; a spring coil is sleeved on the side of the connecting rod close to the clamping block, and a silicone block is fixedly connected to the side of the clamping block away from the spring coil.

[0013] Preferably, the processing mechanism includes a processing shell, a circular block is fixedly connected to one side of the processing shell, the circular block is fixedly connected to one side of the composite frame at one side away from the processing shell, a roller is fixedly connected to one side of the processing shell away from the circular block, a conveyor belt is rotatably connected to the outer side of the roller, a pushing mechanism is fixedly connected to the upper edge of the processing shell near the roller, and a friction mechanism is fixedly connected to one side of the bottom of the processing shell. The mushrooms are placed on the conveyor belt through the composite mechanism, and the conveyor belt is driven by the roller to transport the mushrooms, so as to facilitate subsequent processing, reduce manual handling costs, and improve the degree of automation. The mushrooms are moved by the conveyor belt, which is convenient for storage and processing.

[0014] Preferably, the pushing mechanism includes a third electric push rod, one side of the outside of the third electric push rod is fixedly connected to one side of the processing shell, the side of the third electric push rod away from the processing shell is fixedly connected to a support plate, one side of the outside of the support plate is fixedly connected to a pushing shell, and the third electric push rod pushes the pushing shell to move closer to the middle, so as to limit the activity space of the mushrooms, avoid excessive shaking during transportation, cause collisions between mushrooms, reduce wear on mushrooms, and avoid affecting product quality, the inner side of the pushing shell is fixedly connected to a rotating column, the outer side of the rotating column is rotatably connected to a connecting belt, and the side of the connecting belt away from the rotating column is fixedly connected to a friction plate, the mushrooms rub against the friction plate during transportation, so as to clean surface impurities and avoid contamination of the mushrooms due to wear on the surface of the mushrooms during transportation, the outer side of the friction plate is provided with a block surface incision, and by providing the block surface incision, the chip removal effect is increased, the attachment of impurities is reduced, and the subsequent friction effect is avoided.

[0015] Preferably, the friction mechanism includes a connecting plate, the top of the connecting plate is fixedly connected to the bottom of the composite frame, a triangular plate is fixedly connected to one side of the outside of the connecting plate, and a friction column is rotatably connected to the side of the triangular plate away from the connecting plate. During the process of the conveyor belt rotating to transport mushrooms, impurities are easily retained on the surface of the equipment, which avoids damage to the equipment and contamination of the equipment by impurities. When the conveyor belt rotates, it rotates and rubs against the surface of the friction column to clean impurities, reduce impurities on the surface of the equipment, and prevent bacterial growth. Strip grooves are provided on the outside of the friction column. By providing the strip grooves, the heat dissipation effect is improved, the local temperature of the equipment is reduced, the friction effect is avoided, the chip removal effect is improved, the precipitation of impurities is reduced, and continuous friction operation is facilitated. The wiping mechanism is fixedly connected to the middle of the side of the triangular plate away from the connecting plate.

[0016] Preferably, the wiping mechanism includes a supporting column, a connecting frame is fixedly connected to the outer side of the supporting column, a bevel plate is fixedly connected to the side of the connecting frame away from the supporting column, a trapezoidal block connects the bevel plate and fits with the surface of the friction column to rub the surface of the friction block, thereby achieving the function of cleaning the structure, facilitating the structural cycle operation, extending the service life of the equipment, and providing a cleaning effect for the friction mechanism; a trapezoidal block is fixedly connected to the side of the bevel plate away from the connecting frame, and the trapezoidal block is provided to protect the bevel plate, reduce structural wear and extend the equipment utilization efficiency; a beveled groove is provided on one side of the outer side of the trapezoidal block, and the trapezoidal block is provided to protect the bevel plate, reduce structural wear and extend the equipment utilization efficiency.

[0017] A mushroom picking device method based on visual detection comprises the following steps:

[0018] Step 1: Place the mushrooms on both sides of the composite frame to facilitate subsequent operations;

[0019] Step 2: picking, picking the mushrooms by using the composite mechanism and the grasping mechanism;

[0020] Step 3: transporting: the composite mechanism picks the mushrooms and then transports the mushrooms into the processing mechanism through the composite mechanism;

[0021] Step 4: Cleaning: Clean the processing mechanism through the friction mechanism to prevent impurities from causing wear and contamination to the mushrooms.

[0022] The present invention provides a mushroom picking device and a mushroom picking method based on visual detection. It has the following beneficial effects:

[0023] 1. The mushroom picking equipment and picking method based on visual detection, through the composite mechanism design, places the mushroom culture pile on both sides of the composite frame, and then grabs the mushrooms through the grasping mechanism, so as to achieve the purpose of picking mushrooms. The linear module frame slides on the slide rail, and the slider slides on the linear module frame, so as to achieve the effect of multi-directional movement and improve the flexibility of picking. The buffer mechanism and the grasping mechanism are controlled by the first electric push rod to rise and fall, so as to achieve the effect of facilitating the grasping of mushrooms. The visual sensor is used to increase the accuracy of grasping and improve the working efficiency.

[0024] 2. The mushroom picking equipment and picking method based on visual inspection are designed with a buffer mechanism. When the grasping mechanism grasps the mushrooms, it comes into contact with the air cushion block. The air cushion material has a certain flexibility, which reduces the collision with the mushrooms, avoids damage to the mushrooms, and avoids affecting the quality of the mushrooms. By opening an inner groove and fitting the groove to the curve of the mushroom, the collision is further reduced. When the sliding rod comes into contact with the mushroom, the sliding rod extends into the buffer shell and compresses the spring block at the same time, thereby achieving the effect of shock absorption and buffering, reducing the structural amplitude, maintaining the stability of the structure, preventing damage to the mushrooms, and avoiding affecting the quality of the mushrooms.

[0025] 3. The mushroom picking equipment and picking method based on visual inspection, through the design of the grasping mechanism, controls the mechanical claw to retract through the second electric push rod, so as to clamp the mushrooms and facilitate the picking of mushrooms. The connecting frame supports the mechanical claw to maintain the stability of the structure. The side of the mechanical claw close to the tooth mark incision adopts an arc structure to improve the fit to the mushrooms and the clamping effect. The tooth mark incision is opened to increase the friction effect, thereby achieving an anti-slip effect and preventing the mushrooms from falling off.

[0026] 4. The mushroom picking equipment and picking method based on visual inspection, through the design of the adjustment mechanism, the clamping block is connected to the silicone block. When clamping the mushrooms, the silicone material plays a shock-absorbing and buffering effect, and secondly plays a protective role, reducing the friction of the components on the material and avoiding damage to the mushrooms. The connecting rod is connected to the spring coil to support the clamping block. At the same time, according to the different sizes of the mushrooms, the clamping range is expanded to avoid excessive clamping pressure of the grasping mechanism.

[0027] 5. The mushroom picking equipment and picking method based on visual inspection, through the design of the pushing mechanism, pushes the outer shell to the middle through the third electric push rod, so as to limit the activity space of the mushrooms, avoid excessive shaking during transportation, cause collisions between mushrooms, reduce mushroom wear, and avoid affecting product quality. The mushrooms rub against the friction plate during transportation, so as to clean the surface impurities and avoid contamination of the mushrooms due to surface wear during transportation. By opening the block surface incision, the chip removal effect is increased, the attachment of impurities is reduced, and the subsequent friction effect is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the external structure of the mushroom picking device and picking method based on visual detection of the present invention;

[0029] Figure 2 It is a schematic diagram of the composite mechanism structure of the present invention;

[0030] Figure 3 It is a schematic diagram of the cross-sectional structure of the buffer mechanism of the present invention;

[0031] Figure 4 It is a schematic diagram of the partial cross-section structure of the grabbing mechanism of the present invention;

[0032] Figure 5 It is a schematic diagram of the structure of the regulating mechanism of the present invention;

[0033] Figure 6 It is a schematic diagram of the cross-sectional structure of the processing mechanism of the present invention;

[0034] Figure 7 It is a schematic diagram of a partial cross-section structure of the pushing mechanism of the present invention;

[0035] Figure 8 It is a schematic diagram of the friction mechanism structure of the present invention;

[0036] Fig. 9 It is a schematic diagram of the structure of the wiping mechanism of the present invention;

[0037] Fig.10 The figure is a schematic diagram of the process of mushroom picking method based on visual detection of the present invention.

[0038] In the figure: 1. composite mechanism; 2. processing mechanism; 11. composite frame; 12. slide rail; 13. linear module frame; 14. slider; 15. first electric push rod; 16. connecting block; 17. visual sensor; 18. buffer mechanism; 19. grasping mechanism; 181. buffer shell; 182. spring block; 183. sliding rod; 184. air cushion block; 185. inner groove; 191. annular block; 192. second electric push rod; 193. connecting frame; 194. mechanical claw; 195. tooth mark incision; 196. adjustment mechanism; 1961. arc block; 1962. connecting rod; 1963. spring ring; 1 964, clamping block; 1965, silicone block; 21, processing shell; 22, roller; 23, conveyor belt; 24, pushing mechanism; 25, friction mechanism; 26, circular block; 241, third electric push rod; 242, support plate; 243, pushing shell; 244, rotating column; 245, connecting belt; 246, friction plate; 247, block surface cut; 251, connecting plate; 252, triangular plate; 253, friction column; 254, strip groove; 255, wiping mechanism; 2551, support column; 2552, connecting frame; 2553, bevel plate; 2554, trapezoidal block; 2555, bevel groove. DETAILED DESCRIPTION

[0039] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0040] The first embodiment, as Figure 1 to Figure 2 As shown, the present invention provides a technical solution: a mushroom picking device and a picking method based on visual detection, comprising a composite mechanism 1, the composite mechanism 1 is used to pick mushrooms;

[0041] A processing mechanism 2, the processing mechanism 2 is used to transport the mushrooms;

[0042] The inner side of the composite mechanism 1 is fixedly connected to the outer side of the processing mechanism 2;

[0043] Among them, the composite mechanism 1 includes a composite frame 11, the opposite surfaces of the composite frame 11 are fixedly connected to the two sides of the outside of the processing mechanism 2, the two sides of the top of the composite frame 11 are fixedly connected with slide rails 12, the outer side of the slide rails 12 is slidably connected with a linear module frame 13, the top of the linear module frame 13 is slidably connected with a slider 14, the bottom of the slider 14 is fixedly connected with a first electric push rod 15, the side of the first electric push rod 15 away from the slider 14 is fixedly connected with a connecting block 16, the side outside the connecting block 16 is fixedly connected with a visual sensor 17, the bottom of the connecting block 16 is fixedly connected with a buffer mechanism 18, and the outer side of the buffer mechanism 18 is fixedly connected with a grasping mechanism 19. The mushroom culture pile is placed on both sides of the composite frame 11, and then the mushrooms are grabbed by the grabbing mechanism 19 to pick the mushrooms. The linear module frame 13 slides on the slide rail, and the slider 14 slides on the linear module frame 13 to achieve multi-directional movement and improve the flexibility of picking. The buffer mechanism 18 and the grabbing mechanism 19 are controlled by the first electric push rod 15 to rise and fall, so as to facilitate the grabbing of mushrooms. The visual sensor 17 increases the accuracy of grabbing and improves the working efficiency.

[0044] The second embodiment is based on the first embodiment. Figures 3 to 5As shown, the buffer mechanism 18 includes a buffer shell 181, the top of the buffer shell 181 is fixedly connected to the bottom of the connecting block 16, the inner wall of the buffer shell 181 is provided with a spring block 182, the inner wall of the buffer shell 181 is slidably connected with a sliding rod 183, the side of the sliding rod 183 away from the spring block 182 is fixedly connected with an air cushion block 184, and the side of the air cushion block 184 away from the sliding rod 183 is provided with an inner groove 185. When the grasping mechanism 19 grasps the mushroom, it comes into contact with the air cushion block 184, and the air cushion material has a certain flexibility, which reduces the collision with the mushroom, avoids damage to the mushroom, and avoids affecting the quality of the mushroom. By opening the inner groove 185 and fitting the mushroom curve by the groove, the collision is further reduced. When the sliding rod 183 comes into contact with the mushroom, the sliding rod 183 extends into the buffer shell 181, and the spring block 182 is compressed at the same time, so as to achieve the effect of shock absorption and buffering, reduce the structural amplitude, maintain the stability of the structure, prevent damage to the mushroom, and avoid affecting the quality of the mushroom.

[0045] The grabbing mechanism 19 includes an annular block 191, the inner side of the annular block 191 is fixedly connected to the outer side of the buffer shell 181, a second electric push rod 192 is fixedly connected to the outer side of the annular block 191, a mechanical claw 194 is fixedly connected to the side of the second electric push rod 192 away from the annular block 191, and a connecting frame 193 is fixedly connected to both sides of the outside of the mechanical claw 194. The mechanical claw 194 is controlled to retract by the second electric push rod 192, so as to clamp the mushrooms and facilitate picking the mushrooms, and the connecting frame 193 supports the mechanical claw 194, so as to maintain the stability of the structure.

[0046] The side of the connecting frame 193 away from the mechanical claw 194 is fixedly connected to the outer side of the buffer shell 181, and a tooth mark cutout 195 is provided on one side of the outer side of the mechanical claw 194. The side of the mechanical claw 194 close to the tooth mark cutout 195 is fixedly connected to an adjustment mechanism 196. The side of the mechanical claw 194 close to the tooth mark cutout 195 adopts an arc structure to improve the fit to the mushroom and the clamping effect. By providing the tooth mark cutout 195, the friction effect is increased, thereby achieving an anti-slip effect and preventing the mushroom from falling off.

[0047] The adjustment mechanism 196 includes an arc block 1961, one side of the arc block 1961 is fixedly connected to one side of the mechanical claw 194, a connecting rod 1962 is slidably connected inside the arc block 1961, a clamping block 1964 is fixedly connected to one side of the connecting rod 1962, a spring ring 1963 is sleeved on the side of the connecting rod 1962 close to the clamping block 1964, and a silicone block 1965 is fixedly connected to the side of the clamping block 1964 away from the spring ring 1963. When the clamping block 1964 is connected to the silicone block 1965, the silicone material plays a shock-absorbing and buffering effect when clamping the mushroom, and secondly plays a protective role, reducing the friction of the parts on the material to avoid damage to the mushroom. The connecting rod 1962 is connected to the spring ring 1963, supporting the clamping block 1964, and at the same time, according to the different sizes of the mushrooms, the clamping range is expanded to avoid excessive clamping pressure of the grasping mechanism 19.

[0048] The third embodiment is based on the first and second embodiments. Figures 6 to 10 As shown, the processing mechanism 2 includes a processing shell 21, a circular block 26 is fixedly connected to one side of the processing shell 21, and the side of the circular block 26 away from the processing shell 21 is fixedly connected to one side of the composite frame 11, and the side of the processing shell 21 away from the circular block 26 is fixedly connected to a roller 22, and the outer side of the roller 22 is rotatably connected to a conveyor belt 23, and the upper edge of the processing shell 21 close to the roller 22 is fixedly connected to a pushing mechanism 24, and the side of the bottom of the processing shell 21 is fixedly connected to a friction mechanism 25. The mushrooms are placed on the conveyor belt 23 through the composite mechanism 1, and the conveyor belt 23 is driven by the roller 22 to transport the mushrooms, so as to facilitate subsequent processing, reduce manual handling costs, and improve the degree of automation. The conveyor belt 23 drives the mushrooms to move, which is convenient for storage and processing.

[0049] The pushing mechanism 24 includes a third electric push rod 241, one side of the outside of the third electric push rod 241 is fixedly connected to one side of the processing shell 21, the side of the third electric push rod 241 away from the processing shell 21 is fixedly connected to a support plate 242, one side of the outside of the support plate 242 is fixedly connected to a pushing shell 243, the inner side of the pushing shell 243 is fixedly connected to a rotating column 244, the outer side of the rotating column 244 is rotatably connected to a connecting belt 245, the side of the connecting belt 245 away from the rotating column 244 is fixedly connected to a friction plate 246, and the outer side of the friction plate 246 is provided with a block surface cut 247. The outer shell 243 is pushed toward the middle by the third electric push rod 241 to limit the activity space of the mushrooms, avoid excessive shaking during transportation, which may cause collisions between mushrooms, reduce wear of the mushrooms, and avoid affecting product quality. The mushrooms rub against the friction plate 246 during transportation to clean surface impurities and avoid contamination of the mushrooms due to wear on the surface of the mushrooms during transportation. By opening the block surface incision 247, the chip removal effect is increased, the attachment of impurities is reduced, and the subsequent friction effect is avoided.

[0050] The friction mechanism 25 includes a connecting plate 251, the top of the connecting plate 251 is fixedly connected to the bottom of the composite frame 11, a triangular plate 252 is fixedly connected to one side of the outside of the connecting plate 251, a friction column 253 is rotatably connected to the side of the triangular plate 252 away from the connecting plate 251, a strip groove 254 is provided on the outside of the friction column 253, and a wiping mechanism 255 is fixedly connected to the middle of the side of the triangular plate 252 away from the connecting plate 251. In the process of the conveyor belt 23 rotating to transport mushrooms, impurities are easily retained on the surface of the equipment, so as to avoid damage to the equipment and contamination of the equipment by impurities. When the conveyor belt 23 rotates, it rubs against the surface of the friction column 253 to clean impurities, reduce impurities on the surface of the equipment, and prevent bacteria from growing. By providing the strip groove 254, the heat dissipation effect is improved, the local temperature of the equipment is reduced, the friction effect is avoided, the chip removal effect is improved, the precipitation of impurities is reduced, and continuous friction operation is facilitated.

[0051] The wiping mechanism 255 includes a support column 2551, a connecting frame 2552 is fixedly connected to the outer side of the support column 2551, a bevel plate 2553 is fixedly connected to the side of the connecting frame 2552 away from the support column 2551, a trapezoidal block 2554 is fixedly connected to the side of the bevel plate 2553 away from the connecting frame 2552, and a beveled groove 2555 is provided on one side of the outer side of the trapezoidal block 2554. The trapezoidal block 2554 connects the bevel plate 2553 and fits the surface of the friction column 253, rubs the surface of the friction column 253, thereby achieving the cleaning structure, facilitating the structure cycle operation, extending the service life of the equipment, and providing a cleaning effect for the friction mechanism 25. The trapezoidal block 2554 is provided to protect the bevel plate 2553, reduce structural wear, and extend the use efficiency of the equipment. The beveled groove 2555 is provided to increase the friction effect through the groove, increase the cleaning force, and improve the operation efficiency.

[0052] A mushroom picking device method based on visual detection comprises the following steps:

[0053] Step 1: Place the mushrooms on both sides of the composite frame 11 to facilitate subsequent operations;

[0054] Step 2: picking, picking the mushrooms by the composite mechanism 1 and the grabbing mechanism 19;

[0055] Step 3: transporting: the composite mechanism 1 picks the mushrooms and then transports the mushrooms into the processing mechanism 2 through the composite mechanism 1;

[0056] Step 4: cleaning: the processing mechanism 2 is cleaned by the friction mechanism 25 to prevent the impurities from causing wear and contamination to the mushrooms.

[0057] When in use, the staff will place the mushroom planting pile on both sides of the composite frame 11, and then use the composite mechanism 1 to control the internal grasping mechanism 19 to grasp the mushrooms, and adapt it with the visual sensor 17 to achieve the mushroom picking work, improve the accuracy of single-body grasping, reduce the wear on the mushroom skin, and improve the quality of single-body mushrooms. When the grasping mechanism 19 is operating, it will adapt with the buffer mechanism 18 to reduce the collision with the mushrooms through the buffer mechanism 18, reduce the wear on the mushrooms, and cover the mushroom skin at the same time, so as to achieve a protective effect on the mushrooms and prevent mechanical damage to the mushrooms.

[0058] While the composite mechanism 1 is picking mushrooms, the picked mushrooms are placed inside the processing mechanism 2, and the mushrooms are transported by the processing mechanism 2, thereby reducing the cost of manual handling and facilitating subsequent processing or transportation and storage. Secondly, the pushing mechanism 24 inside the processing mechanism 2 is used to squeeze the mushrooms toward the middle of the processing mechanism 2, so as to reduce the transportation space of the processing mechanism 2. On the one hand, it can control the transportation flow rate to facilitate subsequent work needs. On the other hand, it can limit the activity space of the mushroom transportation process, reduce collisions between mushrooms, reduce wear between mushrooms, avoid contamination during transportation, and improve the quality of mushrooms.

[0059] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A mushroom picking device based on visual detection, characterized in that: include: A composite mechanism (1), the composite mechanism (1) being used for picking mushrooms; A processing mechanism (2), the processing mechanism (2) is used to transport the mushrooms; The inner side of the composite mechanism (1) is fixedly connected to the outer side of the processing mechanism (2); The composite mechanism (1) comprises a composite frame (11), the opposite surfaces of the composite frame (11) are fixedly connected to the two sides of the outside of the processing mechanism (2), the two sides of the top of the composite frame (11) are fixedly connected to slide rails (12), the outer side of the slide rails (12) is slidably connected to a linear module frame (13), the top of the linear module frame (13) is slidably connected to a slider (14), the bottom of the slider (14) is fixedly connected to a first electric push rod (15), the side of the first electric push rod (15) away from the slider (14) is fixedly connected to a connecting block (16), the side of the outside of the connecting block (16) is fixedly connected to a visual sensor (17), the bottom of the connecting block (16) is fixedly connected to a buffer mechanism (18), and the outer side of the buffer mechanism (18) is fixedly connected to a grabbing mechanism (19); The buffer mechanism (18) comprises a buffer shell (181), the top of the buffer shell (181) is fixedly connected to the bottom of the connecting block (16), the inner wall of the buffer shell (181) is provided with a spring block (182), the inner wall of the buffer shell (181) is slidably connected to a sliding rod (183), the outer side of the sliding rod (183) away from the spring block (182) is fixedly connected to an air cushion block (184), and the side of the air cushion block (184) away from the sliding rod (183) is provided with an inner groove (185); The processing mechanism (2) comprises a processing shell (21), a circular block (26) is fixedly connected to one side of the outside of the processing shell (21), a side of the circular block (26) away from the processing shell (21) is fixedly connected to one side of the composite frame (11), a roller (22) is fixedly connected to the side of the processing shell (21) away from the circular block (26), a conveyor belt (23) is rotatably connected to the outer side of the roller (22), a pushing mechanism (24) is fixedly connected to the upper edge of the processing shell (21) on the side close to the roller (22), and a friction mechanism (25) is fixedly connected to one side of the bottom of the processing shell (21); The friction mechanism (25) comprises a connecting plate (251), the top of the connecting plate (251) being fixedly connected to the bottom of the composite frame (11), a triangular plate (252) being fixedly connected to one side of the outside of the connecting plate (251), a friction column (253) being rotatably connected to the side of the triangular plate (252) away from the connecting plate (251), a strip-shaped groove (254) being provided on the outside of the friction column (253), and a wiping mechanism (255) being fixedly connected to the middle of the side of the triangular plate (252) away from the connecting plate (251).

2. A mushroom picking device based on visual detection according to claim 1, characterized in that: The gripping mechanism (19) comprises an annular block (191), the inner side of the annular block (191) being fixedly connected to the outer side of the buffer shell (181), the outer side of the annular block (191) being fixedly connected to a second electric push rod (192), a side of the second electric push rod (192) away from the annular block (191) being fixedly connected to a mechanical claw (194), and both sides of the outside of the mechanical claw (194) being fixedly connected to a connecting frame (193).

3. A mushroom picking device based on visual detection according to claim 2, characterized in that: A side of the connecting frame (193) away from the mechanical claw (194) is fixedly connected to the outer side of the buffer shell (181); a tooth mark cutout (195) is provided on one side of the outside of the mechanical claw (194); and a side of the mechanical claw (194) close to the tooth mark cutout (195) is fixedly connected to an adjustment mechanism (196).

4. A mushroom picking device based on visual detection according to claim 3, characterized in that: The adjustment mechanism (196) comprises an arc block (1961), one side of the outside of the arc block (1961) is fixedly connected to one side of the mechanical claw (194), a connecting rod (1962) is slidably connected inside the arc block (1961), one side of the outside of the connecting rod (1962) is fixedly connected to a clamping block (1964), a spring ring (1963) is sleeved on the side of the connecting rod (1962) close to the clamping block (1964), and a silicone block (1965) is fixedly connected to the side of the clamping block (1964) away from the spring ring (1963).

5. A mushroom picking device based on visual detection according to claim 4, characterized in that: The pushing mechanism (24) comprises a third electric push rod (241), one side of the outside of the third electric push rod (241) is fixedly connected to one side of the processing shell (21), the side of the third electric push rod (241) away from the processing shell (21) is fixedly connected to a support plate (242), the side of the outside of the support plate (242) is fixedly connected to a pushing shell (243), the inner side of the pushing shell (243) is fixedly connected to a rotating column (244), the outer side of the rotating column (244) is rotatably connected to a connecting belt (245), the side of the connecting belt (245) away from the rotating column (244) is fixedly connected to a friction plate (246), and the outer side of the friction plate (246) is provided with a block surface cutout (247).

6. A mushroom picking device based on visual detection according to claim 1, characterized in that: The wiping mechanism (255) comprises a support column (2551), a connecting frame (2552) being fixedly connected to the outside of the support column (2551), a beveled plate (2553) being fixedly connected to the side of the connecting frame (2552) away from the support column (2551), a trapezoidal block (2554) being fixedly connected to the side of the beveled plate (2553) away from the connecting frame (2552), and a beveled groove (2555) being provided on one side of the outside of the trapezoidal block (2554).

7. A method of using the mushroom picking device according to claim 1, characterized in that: The following steps are involved: Step 1: placing the mushrooms on both sides of the composite frame (11) to facilitate subsequent operations; Step 2: picking, picking the mushrooms by using the composite mechanism (1) and the grasping mechanism (19); Step 3: transporting: the composite mechanism (1) picks the mushrooms, and then transports the mushrooms into the processing mechanism (2) through the composite mechanism (1); Step 4: cleaning: the processing mechanism (2) is cleaned by the friction mechanism (25) to prevent the mushrooms from being worn and contaminated by impurities.

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