Automatic edible mushroom harvesting device and harvesting method

Abstract

The invention relates to the technical field of edible mushroom harvesting, in particular to an automatic edible mushroom harvesting device and method, and aims to solve the problems that traditional manual harvesting is high in labor intensity, low in efficiency, insufficient in accuracy and the like. A walking mechanism for driving the underframe to walk is arranged below the underframe; the harvesting mechanism comprises a support, a mechanical arm arranged on the support, a picker arranged at the tail end of the mechanical arm and a stick taking assembly arranged on the support on one side of the mechanical arm, and the stick taking assembly is used for separating mushroom sticks from the fruiting frame; the harvesting mechanism further comprises a collector; picking operation of a large number of shiitake mushrooms can be automatically completed, and the labor intensity of workers is relieved; by arranging the lifting mechanism, the walking mechanism, the reversing mechanism and the visual recognition system, automatic switching of fruiting stations is achieved, meanwhile, subjectivity and errors caused by manual judgment are avoided, and harvesting efficiency and accuracy are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of edible fungus harvesting, and in particular to an automatic edible fungus harvesting device and a harvesting method. Background Art

[0002] Edible fungi are highly favored around the world because of their rich nutrition and unique taste. Among them, shiitake mushrooms are an important edible fungus variety, and their growth characteristics have high requirements for the timing of harvesting. Shiitake mushrooms must be picked immediately when they reach the most suitable harvesting specifications, otherwise excessive growth will cause the mushroom body to open, the quality will drop significantly, and it will become a defective mushroom, which will seriously affect the market value. On the contrary, if shiitake mushrooms that do not meet the specifications are harvested in advance, the growth potential will be wasted and the overall yield will be reduced. Therefore, the ideal harvesting strategy is to harvest shiitake mushrooms as soon as they just meet the standards to maintain high quality and maximize yield. Especially during the peak period of mushroom production, it is best to harvest every four hours to ensure the best quality of shiitake mushrooms.

[0003] Traditional harvesting methods mainly rely on manual operations. Workers need to manually remove mushroom sticks from the cultivation racks and observe the size of the mushroom bodies with the naked eye to determine whether they meet the harvesting standards. However, in actual operations, manual picking has problems such as high labor intensity, low efficiency, and lack of accuracy. In addition, effective harvesting is usually impossible at night or during periods when manual operations are inconvenient, such as from 18:00 in the afternoon to 8:00 in the morning of the next day. This not only limits the yield of shiitake mushrooms, but may also cause some shiitake mushrooms to have a lower quality due to untimely harvesting. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an automatic edible fungus harvesting device with high picking efficiency, accurate identification and adaptability to operations in different time periods in view of the deficiencies in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: An automatic edible mushroom harvesting device is characterized in that: it comprises a base frame, a harvesting mechanism for harvesting edible mushrooms is arranged above the base frame, and a walking mechanism for driving the base frame to move is arranged below the base frame; the harvesting mechanism comprises a bracket, a mechanical arm arranged on the bracket, a picker arranged at the end of the mechanical arm, and a stick taking assembly arranged on the bracket on one side of the mechanical arm, and the stick taking assembly is used to make the mushroom sticks separate from the mushroom rack; the harvesting mechanism also comprises a collector; and a lifting mechanism for driving the bracket to be lifted vertically is arranged on the base frame.

[0006] The technical problem to be solved by the present invention can be further achieved through the following steps: the stick taking assembly includes at least one stick taking support rod, one end of the stick taking support rod is set as an insertion end matching with the mushroom growing rack, the stick taking support rod is provided with a lifting surface matching with the mushroom sticks, and a positioning groove is provided on the lifting surface; a translation mechanism for driving the stick taking support rod to move horizontally along its axial direction is provided on the bracket.

[0007] The technical problem to be solved by the present invention can be further achieved by the following steps: the translation mechanism includes a translation linear power mechanism and a connecting frame, the connecting frame is arranged between the translation linear power mechanism and the rod-taking support rod, and the power output end of the translation linear power mechanism is fixedly connected to the rod-taking support rod through the connecting frame. The translation linear power mechanism can be any linear power mechanism in the prior art such as a cylinder, an electric cylinder, a screw nut mechanism, etc.

[0008] The technical problem to be solved by the present invention can be further achieved by the following steps: the lifting mechanism is a lifting linear power mechanism, and the power output end of the lifting linear power mechanism is fixedly connected to the bracket. The lifting linear power mechanism can be any linear power mechanism in the prior art such as a cylinder, an electric cylinder, a screw nut mechanism, etc.

[0009] The technical problem to be solved by the present invention can be further achieved by the following steps. The walking mechanism includes: a walking track, which includes staggered longitudinal rails and transverse rails, the longitudinal rails are parallel to the width direction of the base frame, and the transverse rails are parallel to the length direction of the base frame; a movable wheel frame, which is movably arranged under the base frame; a walking wheel group, which includes a longitudinal wheel group that walks along the longitudinal rails and a transverse wheel group that walks along the transverse rails, the longitudinal wheel group is rotatably installed on the base frame, and the transverse wheel group is rotatably installed on the movable wheel frame, and at least one driving wheel connected to the power is provided in the longitudinal wheel group and the transverse wheel group; a reversing mechanism, which is connected between the base frame and the movable wheel frame, and is used to drive the movable wheel frame to rise and fall vertically relative to the base frame.

[0010] The technical problem to be solved by the present invention can be further achieved by the following steps: the reversing mechanism is a reversing linear power mechanism fixedly mounted on the chassis, and the power output end of the reversing linear power mechanism is fixedly connected to the movable wheel frame. The reversing linear power mechanism can be any linear power mechanism in the prior art such as a cylinder, an electric cylinder, a screw nut mechanism, etc.

[0011] The technical problem to be solved by the present invention can be further achieved through the following steps: the bottom of the movable wheel frame is rotatably provided with at least two first wheel axles parallel to the longitudinal rail through a first axle seat, each first wheel axle includes two coaxially symmetrically arranged first sub-axles, the transverse wheel group includes a transverse wheel fixedly mounted on the outer end of each first sub-axle, a transverse drive motor is fixedly provided under the movable wheel frame, and a power output shaft of the transverse drive motor is transmission-connected to at least one first wheel axle.

[0012] The technical problem to be solved by the present invention can be further achieved through the following steps: at least two second wheel axles parallel to the cross rail are rotatably provided at the bottom of the base frame through a second axle seat, each second wheel axle includes two second sub-axles arranged coaxially and symmetrically, the longitudinal wheel group includes a longitudinal wheel fixedly sleeved on the outer end of each second sub-axle, a longitudinal drive motor is fixedly provided under the base frame, and a power output shaft of the longitudinal drive motor is transmission-connected to at least one second wheel axle.

[0013] The technical problem to be solved by the present invention can be further achieved by the following steps: a top frame is fixedly provided above the bottom frame, a visual recognition system cooperating with a robotic arm is provided on the top frame, and an image capturing end of the visual recognition system is arranged toward the rod taking assembly.

[0014] The present invention also provides an automatic edible fungus harvesting method, which uses any of the automatic edible fungus harvesting devices described above and is characterized in that it comprises at least the following steps: (1) Longitudinal shift: Start the walking mechanism to drive the entire device to move longitudinally to the preset position; (2) Lateral shift: The walking mechanism drives the entire device to move laterally toward the mushroom rack and enter the harvesting station; (3) Adjusting the height: The lifting mechanism drives the bracket, mechanical arm, picker and stick-taking assembly to rise or fall to an appropriate height, ready to pick the mushrooms on the current layer of mushroom sticks; (4) Transfer of mushroom sticks: The stick removal assembly transfers the mushroom sticks to the predetermined position on the support, preparing for picking operations; (5) Picking mushrooms: The robot arm and the picker pick the mushrooms on the mushroom sticks and put the picked mushrooms into the collector; after the picking is completed, the stick taking assembly moves in the reverse direction and returns the mushroom sticks to the mushroom rack; (6) Repeat steps (3) to (5) until all layers of mushrooms at the current workstation have been picked.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: by providing a mechanical arm and a picker, a large number of mushrooms can be picked automatically, which greatly reduces the intensity of manual labor; by providing a lifting mechanism, a walking mechanism and a reversing mechanism, the device can be flexibly moved beside the mushroom rack and change its height, thereby realizing automatic switching of the mushroom station; the visual recognition system can automatically identify the growth status of the mushrooms and accurately determine whether they meet the harvesting standards, thereby avoiding the subjectivity and errors of manual judgment and improving the accuracy of harvesting; the present invention is particularly suitable for picking mushrooms, and has the ability to operate around the clock without being restricted by time, and can continue to perform efficient harvesting operations even at night or during time periods when manual operation is inconvenient, thereby ensuring the best quality and maximized yield of the mushrooms. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention (omit the visual recognition system); Figure 2 It is a front view schematic diagram of the present invention; Figure 3 It is a left side schematic diagram of the present invention; Figure 4 It is a top view schematic diagram of the present invention (the lifting cylinder is omitted); Figure 5 for Figure 4 An enlarged schematic diagram of the middle pick rod assembly; Figure 6 This is a schematic diagram of the coordination between the mushroom rack and the mushroom stick; In the figure: 1- bottom frame; 2- harvesting mechanism; 3- walking mechanism; 4- edible mushrooms; 5- mushroom sticks; 6- stick taking assembly; 7- mushroom rack; 8- gap; 201- bracket; 202- mechanical arm; 203- picking device; 204- collector; 205- lifting electric cylinder; 206- visual recognition system; 301-longitudinal rail; 302-transverse rail; 303-lifting cylinder; 304-movable wheel frame; 305-first wheel axle; 306-first sub-axle; 307-transverse wheel; 308-transverse drive motor; 309-second wheel axle; 310-second sub-axle; 311-longitudinal wheel; 312-longitudinal drive motor; 601-rod taking support rod; 602-rod taking cylinder; 603-connecting frame; 604-positioning groove. DETAILED DESCRIPTION

[0017] The specific technical solutions of the present invention are further described below so that those skilled in the art can further understand the present invention, but it does not constitute a limitation on the rights thereof.

[0018] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention.

[0019] Example 1, please refer to Figure 1-6An automatic edible mushroom harvesting device includes a base frame 1, a harvesting mechanism 2 for automatically harvesting edible mushrooms is provided above the base frame 1, and a walking mechanism 3 for driving the base frame 1 to move is provided below the base frame 1; the harvesting mechanism 2 includes a bracket 201, a mechanical arm 202 is provided on the bracket 201, and a picker 203 is provided at the end of the mechanical arm 202, and the picker 203 is used to pick edible mushrooms on mushroom sticks 5; a stick removal assembly 6 is provided on one side of the mechanical arm 202, and the stick removal assembly is used to make the mushroom sticks separate from the mushroom rack. The harvesting mechanism 2 also includes a collector 204, which is used to receive the picked edible mushrooms, and the collector 204 can be a storage basket; a lifting mechanism for driving the bracket 201 to move vertically is provided on the base frame 1.

[0020] Embodiment 2, in the automatic edible mushroom harvesting device of embodiment 1, the stick taking assembly 6 includes at least one stick taking support rod 601 (three in this embodiment), the stick taking support rod 601 is parallel to the length direction of the base frame 1, and when there are multiple stick taking support rods 601, they are arranged side by side; one end of the stick taking support rod 601 is set as an insertion end that matches the mushroom rack 7, and the stick taking support rod is provided with a lifting surface (the upper surface in this embodiment) that matches the mushroom stick 5, and a positioning groove 604 is opened on the lifting surface, and the positioning groove 604 is V-shaped; a translation mechanism that drives the stick taking support rod to move horizontally along its axial direction is provided on the bracket 201. The stick taking support rod 601 can be inserted into the gap 8 between the mushroom stick 5 and the mushroom rack 7 ( Figure 6 ), so that the mushroom stick 5 can be lifted upward under the lifting and lowering cooperation of the bracket 201.

[0021] Embodiment 3, in the automatic edible fungus harvesting device of embodiment 2, the translation mechanism includes a translation linear power mechanism and a connecting frame 603, the connecting frame 603 is arranged between the translation linear power mechanism and the stick-taking support rod 601, the power output end of the translation linear power mechanism is fixedly connected to the stick-taking support rod 601 through the connecting frame 603, and the translation linear power mechanism of this embodiment adopts a stick-taking cylinder 602. If there are multiple stick-taking support rods 601, these stick-taking support rods 601 can be selected to be connected to the power output end of a single stick-taking cylinder 602 through the same connecting frame 603 to achieve synchronous movement; or they can be independently connected to different power output ends of different stick-taking cylinders 602 through different connecting frames 603 to achieve independent control; the stick-taking support rod 601 and the stick-taking cylinder 602 are arranged in the same direction.

[0022] Example 4: In the automatic edible fungus harvesting device of any one of Examples 1-3, the lifting mechanism is a lifting linear power mechanism, which is vertically installed on the base frame 1, and the power output end of the lifting linear power mechanism is fixedly connected to the bracket 201. The lifting linear power mechanism of this embodiment adopts a lifting electric cylinder 205.

[0023] Embodiment 5, in any one of embodiments 1-3 of the edible fungus automatic harvesting device, the walking mechanism 3 includes: a walking track, which includes a staggered longitudinal rail 301 and a transverse rail 302, the longitudinal rail 301 is parallel to the width direction of the base frame 1, and the transverse rail 302 is parallel to the length direction of the base frame 1. At the intersection of the longitudinal rail 301 and the transverse rail 302, the longitudinal rail 301 is separated by the transverse rail 302, and the height of the transverse rail 302 is lower than the longitudinal rail 301; a movable wheel frame 304, which is movably arranged under the base frame 1 and can be stored in the base frame; a walking wheel group, which includes a longitudinal wheel group that travels along the longitudinal rail 301 The longitudinal wheel group and the transverse wheel group moving along the transverse rail 302, the longitudinal wheel group is rotatably mounted on the base frame 1, and the transverse wheel group is rotatably mounted on the movable wheel frame 304. Both the longitudinal wheel group and the transverse wheel group are provided with at least one driving wheel connected to the power. When the device moves along the longitudinal rail 301, the transverse wheel group does not contact the transverse rail 302; conversely, when the device moves along the transverse rail 302, the longitudinal wheel group does not contact the longitudinal rail 301; the reversing mechanism is connected between the base frame 1 and the movable wheel frame 304, and is used to drive the movable wheel frame to rise and fall vertically relative to the base frame to switch the moving direction of the device. When the base frame 1 moves along the longitudinal rail 301 to the intersection with the transverse rail 302, the reversing mechanism can drive the transverse wheel group to press downward on the transverse rail 302, and push the longitudinal wheel group to lift upward and leave the longitudinal rail 301.

[0024] Embodiment 6, in the automatic edible fungus harvesting device of embodiment 5, the reversing mechanism is a reversing linear power mechanism fixedly mounted on the base frame 1, and the power output end of the reversing linear power mechanism is fixedly connected to the movable wheel frame 304. The reversing linear power mechanism in this embodiment adopts a lifting cylinder 303. In this embodiment, there are four lifting cylinders 303, which are respectively arranged at the four corners of the base frame 1.

[0025] Example 7. In the automatic edible fungus harvesting device of Example 5, the bottom of the movable wheel frame 304 is rotatably provided with at least two first wheel axles 305 parallel to the longitudinal rail 301 through a first shaft seat, each first wheel axle 305 includes two coaxially symmetrically arranged first sub-axles 306, and the transverse wheel group includes a transverse wheel 307 fixedly sleeved on the outer end of each first sub-axle 306. A transverse drive motor 308 is fixedly provided below the movable wheel frame 304, and the output shaft of the transverse drive motor 308 is transmission-connected to at least one first wheel axle 305.

[0026] Embodiment 8, in the automatic edible fungus harvesting device of embodiment 5, at least two second axles 309 parallel to the horizontal rail 302 are rotatably provided at the bottom of the base frame 1 through the second shaft seat, each second axle 309 includes two coaxially symmetrically arranged second sub-axles 310, the longitudinal wheel group includes a longitudinal wheel 311 fixedly sleeved on the outer end of each second sub-axle 310, and a longitudinal drive motor 312 is fixedly provided below the base frame 1, and the output shaft of the longitudinal drive motor 312 is connected to at least one second axle 309 in a transmission manner. Considering the particularity of the walking track layout, that is, the longitudinal rail 301 is cut off by the horizontal rail 302 and the horizontal rail 302 is located lower than the longitudinal rail 301, in order to ensure the stability of the device during walking, the second axle 309 is preferably provided with four ( Figure 4 ), and at least two second wheel axles 309 are driven by longitudinal drive motors 312. When a row of longitudinal wheels 311 of the device moves above the cross rail 302, the remaining longitudinal wheels 311 can serve as support wheels to prevent the entire device from falling into the cross rail 302 and causing bumps.

[0027] Embodiment 9, in any one of the edible fungi automatic harvesting devices of embodiments 1-3, a top frame is fixedly provided above the bottom frame 1, and a visual recognition system 206 cooperating with a mechanical arm 202 is provided on the top frame, and the image capture end of the visual recognition system 206 is arranged toward the stick taking assembly 6. The visual recognition system 206 can capture the automatic growth state of the edible fungi on the mushroom stick 5 in real time, and by comparing and analyzing with the preset harvesting standard, it is determined which mushrooms have reached the best harvesting time, and this information is fed back to the control system in real time. The control system then commands the mechanical arm 202 and the picker 203 to perform precise positioning and picking, ensuring that each mushroom can be harvested in the best state. The visual recognition system described in the present invention can adopt any visual recognition system disclosed or sold in the prior art that can realize edible fungi identification.

[0028] The automatic edible fungus harvesting device of the present invention has the following steps of use: (1) Longitudinal displacement: Start the longitudinal drive motor 312, and drive the entire device to move along the longitudinal rail 301 through the second wheel shaft 309 and the longitudinal wheel set. When the device moves to the preset position, the longitudinal motor stops and brakes to ensure that the device is stably in place.

[0029] (2) Horizontal displacement: The lifting cylinder 303 extends downward, pushing the movable wheel frame 304 and the horizontal wheel group downward to contact the horizontal track. At the same time, the lifting force is used to lift the longitudinal wheel group and the entire bottom frame 1 off the longitudinal track. At this time, the horizontal drive motor 308 is started, and the first wheel shaft 305 and the horizontal wheel group drive the entire device to move along the horizontal track close to the mushroom rack 7 and enter the harvesting station.

[0030] (3) Adjusting the height: The lifting electric cylinder 205 drives the support 201, the mechanical arm 202, the picker 203 and the stick-taking assembly 6 to rise or fall as a whole to an appropriate height, ready to pick the mushrooms on the current layer of mushroom sticks 5.

[0031] (4) Transfer of mushroom sticks: The stick-taking cylinder 602 is started, driving the stick-taking support rod 601 to insert into the gap 8 between the mushroom rack 7 and the mushroom sticks 5. Then, the electric cylinder drives the stick-taking assembly to rise by several millimeters, so that the mushroom sticks 5 can be smoothly separated from the mushroom rack 7 and lifted up. The stick-taking cylinder 602 then moves in the opposite direction, transferring the lifted mushroom sticks 5 to the predetermined position on the support 201, ready for picking.

[0032] (5) Picking mushrooms: The visual recognition system 206 is started to automatically image and identify the edible mushrooms 4 on the mushroom stick 5 in real time, and transmits the position information of the mushrooms that meet the harvesting standards to the control system. Based on this information, the control system controls the robot arm 202 and the picker 203 to move to the target position for picking, and puts the picked mushrooms into a nearby collector 204; after picking is completed, the stick removal assembly 6 moves in the reverse direction and sends the mushroom stick 5 back to the mushroom rack 7.

[0033] (6) Repeat steps (3) to (5) until all layers of mushrooms at the current workstation have been picked.

[0034] (7) Repeat steps (1) to (6) until all workstations have completed harvesting.

[0035] Obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Claims

1. An automatic edible fungus harvesting device, characterized in that: It comprises a base frame, a harvesting mechanism for harvesting edible fungi is arranged above the base frame, and a walking mechanism for driving the base frame to move is arranged below the base frame; the harvesting mechanism comprises a bracket, a mechanical arm arranged on the bracket, a picker arranged at the end of the mechanical arm, and a stick taking assembly arranged on the bracket on one side of the mechanical arm, and the stick taking assembly is used to make the mushroom sticks separate from the mushroom rack; the harvesting mechanism also comprises a collector; and a lifting mechanism for driving the bracket to be lifted vertically is arranged on the base frame.

2. The automatic edible fungus harvesting device according to claim 1, characterized in that: The stick taking assembly includes at least one stick taking supporting rod, one end of which is arranged as an insertion end matched with the mushroom producing rack, a supporting surface matched with the mushroom sticks is arranged on the stick taking supporting rod, and a positioning groove is arranged on the supporting surface; a translation mechanism for driving the stick taking supporting rod to move horizontally along its axial direction is arranged on the bracket.

3. The automatic edible fungus harvesting device according to claim 2, characterized in that: The translation mechanism comprises a translation linear power mechanism and a connecting frame, wherein the connecting frame is arranged between the translation linear power mechanism and the rod taking support rod, and the power output end of the translation linear power mechanism is fixedly connected to the rod taking support rod through the connecting frame.

4. The automatic edible fungus harvesting device according to any one of claims 1 to 3, characterized in that: The lifting mechanism is a lifting linear power mechanism, and a power output end of the lifting linear power mechanism is fixedly connected to the bracket.

5. The automatic edible fungus harvesting device according to any one of claims 1 to 3, characterized in that: The walking mechanism includes: a walking track, which includes a longitudinal rail and a transverse rail arranged alternately, the longitudinal rail is parallel to the width direction of the base frame, and the transverse rail is parallel to the length direction of the base frame; a movable wheel frame, which is movably arranged under the base frame; a walking wheel group, which includes a longitudinal wheel group that travels along the longitudinal rail and a transverse wheel group that travels along the transverse rail, the longitudinal wheel group is rotatably installed on the base frame, and the transverse wheel group is rotatably installed on the movable wheel frame, and at least one driving wheel connected to the power is provided in the longitudinal wheel group and the transverse wheel group; a reversing mechanism, which is connected between the base frame and the movable wheel frame, and is used to drive the movable wheel frame to rise and fall vertically relative to the base frame.

6. The automatic edible fungus harvesting device according to claim 5, characterized in that: The reversing mechanism is a reversing linear power mechanism fixedly mounted on the base frame, and a power output end of the reversing linear power mechanism is fixedly connected to the movable wheel frame.

7. The automatic edible fungus harvesting device according to claim 5, characterized in that: The bottom of the movable wheel frame is rotatably provided with at least two first wheel axles parallel to the longitudinal rail through the first shaft seat, each first wheel axle includes two first sub-axles arranged coaxially and symmetrically, the transverse wheel group includes a transverse wheel fixedly sleeved on the outer end of each first sub-axle, and a transverse drive motor is fixedly provided under the movable wheel frame, and the power output shaft of the transverse drive motor is transmission-connected to at least one first wheel axle.

8. The automatic edible fungus harvesting device according to claim 5, characterized in that: The bottom of the base frame is rotatably provided with at least two second wheel axles parallel to the cross rail through a second axle seat, each second wheel axle includes two second sub-axles arranged coaxially and symmetrically, the longitudinal wheel group includes a longitudinal wheel fixedly sleeved on the outer end of each second sub-axle, and a longitudinal drive motor is fixedly provided under the base frame, and the power output shaft of the longitudinal drive motor is transmission-connected to at least one second wheel axle.

9. The automatic edible fungus harvesting device according to any one of claims 1 to 3, characterized in that: A top frame is fixedly arranged above the bottom frame, and a visual recognition system cooperating with the mechanical arm is arranged on the top frame, and an image capturing end of the visual recognition system is arranged toward the rod taking assembly.

10. An automatic edible fungus harvesting method, the method using the automatic edible fungus harvesting device according to any one of claims 1 to 9, characterized in that: At least the following steps are included: (1) Longitudinal shift: Start the walking mechanism to drive the entire device to move longitudinally to the preset position; (2) Lateral shift: The walking mechanism drives the entire device to move laterally toward the mushroom rack and enter the harvesting station; (3) Adjusting the height: The lifting mechanism drives the bracket, mechanical arm, picker and stick-taking assembly to rise or fall to an appropriate height, ready to pick the mushrooms on the current layer of mushroom sticks; (4) Transfer of mushroom sticks: The stick removal assembly transfers the mushroom sticks to the predetermined position on the support, preparing for picking operations; (5) Picking mushrooms: The robot arm and the picker pick the mushrooms on the mushroom sticks and put the picked mushrooms into the collector; after the picking is completed, the stick taking assembly moves in the reverse direction and returns the mushroom sticks to the mushroom rack; (6) Repeat steps (3) to (5) until all layers of mushrooms at the current workstation have been picked.

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