Rail type intelligent mushroom picking robot

Abstract

The invention relates to a rail-mounted intelligent mushroom picking robot which is characterized in that a rail base is mounted on an H-shaped steel rail and can move bidirectionally along the rail; the rotary mechanical arm is hinged to the bottom of the track base and has a two-degree-of-freedom horizontal rotary function; the onboard negative pressure system is arranged in the rotary mechanical arm, and negative pressure is generated through an electric cylinder-air cylinder linkage mechanism; the intelligent picking mechanism is installed at the tail end of the rotary mechanical arm, has a horizontal torsion degree and a vertical displacement degree of freedom, is integrated with a depth visual recognition module, completes maturity recognition and three-dimensional position positioning of mushrooms, and achieves lossless picking, root cutting and collecting operation. The method can meet the narrow space constraint and continuous operation requirements under the background of intensive high-density mushroom planting, breaks through the low-efficiency operation bottleneck of traditional manual picking through full-process intelligent control of autonomous navigation, visual recognition and precise execution, and improves the picking efficiency. And a standardized solution with continuous and efficient production, environment-friendly labor environment and stable mushroom quality is provided.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural mechanization and automation equipment, and specifically relates to an agricultural intelligent equipment, in particular to a track-type intelligent mushroom picking robot. Background Art

[0002] Mushrooms are healthy foods that are both nutritious and functional. Every 100 grams of fresh mushrooms contain 2.9 grams of protein, 0.6 grams of crude fiber, 8 milligrams of calcium, and all 20 essential amino acids for the human body, of which the content of glutamic acid is more than 1g, and the proportion of umami amino acids exceeds 40%. In addition, mushrooms are rich in sodium, potassium, manganese, copper, vitamin A, vitamin B, and a variety of amino acids. An adult can basically meet the daily vitamin needs by eating 25 grams of fresh mushrooms. With the increasing demand for people's lives, mushrooms are transitioning from traditional ingredients to functional foods, and demand will continue to increase. According to the "2023-2024 National Edible Fungi Factory Production Situation Survey Report", my country's total edible fungi output has continued to climb from 32.7 million tons in 2014 to 43.3417 million tons in 2023, and the total output value has increased to 396.557 billion yuan. With the intensive, standardized, and intelligent development of mushroom cultivation, challenges have also been posed to related supporting agricultural machinery.

[0003] At present, the factory cultivation of mushrooms is developing rapidly. In 2023, the total factory output of edible fungi in China will be 4.0916 million tons, a year-on-year increase of 43.23% from 2.8567 million tons in 2022. In the factory production system, the standard shelf cultivation mode has been widely used, but compared with the production links with a high degree of automation such as strain preparation and environmental control, the harvesting operation still mainly relies on manual operation.

[0004] The following prominent problems exist in the mushroom picking process: the continuous high humidity environment and biological activity characteristics during the mushroom fruiting stage require harvesters to be exposed to high temperature and high humidity for a long time in the closed cultivation warehouse, with high work intensity and a significantly increased risk of occupational diseases such as rheumatoid arthritis; the dual pressures of labor intensity and working environment make harvesting positions face a structural labor shortage, and it is difficult to recruit pickers, with labor expenses in the picking stage accounting for as much as 45%-60% of the total labor costs; mushroom fruiting bodies grow quickly, and their individual picking windows are short and uncertain, and manual visual inspection cannot accurately judge their growth conditions and pick them in time, resulting in large differences in mushroom products. Experienced workers can achieve a pass rate of 90%, while novices only have a pass rate of about 70%; fresh mushrooms are very fragile, and direct manual contact with the mushroom body can easily cause mechanical damage. Standardized training can control the breakage rate to less than 5%, but in actual production it is generally 8-15%.

[0005] In order to solve the problem of harvesting in factory-based mushroom cultivation, agricultural robot technology is used to give full play to the robot's information perception ability to accurately identify, measure and locate mushrooms. A robot arm and picking mechanism are designed and developed for the factory-based mushroom cultivation environment to carry out mushroom harvesting operations. A track-type intelligent mushroom picking robot is developed. Through autonomous navigation, visual recognition and precise execution of the entire process of intelligent control, the labor intensity of picking workers is reduced, the picking quality of mushrooms is stabilized, and the production efficiency of the mushroom harvesting stage is greatly improved, providing a standardized solution for my country to promote intensive factory-based mushroom cultivation. Summary of the invention

[0006] In order to realize continuous and automated picking of mushrooms in a small space under the background of standard shelf-type high-density mushroom cultivation, the present invention proposes a track-type intelligent mushroom picking robot, which can be used for mushroom identification, positioning and picking operations under the existing shelf-type cultivation mode.

[0007] To achieve the above object, the technical solution of the present invention is: a track-type intelligent mushroom picking robot, comprising a track base, a rotary mechanical arm, an onboard negative pressure system, an intelligent picking mechanism and an H-shaped steel track; The track base is installed on the H-shaped steel track and can move in both directions along the track; The rotary mechanical arm is hinged to the bottom of the track base and has a double-degree-of-freedom horizontal rotation function; The onboard negative pressure system is built into the rotary robot arm and generates negative pressure through the electric cylinder-pneumatic cylinder linkage mechanism; The intelligent picking mechanism is installed at the end of the rotating robotic arm and is connected to the onboard negative pressure system through an air pipe. It has one horizontal torsion and one vertical displacement degree of freedom, and an integrated deep vision recognition module to complete the maturity recognition and three-dimensional position positioning of the mushrooms. It also uses adaptive negative pressure suction cups and root cutters to adsorb, peel and shear the mushrooms at the roots, achieving non-destructive picking, root removal and collection operations.

[0008] Furthermore, the track base includes a servo motor, an output gear, a base driving wheel, a lateral limiting wheel, an active side connecting plate, a base bottom plate, a base pre-tightening wheel, and a driven wheel. The servo motor is installed in the middle of the active side connection, and is meshed with the gear parts of the base driving wheels on both sides through the output gear, driving them to rotate in the same direction and drive the track base to move; the base bottom plate is installed at the bottom of the track base, fixing the active side connection and the driven side connecting plates on both sides, and providing an installation interface for the rotary robot arm; the base pre-tightening wheel contacts the lower surface of the H-shaped steel track to provide a pre-tightening force; four sets of lateral limiting wheels are respectively installed at both ends of the active side connecting plate and the driven side connecting plate to limit vertical and track direction deviation.

[0009] Furthermore, the two base driving wheels have built-in ball bearings and are connected to the active side through a pin shaft. The rolling wheel body is in contact with the lower surface of the groove on one side of the H-shaped steel track, acting as the active end to drive the track base to move as a whole. The base driven wheel on the other side serves as a balance fulcrum and is connected to the driven side connecting plate in the same way.

[0010] Furthermore, the rotary robotic arm includes a first rotary joint motor, a first arm, a second rotary joint motor, and a second arm. The first rotary joint motor drives the first arm to achieve 0-360° horizontal rotation; the second rotary joint motor drives the second arm to achieve 0-270° horizontal rotation; and the end of the robotic arm is accurately positioned within the fan-shaped area through dual-degree-of-freedom collaborative motion.

[0011] Furthermore, the airborne negative pressure system comprises a negative pressure generating cylinder, a servo electric cylinder (304), an air inlet check valve, an air outlet check valve, and an adaptive negative pressure suction cup. The servo electric cylinder synchronously controls the piston movement of the three negative pressure generating cylinders through an electric-cylinder linkage plate; the air inlet check valve cooperates with the air outlet check valve to generate a stable negative pressure through the cyclic expansion and contraction of the cylinder; and the negative pressure output port is connected to the adaptive negative pressure suction cup.

[0012] Furthermore, the fixed end of the servo electric cylinder is hinged and fixed with the electric cylinder fixing seat through the electric cylinder fixing pin, and the electric cylinder fixing seat and the cylinder fixing seat are fixed to the inner bottom surface of the first arm of the robot through screws; the front ends of the cylinder bodies of the three negative pressure generating cylinders are respectively fixed to the cylinder fixing seats through cylinder fixing nuts; the three cylinder piston rods and the electric cylinder output push rod are fixed together on one side of the electric-cylinder linkage plate to achieve linkage; the three cylinder joints are respectively installed on the rodless ends of the three negative pressure generating cylinders, and are connected to the three joints in the middle of the five-way pneumatic joint through connecting air pipes; the vertical joints at both ends of the five-way pneumatic joint are respectively connected to the air inlet check valve and the air outlet check valve, the other end of the air outlet check valve is connected to the muffler, and the other end of the air inlet check valve is the negative pressure output port.

[0013] Furthermore, the intelligent picking mechanism includes a torsion servo, a servo output bracket, a slide screw, a linear slider, a depth camera, a root cutter, a shear connecting rod, and a micro electric push rod. The torsion servo drives the servo output bracket to achieve 0-180° torsion; the stepper motor controls the vertical movement of the linear slider through the slide screw; the depth camera captures the three-dimensional coordinates of the mushrooms in real time and feeds back to the control system; the micro electric push rod drives the root cutter through the shear connecting rod to complete the shearing action.

[0014] Further, the torsion servo is fixed to the connecting plate at the end of the mechanical arm by screws, and its output disk is connected to the output bracket of the servo; the slide base is connected to the output bracket of the servo, the linear slide rail is vertically installed on its inner side by screws, and the depth camera is installed at its bottom; the upper part of the slide base is installed with a stepper motor seat (415); the slide screw is the output shaft of the stepper motor, the linear slider is installed on the linear slide rail, and cooperates with the slide screw to realize vertical movement; the end fixing block is connected to the linear slider by screws, and an adaptive negative pressure suction cup is installed on its inner side, and the negative pressure suction cup is connected to the airborne negative pressure system through the suction cup air pipe led out from the inside of the rotary mechanical arm; the root cutter is installed on the outer side of the end fixing block, and a micro electric push rod is installed as the power source of the root cutter; and the power transmission is realized through the connecting rod mechanism composed of the connecting rod fixing plate and the shear connecting rod.

[0015] A picking method using a track-type intelligent mushroom picking robot comprises the following steps: when a depth camera captures a mature standard mushroom, the three-dimensional coordinates thereof are read and fed back to a host computer, and the host computer controls a rotary mechanical arm to operate so that a reference point of an intelligent picking mechanism reaches directly above the coordinate point of the mushroom; then a stepper motor is controlled to move a linear slider and an end fixing block connected thereto downward until an adaptive negative pressure suction cup fits the upper surface of the mushroom cap, and an airborne negative pressure system is started to generate negative pressure in the adaptive negative pressure suction cup to attract the mushroom cap; then a torsion servo is controlled to twist 180 degrees, and at the same time, a stepper motor is controlled to reversely lift the adaptive negative pressure suction cup; after the mushroom is completely pulled out of a culture matrix, a micro electric push rod is controlled to move upward so that a root cutter cuts off the root of the mushroom; finally, the rotary mechanical arm is controlled to move out of the intelligent picking mechanism, and each mechanism is commanded to return to its position and put the mushroom into a collection frame to complete the mushroom picking process.

[0016] Furthermore, under the joint action of the track base and the rotating robotic arm, the depth camera in the intelligent picking mechanism is controlled to conduct uninterrupted inspections of all mushroom planting shelves. When mushrooms that have reached the maturity standard are found, their coordinates are recorded, and an intelligent algorithm is used to automatically plan the fastest picking path to complete the mushroom harvesting task.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention adopts the method of pre-installed H-shaped steel monorail + mobile base to realize robot movement. Compared with wheeled chassis or dual-track mobile robots, the monorail system has unique structural advantages, good engineering adaptability, large allowable error, fast deployment speed, low transformation cost, high repetition accuracy, fast moving speed, small base volume, simple mechanical structure, low failure rate, strong load capacity, good structural rigidity, high energy efficiency, etc. It has better working effect and life performance in the narrow space and humid environment of factory shelf cultivation.

[0018] 2. The picking method uses an adaptive negative pressure suction cup and end twisting. Compared with direct picking with mechanical grippers, the adaptive negative pressure suction can fit the mushroom surface more gently. By applying force through twisting rather than pulling, the risk of tearing the mushroom stem is avoided, significantly reducing the mechanical damage to the mushrooms caused by the picking process.

[0019] 3. Built-in airborne negative pressure system, using electric cylinder-cylinder linkage mechanism and pneumatic one-way valve to generate negative pressure, no need to connect air pipe. Compared with traditional vacuum pumps, it has the advantages of high air pressure adjustment accuracy, no mechanical vibration, low noise, light weight, etc. It significantly improves energy conversion efficiency, does not require lubricating oil maintenance, and has a longer service life in humid environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the track-type intelligent mushroom picking robot of the present invention; Figure 2 This is a schematic diagram of the dynamic structure of the track base; Figure 3 This is a schematic diagram of the connection between the base and the robotic arm; Figure 4 It is a schematic diagram of the rotary robot arm joint; Figure 5 This is a schematic diagram of the structure of the airborne negative pressure system; Figure 6 It is the overall schematic diagram of the picking mechanism; Figure 7 It is a schematic diagram of the end of the picking mechanism; Among them, 100, track base; 200, rotary mechanical arm; 300, airborne negative pressure system; 400, intelligent picking mechanism; 500, H-shaped steel track; In the track base, 101, servo motor; 102, output gear; 103, base driving wheel; 104, lateral limiting wheel; 105, driving side connecting plate; 106, base bottom plate; 107, base preload wheel; 108, base driven wheel; 109, driven side connecting plate; 110, battery; In the rotary robot arm, 201, the first rotary joint motor; 202, the first arm of the robot; 203, the second rotary joint motor; 204, the second arm of the robot; 205, the connecting plate at the end of the robot arm; In the airborne negative pressure system, 301, cylinder piston rod; 302, electric cylinder output push rod; 303, negative pressure generating cylinder; 304, servo electric cylinder; 305, cylinder joint; 306, connecting air pipe; 307, air inlet check valve; 308, negative pressure output port; 309, muffler; 310, air outlet check valve; 311, electric cylinder fixing seat; 312, electric cylinder fixing pin; 313, five-way pneumatic joint; 314, cylinder fixing seat; 315, cylinder fixing nut; 316, electric-cylinder linkage plate; In the picking mechanism, 401, torsion servo; 402, servo output bracket; 403, slide base; 404, linear slide rail; 405, slide screw; 406, linear slider; 407, end fixing block; 408, depth camera; 409, adaptive negative pressure suction cup; 410, root cutter; 411, shear connecting rod; 412, connecting rod fixing plate; 413, micro electric push rod; 414, stepping motor seat; 415, stepping motor; 416, suction cup air pipe; 417, mushroom model. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] like Figures 1 to 7 As shown, a track-type intelligent mushroom picking robot of the present invention includes a track base 100, a rotary mechanical arm 200, an onboard negative pressure system 300, an intelligent picking mechanism 400 and an H-shaped steel track 500; The track base 100 is installed on the H-shaped steel track 500 and can move in both directions along the track; the rotary robotic arm 200 is installed at the bottom of the track base 100; the airborne negative pressure system 300 is fixed inside the rotary robotic arm 200; the intelligent picking mechanism 400 is installed at the end of the rotary robotic arm 200 and is connected to the airborne negative pressure system 300 through an air pipe.

[0023] The track base 100 uses a servo motor 101 as a prime mover and a battery 110 as a power source. The servo motor 101 is installed in the middle of the active side connection 105. The output gear 102 is fixed to the output shaft of the servo motor 101 through a flat key and an end cover, and is meshed with the gear parts of the base driving wheels 103 on both sides, driving them to rotate in the same direction. The two base driving wheels 103 have built-in ball bearings and are connected to the active side connection 105 through a pin shaft. The rolling wheel body part contacts the lower surface of the groove on one side of the H-shaped steel track 500, driving the track base 100 to move as a whole as the active end. The base driven wheel 108 on the other side serves as a balance fulcrum and is connected to the driven side connection plate 109 in the same way. The base preload wheel 107 below contacts the lower surface of the H-shaped steel track 500 to provide an upward preload force. The four lateral limit wheels 104 are respectively installed at the horizontal ends of the active side connection 105 and the driven side connection plate 109 to provide vertical and track direction limits for the track base 100, so that the robot as a whole will not have excessive deviation, tilt, or rollover and derailment. The base bottom plate 106 is installed at the bottom of the track base 100, fixing the active side connection 105 and the driven side connection plate 109 on both sides, and providing an installation interface for the rotary robot arm 200.

[0024] The fixed end of the first rotary joint motor 201 of the rotary mechanical arm 200 is installed under the base bottom plate 106 by screws, and its output flange is connected to the root of the first arm 202 of the robot to achieve 0-360 degree horizontal rotation; the fixed end of the second rotary joint motor (203) is installed at the end of the first arm 202 of the robot by screws, and its output flange is connected to the root of the second arm 204 of the robot to achieve 0-270 degree horizontal rotation; through the collaborative motion design of this dual-degree-of-freedom mechanism, the end of the mechanical arm can achieve accurate positioning of any point in the fan-shaped workspace. The mechanical arm end connecting plate 205 is installed at the end of the second arm 204 of the robot to provide an installation interface for the intelligent picking mechanism 400.

[0025] The onboard negative pressure system 300 is fixed inside the first arm 202 of the robot. The fixed end of the servo electric cylinder 304 is hinged and fixed to the electric cylinder fixing seat 311 through the electric cylinder fixing pin 312. The electric cylinder fixing seat 311 and the cylinder fixing seat 314 are fixed to the bottom surface of the first arm 202 of the robot through screws. The front ends of the cylinder bodies of the three negative pressure generating cylinders 303 are respectively fixed to the cylinder fixing seats 314 through cylinder fixing nuts 315. The three cylinder piston rods 301 and the electric cylinder output push rod 302 are fixed together on one side of the electric-cylinder linkage plate 316 to achieve linkage. The three cylinder joints 305 are respectively installed on the rodless ends of the three negative pressure generating cylinders 303, and are connected to the three joints in the middle of the five-way pneumatic joint 313 through the connecting air pipe 306. The vertical joints at both ends of the five-way pneumatic joint 313 are respectively connected to the inlet check valve 307 and the outlet check valve 310 , the other end of the outlet check valve 310 is connected to the muffler 309 , and the other end of the inlet check valve 307 is the negative pressure output port 308 .

[0026] The intelligent picking mechanism 400 is installed at the end of the rotary mechanical arm 200, and the torsion servo 401 is fixed to the connecting plate 205 at the end of the mechanical arm by screws. Its output disk is connected to the servo output bracket 402, so that the picking mechanism has 0-180 degrees of torsion freedom. The slide base 403 is connected to the servo output bracket 402, and the linear slide rail 404 is vertically installed on its inner side by screws, and the depth camera 408 is installed at its bottom. The stepper motor seat 414 is installed on the upper part of the slide base 403, and the stepper motor 415 is installed on the stepper motor seat 414. The slide screw 405 is the output shaft of the stepper motor 415, and the linear slider 406 is installed on the linear slide rail 404, and cooperates with the slide screw 405 to realize vertical movement. The end fixing block 407 is connected to the linear slider 406 by screws, and an adaptive negative pressure suction cup 409 is installed on the inner side thereof. The negative pressure suction cup 409 is connected to the airborne negative pressure system 300 through a suction cup air pipe 416 led out from the inside of the rotary robot arm 200; a root cutter 410 is installed on the outer side of the end fixing block 407, and a micro electric push rod 413 is installed as a power source for the root cutter 410; and power transmission is realized through a connecting rod mechanism composed of a connecting rod fixing plate 412 and a shear connecting rod 411.

[0027] Example: 1. Orbital motion The present embodiment relates to a track-type intelligent mushroom picking robot, and the track base 100 can move bidirectionally on the pre-laid H-shaped steel track 500. A servo motor 101 is used as a prime mover and is installed on the outside of the active side connecting plate 105. The output gear 102 is fixed to the output shaft of the servo motor 101 through a flat key and an end cover. The output gear 102 is meshed with the gear portion of the base driving wheel 103. The base driving wheel 103 has a built-in bearing and is connected to the active side connecting plate 105 through a pin. The base driven wheel 108 on the other side serves as a balancing fulcrum and is connected to the driven side connecting plate 109 in the same way. The base preload wheel 107 below contacts the lower surface of the H-shaped steel track 500 to provide an upward pressure preload force. The four lateral limit wheels 104 are respectively installed at the horizontal ends of the active side connection 105 and the driven side connecting plate 109 to provide vertical and track direction limit of the track base 100, so that the robot as a whole will not produce excessive deviation, tilt, and rollover derailment. The servo motor 101 outputs torque through the output gear 102, thereby driving the base driving wheels 103 symmetrically distributed on both sides to rotate in the same direction, and their surfaces contact the lower surface of the groove on one side of the H-shaped steel, thereby driving the robot as a whole to move in a certain direction.

[0028] 2. Double-arm rotation The fixed end of the first rotary joint motor 201 is installed under the base bottom plate 106 by screws, and its output flange is connected to the root of the first arm 202 of the robot to achieve 0-360 degree horizontal rotation; the fixed end of the second rotary joint motor (203) is installed at the end of the first arm 202 of the robot by screws, and its output flange is connected to the root of the second arm 204 of the robot to achieve 0-270 degree horizontal rotation; through the collaborative motion design of this dual-degree-of-freedom mechanism, the end of the robot arm can achieve precise positioning of any point in the fan-shaped workspace.

[0029] 3. Negative pressure generation In the initial state, the electric cylinder output push rod 302 and the cylinder piston rod 301 are fully retracted. In the negative pressure generation stage, the electric cylinder output push rod 302 drives the electric-cylinder linkage plate 316 to be pushed out, and the cylinder piston rod is forced to be pulled out, forming a cavity at the rodless cavity of the cylinder, generating negative pressure, and the air flow enters the cylinder through the air inlet check valve 307. In the saturation stage, when the cylinder piston rod 301 is fully pulled out and the air pressure in the rodless cavity is equal to the external atmospheric pressure, other external air can no longer enter through the negative pressure output port. In the exhaust stage, the electric cylinder output push rod 302 retracts, and the cylinder piston rod 301 also retracts synchronously. The volume of the rodless cavity of the cylinder decreases, the air pressure increases, and the air flow is discharged into the atmosphere through the air outlet check valve 310. After being completely discharged, it enters the next cycle.

[0030] 4. Picking process When the depth camera 408 captures the mature standard mushroom, it reads its three-dimensional coordinates and feeds back to the host computer. The host computer controls the rotary robot arm 200 to operate so that the reference point of the intelligent picking mechanism 400 reaches the top of the mushroom coordinate point. Then the stepper motor 415 is controlled to make the linear slider 406 and the terminal fixed block 407 connected thereto move downward until the adaptive negative pressure sucker 409 fits the upper surface of the mushroom cap, and the airborne negative pressure system 300 is started to generate negative pressure in the adaptive negative pressure sucker 409 to suck the mushroom cap. Then the torsion servo 401 is controlled to twist 180 degrees, and the stepper motor 415 is controlled to reversely lift the adaptive negative pressure sucker 409. After the mushroom is completely pulled out of the culture matrix, the micro electric push rod 413 is controlled to move upward so that the root cutter 410 cuts off the mushroom root. Finally, the rotary robot arm 200 is controlled to move out of the intelligent picking mechanism 400, and each mechanism is ordered to return to its position and put the mushroom into the collection frame to complete the mushroom picking process.

[0031] 5. Full Workflow Under the joint action of the track base 100 and the rotary robot arm 200, the depth camera 408 in the intelligent picking mechanism 400 is controlled to conduct uninterrupted inspections of all mushroom planting shelves. When mushrooms that have reached the maturity standard are found, their coordinates are recorded, and an intelligent algorithm is used to automatically plan the fastest picking path to complete the mushroom harvesting task.

Claims

1. A track-type intelligent mushroom picking robot, characterized in that: It comprises a track base (100), a rotary mechanical arm (200), an onboard negative pressure system (300), an intelligent picking mechanism (400) and an H-shaped steel track (500); The track base (100) is installed on the H-shaped steel track (500) and can move in both directions along the track; The rotary mechanical arm (200) is hinged to the bottom of the track base (100) and has a double-degree-of-freedom horizontal rotary function; The onboard negative pressure system (300) is built into the rotary robot arm (200) and generates negative pressure through an electric cylinder-pneumatic cylinder linkage mechanism; The intelligent picking mechanism (400) is installed at the end of the rotary robot arm (200), connected to the onboard negative pressure system (300) through an air pipe, has one horizontal torsion and one vertical displacement degree of freedom, and integrates a deep vision recognition module to complete the maturity recognition and three-dimensional position positioning of the mushrooms. The mushrooms are adsorbed, peeled and the roots are sheared through an adaptive negative pressure suction cup (409) and a root cutter (410), thereby realizing non-destructive picking, root removal and collection operations.

2. The track-type intelligent mushroom picking robot according to claim 1, characterized in that: The track base (100) comprises a servo motor (101), an output gear (102), a base driving wheel (103), a lateral limiting wheel (104), a driving side connecting plate (105), a base bottom plate (106), a base pre-tightening wheel (107), and a driven wheel (108). The servo motor (101) is installed in the middle of the driving side connection (105) and meshes with the gear parts of the base driving wheels (103) on both sides through the output gear (102), driving them to rotate in the same direction, thereby driving the track The base (100) moves; the base bottom plate (106) is installed at the bottom of the track base (100), fixes the active side connection (105) and the driven side connection plate (109) on both sides, and provides a mounting interface for the rotary robot arm (200); the base preload wheel (107) contacts the lower surface of the H-shaped steel track (500) to provide a preload force; four sets of lateral limit wheels (104) are respectively installed at both ends of the active side connection plate (105) and the driven side connection plate (109) to limit the vertical and track direction deviation.

3. The track-type intelligent mushroom picking robot according to claim 2, characterized in that: The two base driving wheels (103) have built-in ball bearings and are connected to the active side connection (105) through a pin shaft. The rolling wheel body portion contacts the lower surface of the groove on one side of the H-shaped steel track (500), and acts as the active end to drive the track base (100) to move as a whole. The base driven wheel (108) on the other side acts as a balance fulcrum and is connected to the driven side connection plate (109) in the same way.

4. The track-type intelligent mushroom picking robot according to claim 1, characterized in that: The rotary mechanical arm (200) comprises a first rotary joint motor (201), a first arm (202), a second rotary joint motor (203), and a second arm (204); the first rotary joint motor (201) drives the first arm (202) to achieve 0-360° horizontal rotation; the second rotary joint motor (203) drives the second arm (204) to achieve 0-270° horizontal rotation; The end of the robotic arm can be accurately positioned within the fan-shaped area through dual-degree-of-freedom coordinated motion.

5. The track-type intelligent mushroom picking robot according to claim 1, characterized in that: The airborne negative pressure system (300) comprises a negative pressure generating cylinder (303), a servo electric cylinder (304), an air intake check valve (307), an air outlet check valve (310), and an adaptive negative pressure suction cup (409); the servo electric cylinder (304) synchronously controls the piston movement of the three negative pressure generating cylinders (303) via an electric-cylinder linkage plate (316); the air intake check valve (307) cooperates with the air outlet check valve (310) to generate a stable negative pressure through the cyclic expansion and contraction of the cylinder; and the negative pressure output port (308) is connected to the adaptive negative pressure suction cup (409).

6. The track-type intelligent mushroom picking robot according to claim 5, characterized in that: The fixed end of the servo electric cylinder (304) is hingedly connected and fixed to the electric cylinder fixing seat (311) through the electric cylinder fixing pin (312), and the electric cylinder fixing seat (311) and the cylinder fixing seat (314) are fixed to the inner bottom surface of the first arm (202) of the robot through screws; the front ends of the cylinder bodies of the three negative pressure generating cylinders (303) are respectively fixed to the cylinder fixing seats (314) through cylinder fixing nuts (315); the three cylinder piston rods (301) and the electric cylinder output push rod (302) are fixed together on one side of the electric-cylinder linkage plate (316) to achieve linkage; the three cylinder joints (305) are respectively installed on the rodless ends of the three negative pressure generating cylinders (303), and are connected to the three joints in the middle of the five-way pneumatic joint (313) through the connecting air pipe (306); The vertical joints at both ends of the five-way pneumatic joint (313) are respectively connected to the air inlet check valve (307) and the air outlet check valve (310), the other end of the air outlet check valve (310) is connected to the muffler (309), and the other end of the air inlet check valve (307) is a negative pressure output port (308).

7. The track-type intelligent mushroom picking robot according to claim 1, characterized in that: The intelligent picking mechanism (400) comprises a torsion servo (401), a servo output bracket (402), a slide screw (405), a linear slider (406), a depth camera (408), a root cutter (410), a shearing connecting rod (411), and a micro electric push rod (413). The torsion servo (401) drives the servo output bracket (402) to achieve a 0-180° torsion; the stepper motor (415) controls the vertical movement of the linear slider (406) via the slide screw (405); the depth camera (408) captures the three-dimensional coordinates of the mushrooms in real time and feeds back to the control system; and the micro electric push rod (413) drives the root cutter (410) via the shearing connecting rod (411) to complete the shearing action.

8. The track-type intelligent mushroom picking robot according to claim 7, characterized in that: The torsion servo (401) is fixed to the connecting plate (205) at the end of the mechanical arm by screws, and its output disk is connected to the servo output bracket (402); the slide base (403) is connected to the servo output bracket (402), the linear slide rail (404) is vertically installed on the inner side thereof by screws, and the depth camera (408) is installed at its bottom end; The upper part of the slide base (403) is provided with a stepper motor (415) via a stepper motor seat (414); the slide screw (405) is the output shaft of the stepper motor (415); the linear slider (406) is installed on the linear slide rail (404) and cooperates with the slide screw (405) to realize vertical movement; the end fixing block (407) is connected to the linear slider (406) via screws, and an adaptive negative pressure suction cup (409) is installed on the inner side thereof, and the negative pressure suction cup (409) is connected to the airborne negative pressure system (300) via a suction cup air pipe (416) led out from the inside of the rotary mechanical arm (200); the root cutter (410) is installed on the outer side of the end fixing block (407), and a micro electric push rod (413) is installed as a power source of the root cutter (410); and power transmission is realized through a connecting rod mechanism composed of a connecting rod fixing plate (412) and a shear connecting rod (411).

9. A mushroom picking method using the track-type intelligent mushroom picking robot according to any one of claims 1 to 8, characterized in that: The steps are as follows: when the depth camera (408) captures a mature mushroom of a standard, the three-dimensional coordinates thereof are read and fed back to the host computer, and the host computer controls the rotary mechanical arm (200) to operate so that the reference point of the intelligent picking mechanism (400) reaches directly above the coordinate point of the mushroom; then the stepper motor (415) is controlled to move the linear slider (406) and the terminal fixing block (407) connected thereto downward until the adaptive negative pressure suction cup (409) fits the upper surface of the mushroom cap, and the airborne negative pressure system (300) is started to move in the adaptive negative pressure. The pressure suction cup (409) generates negative pressure to suck the mushroom cap; then the torsion servo (401) is controlled to twist 180 degrees, and the stepper motor (415) is controlled to reversely lift the adaptive negative pressure suction cup (409); after the mushroom is completely pulled out of the culture matrix, the micro electric push rod (413) is controlled to move upward, so that the root cutter (410) cuts off the mushroom root; finally, the rotary mechanical arm (200) is controlled to move out of the intelligent picking mechanism (400), and each mechanism is ordered to return to its position and put the mushroom into the collection frame, thereby completing the mushroom picking process.

10. The method according to claim 9, characterized in that Under the joint action of the track base (100) and the rotary robot arm (200), the depth camera (408) in the intelligent picking mechanism (400) is controlled to continuously inspect all mushroom planting shelves. When mushrooms that have reached the maturity standard are found, their coordinates are recorded, and an intelligent algorithm is used to automatically plan the fastest picking path to complete the mushroom harvesting task.

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