Automatic harvesting device for stropharia rugoso-annulata cultivated in field

Abstract

The invention belongs to the technical field of automatic harvesting equipment, and particularly relates to an automatic harvesting device for stropharia rugoso-annulata cultivated in a field. The device comprises a movable chassis, a lifting mechanism, a rotating base, a large arm, a small arm, a harvesting executing mechanism and a control box. The movable chassis can walk autonomously in a mushroom field; the position and the posture of the harvesting executing mechanism can be flexibly adjusted through the cooperative movement of the lifting mechanism, the rotating base, the large arm and the small arm. The harvesting executing mechanism adopts a flexible silica gel clamping assembly driven by a miniature air pump, and stropharia rugoso-annulata stipes can be effectively clamped. And the harvested mushroom bodies are collected to a collection box below. The device is compact in structure, good in stability and capable of effectively adapting to the growth environment of the stropharia rugoso-annulata cultivated in a field, the surface integrity of the stropharia rugoso-annulata is guaranteed, and therefore the product quality is guaranteed.

Description

Technical Field

[0001] This invention belongs to the technical field of automatic harvesting equipment, specifically relating to an automated harvesting device for field-grown giant king mushrooms. Background Technology

[0002] The king oyster mushroom (Stropharia rugosoannulata Farl. ex Murrill), also known as the wrinkled king oyster mushroom or the wine-red king oyster mushroom, is a rare edible mushroom rich in nutrients and with a delicious taste. It is rich in protein, polysaccharides, vitamins, and various minerals, and has health benefits such as enhancing immunity, anti-oxidation, and lowering blood lipids. In recent years, it has become increasingly popular in domestic and international markets. With the development of facility agriculture and under-forest economy, the artificial cultivation area of ​​king oyster mushrooms in my country has expanded rapidly, forming a large-scale, year-round production model. Several standardized planting bases have been established, especially in Yunnan, Sichuan, Fujian, Zhejiang, and Shandong provinces. However, compared with the rapidly developing planting scale, the harvesting of king oyster mushrooms still heavily relies on manual labor. Traditional harvesting methods typically involve workers squatting or bending over to pick the mushrooms one by one between cultivation beds, which is not only extremely labor-intensive but also inefficient. During peak harvesting seasons, labor shortages are particularly acute, causing some mature mushrooms to open their caps, age, or even rot due to delayed harvesting, resulting in yield losses and quality decline.

[0003] The fruiting body of *Stropharia carinata* is quite delicate, with the cap surface easily damaged by mechanical friction and the stem highly brittle. Improper harvesting methods can easily cause breakage, tearing, or basal residue, affecting not only the product's appearance but also potentially leading to pathogen infection and shortening shelf life. Currently, there is a lack of specialized harvesting tools for this type of edible fungus on the market, and most farmers still use bare hands or simple knives, making it difficult to achieve the goal of "non-destructive, efficient, and standardized" harvesting. In recent years, with the advancement of agricultural robots and intelligent equipment technology, automated harvesting equipment for fruits and vegetables has made significant progress. For example, harvesting robots based on machine vision recognition and robotic arm collaboration have emerged for tomatoes, strawberries, and cucumbers. However, these devices are generally bulky and expensive, and their harvesting strategies are mostly designed based on the hard skin of the fruit and a clear separation point of the fruit stem, making them difficult to directly apply to soft, low-growing, densely clustered edible fungi like *Stropharia carinata* that lack a distinct abscission layer. Although a few studies have attempted to introduce technologies such as flexible grippers, negative pressure adsorption, or laser cutting into the field of edible fungus harvesting, most remain at the laboratory stage. Summary of the Invention

[0004] To address the aforementioned problems, this invention presents an automated harvesting device for large-cap mushrooms that is compact, flexible in operation, and highly accurate in harvesting, thus solving the problems of low harvesting efficiency and high damage rate in existing technologies.

[0005] To achieve the objectives of this invention, the following technical solution is adopted:

[0006] An automated harvesting device for field-grown *Stropharia masticata* is characterized by comprising a mobile chassis, a lifting mechanism, a rotating base, a large arm, a small arm, a harvesting execution mechanism, and a control box. The mobile chassis is equipped with drive wheels for movement within the mushroom field. The lifting mechanism includes a lifting slide, a lifting motor, and a lifting base. The lifting slide is located on the side of the lifting mechanism. The lifting motor is located at the bottom of the side of the lifting mechanism opposite to the lifting slide. The lifting base is mounted on the rotating base, which is mounted above the mobile chassis. The large arm is connected to the side of the lifting mechanism, and a small arm is mounted at the end of the large arm. The harvesting execution mechanism is mounted at the end of the small arm. The harvesting execution mechanism is suspended from the end of the small arm via a connecting rod for precise harvesting of the *Stropharia masticata*.

[0007] The boom is mounted on the lifting slide via a mounting flange and flange bolts. The lifting mechanism enables vertical movement, allowing for vertical positioning and extraction during harvesting.

[0008] The rotating base includes a rotating base mounting plate, a rotating platform, a rotating platform mounting frame, a rotating platform motor, a motor synchronous pulley, a synchronous belt, and a rotating platform synchronous pulley. The rotating base mounting plate is mounted on the upper end of the mobile chassis by mounting plate bolts. The rotating platform mounting frame and the rotating platform motor are respectively mounted on the rotating base mounting plate by mounting frame bolts and rotating platform motor bolts. A rotating platform synchronous pulley is installed at the bottom of the rotating platform. A motor synchronous pulley is installed on the output shaft of the rotating platform motor. The motor synchronous pulley drives the synchronous belt, which in turn drives the rotating platform synchronous pulley, causing the rotating platform and lifting mechanism to rotate, realizing the horizontal rotation of the boom, thereby adjusting the harvesting position of the boom section in the horizontal plane. The forearm is installed at the end of the boom via a harmonic reducer, and its horizontal rotation is achieved by the forearm motor, thereby adjusting the harvesting position of the forearm section in the horizontal plane. The harvesting action is realized through the mutual coordination of the boom and forearm in adjusting the harvesting position in the horizontal plane.

[0009] The harvesting mechanism includes a clamping assembly, a connecting rod, a connecting seat, a connecting seat bolt, and a connecting rod bolt; the connecting seat is installed at the end of the forearm; the upper end of the connecting rod is installed inside the connecting seat and fastened by the connecting seat bolt; the clamping assembly is used to clamp the stalk and is installed at the lower end of the connecting rod by the connecting rod bolt; the inner side of the clamping assembly is made of silicone and is driven to open and close by a micro air pump.

[0010] The mobile chassis is equipped with drive wheels at its bottom, which are driven by a chassis motor and mounted on the bottom of the mobile chassis via a drive wheel mounting plate and a drive wheel mounting seat. A sprocket is mounted on the chassis motor, meshing with a chain to rotate the drive wheels, enabling the vehicle to move forward, backward, and turn. A collection box is located on the mobile chassis below the harvesting mechanism to receive the harvested mushrooms. The collection box has an open design. A control box is located in the middle of the mobile chassis to feed back the obtained mushroom position information to the control system.

[0011] The control system is integrated into the control box and includes a main control unit, a human-machine interface and a wireless communication module, which can realize automatic path planning, harvesting parameter setting and remote monitoring.

[0012] Preferably, the automated harvesting device for field-grown giant king mushrooms is a horizontal type, which has good stability.

[0013] Preferably, the clamping component of the automated harvesting device for field-grown giant king mushrooms is made of flexible material, and the part in contact with the stem is made of silicone, which provides sufficient friction for the harvesting action while ensuring that the contact area will not be significantly damaged.

[0014] In summary, the beneficial effects of the present invention are as follows:

[0015] 1. The automated harvesting device for field-grown giant king mushrooms is equipped with a mobile chassis for field movement, which can adapt to the growth environment of field-grown giant king mushrooms.

[0016] 2. The automated harvesting device for field-grown giant king mushrooms uses flexible clamping components, which not only ensures that the harvesting force meets the requirements, but also ensures the surface integrity of the giant king mushrooms, thereby guaranteeing product quality.

[0017] 3. The automated harvesting device for field-grown giant king mushrooms has a compact structure, good stability, is lightweight, and is easy to install and disassemble, allowing for timely maintenance and replacement. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram illustrating an embodiment of the present invention.

[0019] Figure 2 This is a partial schematic diagram of the rotating base of the present invention.

[0020] Figure 3 This is a schematic diagram from the bottom view of the present invention.

[0021] Figure 4 This is a partial schematic diagram of the forearm of the present invention.

[0022] In the diagram: 1. Lifting mechanism; 2. Mounting flange; 3. Flange bolts; 4. Boom; 5. Boom motor; 6. Boom; 7. Connecting seat; 8. Connecting seat bolts; 9. Connecting rod; 10. Harvesting actuator; 11. Connecting rod bolts; 12. Clamping assembly; 13. Collection box; 14. Mobile chassis; 15. Drive wheel; 16. Drive wheel mounting plate; 17. Drive wheel mounting seat; 18. Chassis motor; 19. Control box; 20. Sprocket; 21. Chain; 22. Miniature air pump; 23. Rotary base mounting plate; 24. Base mounting plate bolts; 25. Mounting bracket bolts; 26. Rotary table mounting bracket; 27. Rotary base; 28. Rotary table; 29. ​​Rotary table motor bolts; 30. Lifting motor; 31. Rotary table motor; 32. Lifting slide; 33. Lifting base; 34. 35. Synchronous belt; 36. Rotary table synchronous pulley; 37. Harmonic reducer. Detailed Implementation

[0023] The technical solution of this patent will be further described in detail below with reference to specific embodiments.

[0024] In the description of this patent, it should be understood that the terms "upper", "lower", "side", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this patent.

[0025] In the description of this patent, it should be noted that, unless otherwise explicitly specified and limited, the terms "fitting" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a setting, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this patent according to the specific circumstances.

[0026] Now combined with the appendix Figure 1 —4. A detailed description of the embodiments of the present invention is provided, and the present invention is further described in detail.

[0027] An automated harvesting device for field-grown *Stropharia masticata* is characterized by comprising a mobile chassis 14, a lifting mechanism 1, a rotating base 27, a large arm 4, a small arm 6, a harvesting execution mechanism 10, and a control box 19. The mobile chassis 14 is equipped with drive wheels 15 for movement within the mushroom field. The lifting mechanism 1 includes a lifting slide 32, a lifting motor 30, and a lifting base 33. The lifting slide 32 is located on the side of the lifting mechanism 1. The lifting motor 30 is located at the bottom of the opposite side of the lifting mechanism 1. The lifting base 33 is mounted on the rotating base 27, which is mounted above the mobile chassis 14. The large arm 4 is connected to the side of the lifting mechanism 1, and the small arm 6 is mounted at the end of the large arm 4. The harvesting execution mechanism 10 is mounted at the end of the small arm 6 via a connecting rod 9, enabling precise harvesting of *Stropharia masticata*.

[0028] The boom 4 is mounted on the lifting slide 32 via the mounting flange 2 and flange bolts 3. The boom 4 is raised and lowered vertically via the lifting mechanism 1 to complete the vertical positioning and lifting action during harvesting.

[0029] The rotating base 27 includes a rotating base mounting plate 23, a rotating platform 28, a rotating platform mounting frame 26, a rotating platform motor 31, a motor synchronous pulley 34, a synchronous belt 35, and a rotating platform synchronous pulley 36. The rotating base mounting plate 23 is mounted on the upper end of the movable chassis 14 by base mounting plate bolts 24. The rotating platform mounting frame 26 and the rotating platform motor 31 are respectively mounted on the rotating base mounting plate 23 by mounting frame bolts 25 and rotating platform motor bolts 29. A rotating platform synchronous pulley 36 is installed at the bottom of the rotating platform 28. The rotating platform motor 31 outputs... A motor synchronous pulley 34 is installed on the output shaft; the motor synchronous pulley 34 drives the synchronous belt 35, which in turn drives the rotary table synchronous pulley 36, causing the rotary table 28 and the lifting mechanism 1 to rotate, thereby realizing the horizontal rotation of the boom 4 and adjusting the harvesting position in the horizontal plane of the boom section; the forearm 6 is installed at the end of the boom 4 through a harmonic reducer 37, and rotates horizontally through the forearm motor 5, thereby adjusting the harvesting position in the horizontal plane of the forearm section; the harvesting action is realized through the mutual cooperation of the boom 4 and the forearm 6 in adjusting the harvesting position in the horizontal plane.

[0030] The harvesting mechanism 10 includes a clamping assembly 12, a connecting rod 9, a connecting seat 7, a connecting seat bolt 8, and a connecting rod bolt 11; the connecting seat 7 is installed at the end of the forearm 6; the upper end of the connecting rod 9 is installed inside the connecting seat 7 and fastened by the connecting seat bolt 8; the clamping assembly 12 is used to clamp the fungal stem and is installed at the lower end of the connecting rod 9 by the connecting rod bolt 11; the inner material of the clamping assembly 12 is silicone, and it is driven to open and close by a micro air pump 22.

[0031] The mobile chassis 14 is equipped with a drive wheel 15 at its bottom. The drive wheel 15 is driven by a chassis motor 18 and mounted on the bottom of the mobile chassis 14 via a drive wheel mounting plate 16 and a drive wheel mounting seat 17. A sprocket 20 is mounted on the chassis motor 18 and meshes with a chain 21 to rotate the drive wheel 15, thereby enabling the vehicle to move forward, backward, and turn. A collection box 13 is provided on the mobile chassis 14. The collection box 13 is located below the harvesting execution mechanism 10 and is used to receive the harvested fungi. The collection box 13 is an open design. A control box 19 is provided in the middle of the mobile chassis 14 to feed back the obtained fungi position information to the control system.

[0032] The control system is integrated into the control box 19 and includes a main control unit, a human-machine interface and a wireless communication module, which can realize automatic path planning, harvesting parameter setting and remote monitoring.

[0033] The embodiments described above with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. For those skilled in the art, modifications and parameter substitutions can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is determined by the appended claims and their equivalents.

Claims

1. An automated harvesting device for field-grown *Agaricus bisporus*, characterized in that: The system includes a mobile chassis (14), a lifting mechanism (1), a rotating base (27), a boom (4), a forearm (6), a harvesting execution mechanism (10), and a control box (19). The mobile chassis (14) is equipped with drive wheels (15) for moving within the mushroom field. The lifting mechanism (1) includes a lifting slide (32), a lifting motor (30), and a lifting base (33). The lifting slide (32) is located on the side of the lifting mechanism (1). The lifting motor (30) is located on the side of the lifting mechanism (1). The bottom of the opposite side of the lifting slide (32); the lifting base (33) is installed on the rotating base (27); the rotating base (27) is installed above the mobile chassis (14); the side of the lifting mechanism (1) is connected to the upper arm (4), and the end of the upper arm (4) is installed with the lower arm (6); the end of the lower arm (6) is installed with the harvesting execution mechanism (10); the harvesting execution mechanism (10) is suspended from the end of the lower arm (6) by the connecting rod (9) for the purpose of accurately harvesting the giant spherical mushroom.

2. The automated harvesting device for field-grown *Agaricus bisporus* according to claim 1, characterized in that: The boom (4) is mounted on the lifting slide (32) by mounting flange (2) and flange bolts (3), and rises and falls vertically by lifting mechanism (1) to complete the vertical positioning and lifting action during harvesting.

3. The automated harvesting device for field-grown *Agaricus bisporus* according to claim 1, characterized in that: The rotating base (27) includes a rotating base mounting plate (23), a rotating table (28), a rotating table mounting frame (26), a rotating table motor (31), a motor synchronous pulley (34), a synchronous belt (35), and a rotating table synchronous pulley (36); the rotating base mounting plate (23) is mounted on the upper end of the movable chassis (14) by base mounting plate bolts (24); the rotating table mounting frame (26) and the rotating table motor (31) are respectively mounted on the rotating base mounting plate (23) by mounting frame bolts (25) and rotating table motor bolts (29); a rotating table synchronous pulley (36) is installed at the bottom of the rotating table (28); the rotating table motor... A motor synchronous pulley (34) is installed on the output shaft of the machine (31); the motor synchronous pulley (34) drives the synchronous belt (35) and then drives the rotary table synchronous pulley (36) to make the rotary table (28) and the lifting mechanism (1) rotate, thereby realizing the horizontal rotation of the boom (4) to achieve the harvesting position adjustment in the horizontal plane of the boom part; the forearm (6) is installed at the end of the boom (4) through the harmonic reducer (37), and the forearm motor (5) achieves the horizontal rotation to achieve the harvesting position adjustment in the horizontal plane of the forearm part; the harvesting action is achieved through the mutual cooperation of the boom (4) and forearm (6) in the horizontal plane harvesting position adjustment.

4. The automated harvesting device for field-grown *Agaricus bisporus* according to claim 1, characterized in that: The harvesting execution mechanism (10) includes a clamping assembly (12), a connecting rod (9), a connecting seat (7), a connecting seat bolt (8), and a connecting rod bolt (11); the connecting seat (7) is installed at the end of the forearm (6); the upper end of the connecting rod (9) is installed in the connecting seat (7) and fastened by the connecting seat bolt (8); the clamping assembly (12) is used to clamp the stalk and is installed at the lower end of the connecting rod (9) by the connecting rod bolt (11); the inner side of the clamping assembly (12) is made of silicone and is driven to open and close by a micro air pump (22).

5. The automated harvesting device for field-grown *Agaricus bisporus* according to claim 1, characterized in that: The mobile chassis (14) is equipped with a drive wheel (15) at the bottom. The drive wheel (15) is driven by the chassis motor (18) and installed on the bottom of the mobile chassis (14) through the drive wheel mounting plate (16) and the drive wheel mounting seat (17). The chassis motor (18) is equipped with a sprocket (20) that meshes with the chain (21) to make the drive wheel (15) rotate, so as to realize the forward, backward and turning of the whole vehicle. The mobile chassis (14) is equipped with a collection box (13), which is located below the harvesting execution mechanism (10) and is used to receive the harvested fungi. The collection box (13) is an open design. The mobile chassis (14) is equipped with a control box (19) in the middle to feed back the obtained fungi position information to the control system.

6. The automated harvesting device for field-grown *Agaricus bisporus* according to claim 1, characterized in that: The control system is integrated in the control box (19) and includes a main control unit, a human-machine interface and a wireless communication module, which can realize automatic path planning, harvesting parameter setting and remote monitoring.

Images