Intelligent straw mushroom picking machine

Abstract

The invention provides an intelligent straw mushroom picking machine, which relates to the technical field of agricultural machinery and comprises a moving mechanism, a picking mechanism arranged on one side of the moving mechanism, a picking basket arranged at the bottom of the moving mechanism, a driving mechanism for driving the picking basket to open and close, a visual identification camera arranged on the picking mechanism and a controller. The picking mechanism comprises a fixing frame connected to the moving mechanism in a sliding mode, a plurality of rotary telescopic air cylinders are installed on one side of the fixing frame, a picking suction cup is arranged at the output end of each rotary telescopic air cylinder, and the picking suction cups communicate with a negative pressure generating device to obtain adsorption force. By deeply fusing bionic rotary flexible picking and a multi-dimensional visual identification technology, precise positioning and lossless separation of straw mushrooms are realized, thallus integrity and commodity quality are effectively guaranteed, and by means of a full-automatic falling material collection closed loop, the labor intensity of workers is greatly reduced, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, and particularly relates to a Volvariella volvacea intelligent picking machine. BACKGROUND

[0002] As a high-temperature edible fungus, Volvariella volvacea is favored by consumers due to its tender meat, delicious taste and rich nutrition, and has become one of the important cultivated edible fungus varieties. In the process of large-scale cultivation of Volvariella volvacea, the picking link is a key step affecting production efficiency and product quality. The growth cycle of Volvariella volvacea is extremely short, and the maturation speed is fast, and the fruiting body is delicate and easy to open or age, so there are high requirements for the timeliness and accuracy of picking. At present, the picking operation of Volvariella volvacea mainly relies on manual work, which not only requires workers to work for a long time in a high-temperature and high-humidity harsh planting environment with great labor intensity, but also leads to high planting cost of Volvariella volvacea due to the continuous rise of labor cost. More importantly, manual picking is easily affected by subjective factors and fatigue, and it is difficult to ensure the consistency of picking action, and it is easy to damage the fungus due to improper hand strength control, or to cause the quality of Volvariella volvacea to decrease due to untimely picking.

[0003] Although agricultural automation technology has developed to some extent in recent years, various fruit and vegetable picking robots have emerged, but in terms of intelligent picking of Volvariella volvacea, the existing technical equipment still has significant limitations.

[0004] On the one hand, the existing general picking equipment lacks a precise visual recognition system for the morphological characteristics of Volvariella volvacea, and it is difficult to accurately distinguish Volvariella volvacea from miscellaneous fungi and foreign matters under varying light conditions when facing a complex mushroom bed environment, and it is also difficult to accurately judge the maturity of Volvariella volvacea through a single feature, and it is easy to pick immature young mushrooms or miss mature mushrooms. On the other hand, the root of Volvariella volvacea is closely connected with the mushroom bed, and the stem is fragile, so the traditional mechanical hand grabbing or simple straight pulling method is easy to cause the stem to break or the cap to break, and cannot make Volvariella volvacea completely separate from the mushroom bed through a clever rotating action like manual picking.

[0005] In addition, the existing picking device usually focuses on a single grabbing action, lacks an efficient and automated collection and transmission cooperation mechanism, and the picked Volvariella volvacea often needs complex subsequent processing to enter the collection container, which not only reduces the overall operation efficiency, but also increases the risk of damage to Volvariella volvacea in the secondary transfer process.

[0006] Therefore, it is urgent to develop a Volvariella volvacea intelligent picking equipment integrating precise visual recognition, bionic rotating picking and automated collection, so as to solve the technical bottlenecks of difficult recognition, difficult non-damage picking and low automation degree in the current Volvariella volvacea picking field. SUMMARY

[0007] The present application aims to provide a Volvariella volvacea intelligent picking machine, and solve the problems of high labor intensity and being easily affected by human factors in the existing Volvariella volvacea picking operation, lack of precise visual recognition ability of general picking equipment in complex environment, easy damage to tender mushroom body in traditional mechanical pulling method, and low automation degree and poor picking quality caused by lack of efficient linkage in picking and collecting links.

[0008] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a Volvariella volvacea intelligent picking machine, comprising a moving mechanism, a picking mechanism arranged on one side of the moving mechanism, a picking basket arranged at the bottom of the moving mechanism, a driving mechanism for driving the picking basket to open and close, a visual recognition camera arranged on the picking mechanism, and a controller; the picking mechanism comprises a fixed frame slidingly connected to the moving mechanism, a plurality of rotary telescopic cylinders are mounted on one side of the fixed frame, a picking suction cup is arranged at the output end of each rotary telescopic cylinder, and the picking suction cup is communicated with a negative pressure generating device to obtain suction force; The rotary telescopic cylinder is used to drive the picking suction cup to rotate after the picking suction cup adsorbs the Volvariella volvacea, so as to complete the picking action of separating the Volvariella volvacea from the mushroom bed; The visual recognition camera is installed on the picking mechanism and keeps a fixed relative position, so that the shooting angle covers the picking area of the mushroom bed; The controller is used to identify the mature and pickable Volvariella volvacea based on the image collected by the visual recognition camera and output the position information of the target Volvariella volvacea, control the moving mechanism to drive the picking mechanism to perform positioning movement according to the position information, make the picking suction cup position above the target Volvariella volvacea, control the rotary telescopic cylinder to extend to drive the picking suction cup to descend and adsorb the target Volvariella volvacea, and control the rotary telescopic cylinder to perform the rotating picking action in the adsorbed state; the controller is also used to control the driving mechanism to move the picking basket to a material receiving position, make the picking suction cup release the Volvariella volvacea to fall into the picking basket, and control the driving mechanism to return the picking basket.

[0009] Preferably, the rotary telescopic cylinder is four, and the four picking suction cups are respectively driven to descend and ascend by the corresponding rotary telescopic cylinders, and the controller selects at least one of the four picking suction cups to perform the descending and adsorbing picking according to the number and position of the identified mature Volvariella volvacea; The rotary telescopic cylinder is configured to perform a rotating action after the picking suction cup is adsorbed to the Volvariella volvacea to complete the picking and return.

[0010] Preferably, the moving mechanism comprises a horizontal moving unit, a vertical moving unit and a longitudinal moving unit; the vertical moving unit comprises two first sliding blocks fixedly connected to the other side of the fixed frame, the two first sliding blocks are respectively slidably sleeved on two vertical slide rods, the two ends of the vertical slide rods are both installed on the connecting plate through slide rod fixing frames, the top of the connecting plate is provided with a first lead screw stepper motor, the output end of the first lead screw stepper motor is connected with a first lead screw, the two ends of the first lead screw are installed on the connecting plate through lead screw bearings, and the outer side of the first lead screw is threadedly connected with a first lead screw nut block, and one side of the first lead screw nut block is fixedly connected with the fixed frame. The horizontal moving unit comprises four second sliding blocks arranged at the bottom of the connecting plate, the second sliding blocks are slidably sleeved on horizontal slide rods, the two ends of the horizontal slide rods are both installed on the bearing plate through slide rod fixing frames, the middle of one side of the bearing plate is provided with a second lead screw stepper motor, the output end of the second lead screw stepper motor is connected with one end of a second lead screw, the other end of the second lead screw is installed on the bearing plate through a lead screw bearing, the outer side of the second lead screw is threadedly connected with a second lead screw nut block, and the top of the second lead screw nut block is fixedly connected with the bottom of the connecting plate. The negative pressure generating device is arranged on the connecting plate.

[0011] Preferably, the longitudinal moving unit comprises a pair of drive wheel supports fixedly connected to the bottom of the bearing plate on both sides respectively, each of the drive wheel supports is provided with a drive wheel, the corresponding drive wheels on both sides are connected and driven through drive shafts, one end of each of the drive shafts is fixedly installed with a transmission sprocket, the two transmission sprockets are driven through a transmission chain, and a motor drive sprocket is further connected in transmission and driven on the transmission chain, and the motor drive sprocket is powered by a drive motor arranged at the bottom of the bearing plate.

[0012] Preferably, the driving mechanism comprises a drive cylinder arranged at the bottom of the bearing plate, the output end of the drive cylinder is fixedly connected with a picking basket, and the two ends of the picking basket are slidably connected to the bottom of the bearing plate through slide rails. The picking basket slides along the slide rails between a material receiving position and a return position to realize the opening and closing of the picking basket.

[0013] Preferably, the controller executes a maturity recognition algorithm for multi-feature fusion judgment based on size features, shape features and color features, wherein the size features are used to compare the target size with a preset mature size threshold, the shape features at least include circularity and aspect ratio, and the color features include converting an image to a preset color space and extracting color features, and comparing with a preset color threshold range; the maturity recognition algorithm adopts a triple verification logic, and the target satisfies the size standard, shape compliance and color matching at the same time, so as to be determined as mature and pickable straw mushroom and trigger a picking action.

[0014] Preferably, the controller is used to calibrate the visual recognition camera during initialization to establish a mapping relationship between pixel coordinates and physical coordinates of the mushroom bed, and to extract the pixel coordinates of the center of the cap of the mature straw mushroom, and then perform coordinate transformation to output positioning data of horizontal coordinates, vertical coordinates, vertical coordinates and suction cup descent height parameters. The positioning data is used to drive the picking mechanism and the moving mechanism to complete the positioning.

[0015] Preferably, the controller is equipped with a secondary positioning mechanism. After the harvesting mechanism moves to the initially calculated coordinates, the controller controls the visual recognition camera to take another partial image for fine-tuning, so that the deviation between the center of the harvesting suction cup and the center of the straw mushroom does not exceed a preset deviation threshold.

[0016] Preferably, it also includes: a relay, a solenoid valve, a magnetic switch, and a magnet. The controller is connected to the relay and the magnetic switch respectively. The relay is connected to the solenoid valve, and the solenoid valve is connected to the drive cylinder to control its extension and retraction. Magnets are provided inside the pistons of both the rotary telescopic cylinder and the drive cylinder. The magnetic switch is installed at the corresponding position on the outside of the rotary telescopic cylinder and the drive cylinder and outputs a position signal to the controller. The controller adjusts the control of the relay and the solenoid valve according to the position signal to achieve accurate control of the picking basket's receiving and return actions.

[0017] Preferably, the controller includes a preprocessing module, a communication control module, and an anomaly handling module; the preprocessing module performs noise reduction, Gaussian filtering, enhancement, and distortion correction on the acquired images; the communication control module sends the positioning coordinates and picking instructions to the drive control units of each stepper motor and cylinder through a serial communication interface or a bus communication interface, and receives execution feedback signals; the anomaly handling module triggers the entire machine to move to the next area when no mature straw mushrooms are detected in a consecutive preset number of frames, and issues an alarm signal and suspends picking when straw mushrooms are detected but positioning fails.

[0018] Compared with the prior art, the beneficial effects of the present invention are: 1. By combining the rotary telescopic cylinder and the negative pressure picking suction cup in the picking mechanism, and with the precise control of the cylinder's extension and rotation sequence by the controller, the "adsorption-rotation-separation" action during manual picking can be simulated. After the straw mushroom cap is adsorbed by the negative pressure, it is driven to rotate and detach from the mushroom bed. This biomimetic picking method effectively solves the technical problem that traditional mechanical straight-line pulling can easily lead to the breakage of delicate stems or caps. While ensuring that the straw mushroom is intact, it significantly reduces the disturbance and damage to the mushroom bed and surrounding adjacent straw mushrooms caused by mechanical operation, and improves the quality of the finished straw mushroom product after picking.

[0019] Second, through the coordinated setup of the visual recognition camera and the maturity recognition algorithm embedded in the controller, as well as the multi-axis moving mechanism, multi-dimensional fusion judgment and triple verification can be performed based on size, shape and color characteristics. In complex lighting and mushroom bed environments, mature and harvestable straw mushrooms can be accurately screened and foreign objects can be removed. With the high-precision screw drive positioning in the horizontal, vertical and vertical directions, the picking suction cup can achieve millimeter-level precise alignment and automatic positioning of the target straw mushroom. Combined with the linkage setting of the automatic opening and closing picking basket at the bottom, the entire process of intelligent recognition, non-destructive picking and automatic material collection is automated, which greatly reduces manual intervention and improves the efficiency and intelligence level of straw mushroom picking. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the harvesting mechanism of the present invention; Figure 3 This is a schematic diagram of the vertical moving unit structure of the present invention; Figure 4 This is a schematic diagram of the lateral movement unit structure of the present invention.

[0021] Figure 5 This is a schematic diagram of the longitudinal moving unit structure of the present invention; Figure 6 This is an enlarged schematic diagram of the longitudinal moving unit structure of the present invention; Figure 7 This is a schematic diagram of the drive cylinder and picking basket structure of the present invention; Figure 8 This is a flowchart of the opening and closing control of the picking basket according to the present invention.

[0022] The diagram is labeled as follows: 1. Harvesting mechanism; 2. Harvesting basket; 3. Visual recognition camera; 4. Negative pressure generating device; 7. Support plate; 11. Fixing frame; 12. Rotary telescopic cylinder; 13. Harvesting suction cup; 51. First slider; 52. Vertical slide rod; 53. Slide rod fixing frame; 54. Connecting plate; 55. First lead screw stepper motor; 56. First lead screw; 57. Lead screw bearing; 58. First lead screw nut block; 61. Second slider; 62. Horizontal slide rod; 63. Second lead screw stepper motor; 64. Second lead screw; 65. Second lead screw nut block; 81. Drive wheel bracket; 82. Drive wheel; 83. Drive shaft; 84. Transmission chain; 85. Motor drive sprocket; 86. Drive motor; 91. Drive cylinder. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Please see Figures 1-8 As shown, the present invention provides a technical solution: a smart mushroom harvesting machine, including a moving mechanism, a harvesting mechanism 1 disposed on one side of the moving mechanism, a harvesting basket 2 disposed at the bottom of the moving mechanism, a driving mechanism for driving the opening and closing of the harvesting basket 2, a visual recognition camera 3 disposed on the harvesting mechanism 1, and a controller; the harvesting mechanism 1 includes a fixed frame 11 slidably connected to the moving mechanism, and a plurality of rotary telescopic cylinders 12 are installed on one side of the fixed frame 11. Each rotary telescopic cylinder 12 is provided with a harvesting suction cup 13 at its output end. The harvesting suction cup 13 is connected to a negative pressure generating device 4 to obtain an adsorption force; The negative pressure generating device 4 preferably includes a vacuum pump and is connected to the picking suction cup 13 via a vacuum pipeline to provide a stable negative pressure adsorption force to at least one picking suction cup 13, thereby reducing cap compression damage and improving adsorption reliability. The visual recognition camera 3 is preferably a 1080P (full HD resolution) camera with a frame rate of 30fps (frames per second), and preferably has anti-backlight and anti-shadow capabilities to adapt to changes in the light intensity of the mushroom bed.

[0025] The moving mechanism is used to carry and move the whole machine to cover the mushroom bed operation range and improve operation efficiency. The picking mechanism 1 is used to install the end effector and provide a picking action platform. The picking basket 2 is used to receive and temporarily store the picked straw mushrooms to reduce ground pollution. The drive mechanism is used to cooperate with the picking to realize the opening, closing and returning of the picking basket 2 to improve the continuity of delivery. The visual recognition camera 3 is used to collect images of the mushroom bed and provide data source for maturity recognition and positioning. The controller is used to uniformly schedule the recognition, positioning and execution mechanism action sequence to realize automatic picking. The fixed frame 11 is used to ensure the relative position accuracy of the rotary telescopic cylinder 12 and the picking suction cup 13 to improve the alignment success rate. The rotary telescopic cylinder 12 is used to provide the extension and rotation drive of the suction cup to complete the picking action. The picking suction cup 13 is used to grab the straw mushrooms in a flexible adsorption manner to reduce mechanical clamping damage. The negative pressure generating device 4 and its vacuum pump are used to provide a stable negative pressure source to improve the adsorption success rate and stability.

[0026] The rotary telescopic cylinder 12 is used to drive the picking suction cup 13 to rotate after the picking suction cup 13 adsorbs the straw mushrooms, so as to complete the picking action of separating the straw mushrooms from the mushroom bed; the rotation action is preferably a 90-degree rotation to achieve stable separation of the cap and the mushroom bed, and after the separation is completed, it is preferable to return to its original position to avoid interference with the mushroom bed and adjacent straw mushrooms during subsequent movement.

[0027] A visual recognition camera 3 is installed on the harvesting mechanism 1 and kept in a fixed relative position to it so that the shooting angle covers the mushroom bed harvesting area; The controller is used to identify mature, harvestable straw mushrooms based on images captured by the visual recognition camera 3 and output the location information of the target straw mushrooms. Based on this location information, it controls the moving mechanism to drive the harvesting mechanism 1 to perform positioning movements, positioning the harvesting suction cup 13 above the target straw mushroom. It also controls the rotary telescopic cylinder 12 to extend, causing the harvesting suction cup 13 to descend and adsorb the target straw mushroom. While adsorbed, the controller controls the rotary telescopic cylinder 12 to perform a rotating harvesting action. The controller also controls the drive mechanism to open the harvesting basket 2, causing the harvesting suction cup 13 to release the straw mushrooms into the basket 2, and controls the drive mechanism to return the basket 2 to its original position. Preferably, the method of releasing the straw mushrooms includes controlling the negative pressure generating device 4 to stop supplying negative pressure or releasing pressure to release the suction cup 13, thereby achieving controlled falling of the straw mushrooms into the harvesting basket 2.

[0028] The rotary telescopic cylinder 12 provides rotational separation capability after adsorption to reduce breakage caused by pulling and minimize disturbance to the mushroom bed. The picking suction cup 13 maintains stable adsorption during rotational separation to reduce the risk of falling and damage. The visual recognition camera 3 provides image input covering the picking area to support maturity recognition and positioning. The picking mechanism 1 ensures the relative position between the camera 3 and the picking suction cup 13 is stable to improve the consistency of coordinate conversion. The moving mechanism performs horizontal, vertical, and longitudinal positioning to achieve precise alignment of the target straw mushroom. The controller converts the recognition results into action commands for each actuator and forms a complete closed loop of picking and placement sequence. The drive mechanism drives the opening and closing of the picking basket 2 to achieve automatic placement and reduce manual contact. The picking basket 2 receives the straw mushroom and ensures clean collection after picking. The negative pressure generating device 4 provides and releases negative pressure to achieve controllable switching between adsorption and release, thereby improving placement reliability.

[0029] Furthermore, there are four rotary telescopic cylinders 12, and the four picking suction cups 13 are driven by the corresponding rotary telescopic cylinders 12 to achieve descent and retraction. The controller selects at least one of the four picking suction cups 13 to perform descent and suction picking based on the number and position of the identified mature straw mushrooms. The rotary telescopic cylinder 12 is configured to perform a rotational action after the picking suction cup 13 has adhered to the straw mushroom to complete the picking and return to its original position. The four picking suction cups 13 can form an end effector unit, which can select a single suction cup or multiple suction cups to perform adsorption and rotation separation according to the target distribution through the controller, thereby increasing the picking amount per unit time and reducing the number of repeated reciprocating positioning.

[0030] The rotary telescopic cylinder 12 is used to drive the corresponding picking suction cup 13 to achieve independent lifting and rotation to adapt to targets in different positions. The picking suction cup 13 is used to achieve flexible adsorption and support parallel or semi-parallel picking in multi-target scenarios. The controller is used to select the suction cup to be executed according to the number and position of mature straw mushrooms and manage the timing of each cylinder action to reduce mutual interference. The multi-suction cup structure of the end effector unit is used to improve picking efficiency and reduce the frequency of machine movement, thereby improving the overall throughput.

[0031] Furthermore, the moving mechanism includes a horizontal moving unit, a vertical moving unit, and a vertical moving unit; wherein, the vertical moving unit includes two first sliders 51 fixedly connected to the other side of the fixed frame 11, the two first sliders 51 are respectively slidably sleeved on two vertical slide rods 52, both ends of the vertical slide rods 52 are mounted on the connecting plate 54 through slide rod fixing brackets 53, a first lead screw stepper motor 55 is installed at the top center of the connecting plate 54, the output end of the first lead screw stepper motor 55 is connected to the first lead screw 56, both ends of the first lead screw 56 are mounted on the connecting plate 54 through lead screw bearings 57, a first lead screw nut block 58 is threadedly connected to the outer side of the first lead screw 56, and one side of the first lead screw nut block 58 is fixedly connected to the fixed frame 11; The vertical moving unit is preferably used to achieve overall height adjustment in the Z-axis (vertical coordinate axis) direction to adapt to the undulation of the mushroom bed and the height difference of the equipment installation. The rotary telescopic cylinder 12 is used to drive the picking suction cup 13 to descend and rise during the final picking stage, and to drive the picking suction cup 13 to rotate after it adsorbs the straw mushrooms to complete the separation of the straw mushrooms.

[0032] The fixed frame 11 is used to support the picking mechanism 1 and transmit vertical displacement to the rotary telescopic cylinder 12 and the picking suction cup 13. The first slider 51 and the vertical slide rod 52 are used to provide stable guidance to improve the vertical running stability and positioning accuracy. The slide rod fixing frame 53 is used to ensure the parallelism and rigidity of the vertical slide rod 52, thereby reducing the probability of jamming. The connecting plate 54 is L-shaped and is used to provide vertical transmission and installation reference and facilitate the integration of related components. The first lead screw stepper motor 55 is used to output controllable pulse displacement to achieve precise lifting. The first lead screw 56 and lead screw bearing 57 are used to stably convert the rotational motion into linear motion and reduce wear. The first lead screw nut block 58 is used to reliably transmit the linear displacement to the fixed frame 11 to improve the vertical positioning repeatability. Precise control of the Z-axis (vertical coordinate axis) direction is used to reduce the risk of the suction cup colliding with the mushroom bed and causing abrasions on the surface of the straw mushroom.

[0033] The lateral movement unit includes four second sliders 61 disposed at the bottom of the connecting plate 54. The second sliders 61 are slidably sleeved on the lateral slide rod 62. Both ends of the lateral slide rod 62 are mounted on the bearing plate 7 through the slide rod fixing bracket 53. A second lead screw stepper motor 63 is disposed in the middle of one side of the bearing plate 7. The output end of the second lead screw stepper motor 63 is connected to one end of the second lead screw 64. The other end of the second lead screw 64 is mounted on the bearing plate 7 through the lead screw bearing 57. A second lead screw nut block 65 is threadedly connected to the outer side of the second lead screw 64, and the top of the second lead screw nut block 65 is fixedly connected to the bottom of the connecting plate 54. The negative pressure generating device 4 is mounted on the connecting plate 54. The negative pressure generating device 4 preferably includes a vacuum pump and is fixedly installed on the connecting plate 54 to shorten the length of the vacuum pipeline and reduce the risk of air leakage, thereby improving the adsorption response speed and stability of the picking suction cup 13.

[0034] The connecting plate 54 serves as the connecting carrier between the horizontal and vertical mechanisms and provides the installation position of the negative pressure generating device 4 to ensure a compact layout. The second slider 61 and the horizontal slide rod 62 provide horizontal guidance and improve torsional resistance and operational stability. The slide rod fixing bracket 53 ensures the assembly accuracy of the horizontal slide rod 62 to improve the consistency of horizontal positioning. The bearing plate 7 supports the horizontal mechanism and integrates with the vertical mechanism to form a stable platform. The second lead screw stepper motor 63 outputs controllable horizontal displacement to achieve horizontal alignment of the target straw mushroom. The second lead screw 64 and lead screw bearing 57 achieve high-resolution linear transmission and reduce wear. The second lead screw nut block 65 transmits the displacement to the connecting plate 54 to drive the picking mechanism 1 to move horizontally. The negative pressure generating device 4 and its vacuum pump provide stable negative pressure for the picking suction cup 13 to improve the adsorption success rate and reduce damage.

[0035] Furthermore, the longitudinal movement unit includes a pair of drive wheel brackets 81 fixedly connected to the bottom sides of the support plate 7. Each drive wheel bracket 81 is equipped with a drive wheel 82. The corresponding drive wheels 82 on both sides are connected and driven by drive shafts 83. A transmission sprocket is fixedly installed at one end of the two drive shafts 83. The two transmission sprockets are driven by a transmission chain 84, and a motor drive sprocket 85 is also connected to the transmission chain 84. The motor drive sprocket 85 is powered by a drive motor 86 located at the bottom of the support plate 7. Preferably, during the longitudinal movement and scanning process of the whole machine along the mushroom bed, the visual recognition camera 3 continuously acquires images of the mushroom bed and matches them with the longitudinal movement rhythm to complete target discovery and updated positioning during the movement, reducing frequent downtime.

[0036] The bearing plate 7 is used to install the longitudinal movement unit and bear the weight of the whole machine to ensure stable operation. The drive wheel bracket 81 is used to fix the drive wheel 82 and maintain the symmetry of the wheel system to improve the stability of straight-line travel. The drive wheel 82 is used to contact the ground or track to achieve longitudinal movement. The drive shaft 83 is used to synchronize the left and right drive wheels 82 to reduce deviation. The transmission sprocket and transmission chain 84 are used to realize power transmission and facilitate the layout. The motor drive sprocket 85 is used to transmit the torque of the drive motor 86 to the chain drive system. The drive motor 86 is used to provide controllable speed and start / stop to adapt to the recognition rhythm. The visual recognition camera 3 continuously captures images to improve the target detection efficiency and increase the overall machine operation throughput during mobile scanning.

[0037] Furthermore, the driving mechanism includes a driving cylinder 91 installed at the center of the bottom of the support plate 7. The output end of the driving cylinder 91 is fixedly connected to the picking basket 2, and the two ends of the picking basket 2 are slidably connected to the bottom of the support plate 7 via slide rails. The picking basket 2 slides along the slide rail between the receiving position and the return position to open and close the picking basket 2. Preferably, after the picking suction cup 13 has finished picking and moved above the picking basket 2, the controller controls the drive cylinder 91 to push the picking basket 2 to the receiving position and cooperate with the picking suction cup 13 to release the negative pressure so that the straw mushrooms fall into the picking basket 2. Then the drive cylinder 91 drives the picking basket 2 to return to the position to enter the next cycle.

[0038] The drive cylinder 91 is used to provide a stable linear driving force to enable the picking basket 2 to open and close quickly and reduce structural complexity. The picking basket 2 is used to receive and collect straw mushrooms to reduce scattering and pollution. The slide rail is used to provide low-resistance guidance for the picking basket 2 to improve the consistency of opening and closing and reduce jamming. The bearing plate 7 is used to provide the installation and force foundation to ensure the smooth opening and closing process. The picking suction cup 13 achieves controllable release by releasing negative pressure to reduce secondary collision damage. The drive mechanism and controller are linked to form a delivery closed loop to improve continuous operation capability.

[0039] Furthermore, the controller executes a maturity recognition algorithm, which performs multi-feature fusion judgment based on size features, morphological features, and color features. The size feature is used to compare the target size with a preset maturity size threshold. The morphological features include at least roundness and aspect ratio. The color features include converting the image to a preset color space and extracting color features, and comparing them with a preset color threshold range. The maturity recognition algorithm adopts a triple verification logic. Only when the target simultaneously meets the size standard, morphological compliance, and color matching is it determined to be a mature and harvestable straw mushroom and the harvesting action is triggered.

[0040] The preferred size thresholds for mature straw mushrooms include a diameter of 28mm to 32mm and a height of 28mm to 32mm, to improve size consistency and reduce the probability of misharvesting immature mushrooms. For morphological features, a roundness of not less than 0.7 and an aspect ratio of 0.8 to 1.2 are preferred, and targets with damaged outlines or obvious deformities are preferably excluded to reduce the post-harvest defect rate. For color features, mature caps are preferably dark gray or grayish-brown, and the stems are white or light gray. The image is preferably converted to an HSV (hue, saturation, brightness) color space, and then color histogram matching is used for comparison with the color threshold range to exclude immature light-colored small mushrooms, overripe blackened mushrooms, and foreign matter. Preferably, an image segmentation method combining threshold segmentation and edge detection is used in the target region extraction stage, and the target pixel area and the size of the bounding rectangle are calculated to improve the stability of feature extraction.

[0041] The controller is used to execute the maturity recognition algorithm and output maturity judgment and location data to reduce manual selection. The visual recognition camera 3 is used to provide shape and color details to support feature extraction. The maturity recognition algorithm controls specification consistency and reduces the mis-picking of immature targets through size threshold control, eliminates deformed and damaged targets through roundness and aspect ratio constraints to improve the commodity rate, improves robustness under light change conditions through HSV color space and color histogram matching, and improves picking stability by reducing misjudgment caused by single feature failure through triple verification logic. The image segmentation method combining threshold segmentation and edge detection is used to improve the quality of target area extraction, thereby improving the overall recognition accuracy.

[0042] Furthermore, the controller is used to calibrate the visual recognition camera 3 during initialization to establish a mapping relationship between pixel coordinates and physical coordinates of the mushroom bed, and to perform coordinate transformation on the pixel coordinates of the center of the cap of the mature straw mushroom to output positioning data of horizontal coordinates, vertical coordinates, vertical coordinates and suction cup descent height parameters. The positioning data is used to drive the picking mechanism 1 and the moving mechanism to complete the positioning.

[0043] Furthermore, the controller is equipped with a secondary positioning mechanism. After the picking mechanism 1 moves to the initially calculated coordinates, the visual recognition camera 3 is controlled to take a partial image again for fine-tuning, so that the deviation between the center of the picking suction cup 13 and the center of the straw mushroom does not exceed the preset deviation threshold.

[0044] The calibration preferably includes internal parameter calibration of the focal length and principal point coordinates, and external parameter calibration of the relative height and angle between the visual recognition camera 3 and the mushroom bed, to improve the accuracy of the pixel coordinate to physical coordinate mapping. The pixel coordinates of the canopy center are preferably calculated using the contour centroid method, x=Σx i / n, y=Σy i / n, where x i y iHere, is the outline pixel coordinate, and n is the number of outline pixels, to improve the consistency of center extraction. The horizontal coordinate is preferably defined as the X-axis (horizontal coordinate axis), the vertical coordinate as the Y-axis (vertical coordinate axis), and the vertical coordinate as the Z-axis (vertical coordinate axis), and pixel equivalents can be used for conversion, preferably, 1 pixel equals 0.1 cm. The vertical coordinate or suction cup descent height parameter can preferably be estimated by combining image clarity, size ratio, and camera depth information to reduce the risk of downward collision. The deviation threshold after secondary positioning is preferably no more than ±2mm between the center of the picking suction cup 13 and the center of the straw mushroom, to improve the adsorption alignment rate and reduce missed or off-center picking damage.

[0045] The controller is used to complete calibration, center extraction, coordinate transformation and secondary fine-tuning to form a closed loop from vision to motion. The visual recognition camera 3 improves the mapping accuracy and reduces systematic errors through internal and external parameter calibration. The mushroom bed serves as a physical reference plane to give the positioning data clear engineering significance. The harvesting mechanism 1 is used to achieve end alignment and complete harvesting under the drive of positioning data. The moving mechanism is used to perform movement in the X, Y and Z axes to reach the target position. The harvesting suction cup 13 can significantly improve the success rate and reduce damage when adsorbing under the condition that the deviation is no more than ±2mm. The centroid algorithm is used to stabilize the extraction of the umbrella center to reduce center drift. The pixel equivalent conversion is used to improve the interpretability of debugging. The depth of field and sharpness estimation are used to assist in vertical height control to reduce collisions and scratches.

[0046] Furthermore, it also includes: relays, solenoid valves, magnetic switches, and magnets. The controller is connected to the relays and magnetic switches respectively. The relays are connected to the solenoid valves, and the solenoid valves are connected to the drive cylinder 91 to control its extension and retraction. Magnets are installed inside the pistons of both the rotary telescopic cylinder 12 and the drive cylinder 91. The magnetic switches are installed at corresponding positions on the outside of the rotary telescopic cylinder 12 and the drive cylinder 91 and output position signals to the controller. The controller adjusts the control of the relays and solenoid valves according to the position signals to achieve accurate control of the receiving and returning actions of the picking basket 2.

[0047] Furthermore, the solenoid valves are connected to the air supply assembly, which supplies compressed air to the rotary telescopic cylinder 12 and the drive cylinder 91. The air supply assembly includes an air compressor pump, an air tank, a filter, and a pressure reducing valve, and is connected to each solenoid valve via air pipelines; the air supply assembly can also be provided by an external centralized air supply system to adapt to different site configurations.

[0048] Furthermore, the controller includes a preprocessing module, a communication control module, and an anomaly handling module. The preprocessing module performs noise reduction, Gaussian filtering, enhancement, and distortion correction on the acquired images. The communication control module sends the positioning coordinates and picking instructions to the drive control units of each stepper motor and cylinder through a serial communication interface or a bus communication interface, and receives execution feedback signals. The anomaly handling module triggers the entire machine to move to the next area when no mature straw mushrooms are detected in a consecutive preset number of frames. When straw mushrooms are detected but positioning fails, an alarm signal is issued and picking is suspended.

[0049] The controller's software modules preferably include an image acquisition module, a target detection and classification module, and a positioning calculation module. The image acquisition module continuously acquires images according to the machine's rhythm. The target detection and classification module distinguishes between straw mushrooms and non-straw mushrooms, and between mature and immature mushrooms. The positioning calculation module outputs lateral, longitudinal, and vertical positioning data to improve the feasibility and debuggability of the identification and positioning link. The preferred number of consecutive preset frames is three consecutive frames to improve the efficiency of passing through targetless areas while avoiding accidental movement.

[0050] Relays are used to achieve electrical isolation and load driving to improve safety; solenoid valves are used to control the air circuit to achieve rapid response of the drive cylinder 91; magnets and magnetic switches are used for non-contact positioning detection and reduce wear to improve lifespan and positioning accuracy; the controller is used to coordinate visual recognition, positioning calculation, execution control and anomaly handling to form a closed loop for the whole machine; the preprocessing module is used to improve image quality and robustness to reduce false recognition; the communication control module is used to issue positioning coordinates and picking instructions and receive feedback for closed-loop control and fault diagnosis; the anomaly handling module is used to trigger movement, alarm and pause when there are no mature targets for 3 consecutive frames or positioning failure to improve safety and continuous operation reliability; the stepper motor and cylinder drive control unit is used to execute multi-axis motion and pneumatic action according to instructions to achieve stable landing of the automatic picking process.

[0051] Working principle: First, after placing the equipment in the mushroom bed working position, it is started. The visual recognition camera 3 continuously captures the image of the mushroom bed. When moving, the drive motor 86 drives the motor drive sprocket 85, which drives the drive shaft 83 and drive wheel 82 to rotate via the transmission chain 84. The drive wheel 82 is mounted on the drive wheel bracket 81, realizing movement along the direction of the mushroom bed. Second, when the visual recognition camera 3 recognizes the harvestable target, the harvesting mechanism 1 begins to align. The harvesting mechanism 1 is mounted on the support plate 7 and the fixed frame 11 and moves with them. Third, the harvesting mechanism 1 performs lateral alignment. The second lead screw stepper motor 63 drives the second lead screw 64 to rotate. The second lead screw nut block 65 drives the connecting plate 54 to move along the lateral slide bar 62 via the second slider 61, thereby driving the harvesting mechanism 1 to align with the target in the lateral position. Fourth, the harvesting mechanism 1 performs vertical alignment. The first lead screw stepper motor 55 drives the first lead screw 5... 6. Rotation: The first lead screw 56 is supported by the lead screw bearing 57. The first lead screw nut block 58 drives the connecting plate 54 to move. The connecting plate 54 drives the first slider 51 to move along the vertical slide rod 52. The vertical slide rod 52 is fixed by the slide rod fixing bracket 53, realizing the vertical alignment of the picking mechanism 1. In the fifth step, after the alignment is completed, the rotary telescopic cylinder 12 drives the picking suction cup 13 to descend and contact the target. The negative pressure generating device 4 provides negative pressure to the picking suction cup 13 to achieve adsorption. Then the rotary telescopic cylinder 12 performs a rotation action to complete the picking and drives the picking suction cup 13 back to the placement height. In the sixth step, after the picking mechanism 1 moves above the picking basket 2, the drive cylinder 91 drives the picking basket 2 to move to the receiving position. The picking suction cup 13 releases the negative pressure, allowing the target to fall into the picking basket 2. Then the drive cylinder 91 drives the picking basket 2 to return to the position and close, entering the next cycle. This completes the use process of the intelligent mushroom picking machine.

[0052] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart mushroom harvesting machine, characterized in that, The device includes a moving mechanism, a picking mechanism (1) located on one side of the moving mechanism, a picking basket (2) located at the bottom of the moving mechanism, a driving mechanism for opening and closing the picking basket (2), a visual recognition camera (3) located on the picking mechanism (1), and a controller; the picking mechanism (1) includes a fixed frame (11) slidably connected to the moving mechanism, and a plurality of rotary telescopic cylinders (12) are installed on one side of the fixed frame (11), and each rotary telescopic cylinder (12) is provided with a picking suction cup (13) at its output end, and the picking suction cup (13) is connected to a negative pressure generating device (4) to obtain an adsorption force; The rotary telescopic cylinder (12) is used to drive the picking suction cup (13) to rotate after the picking suction cup (13) adsorbs the straw mushrooms, so as to complete the picking action of separating the straw mushrooms from the mushroom bed; The visual recognition camera (3) is installed on the picking mechanism (1) and maintains a fixed relative position thereto so that the shooting angle covers the mushroom bed picking area; The controller is used to identify mature, harvestable straw mushrooms based on images collected by the visual recognition camera (3) and output the location information of the target straw mushrooms. Based on the location information, the controller controls the moving mechanism to drive the harvesting mechanism (1) to perform positioning movements, so that the harvesting suction cup (13) is positioned above the target straw mushrooms, and controls the rotating telescopic cylinder (12) to extend to drive the harvesting suction cup (13) to descend and adsorb the target straw mushrooms. In the adsorption state, the controller controls the rotating telescopic cylinder (12) to perform a rotating harvesting action. The controller is also used to control the driving mechanism to move the harvesting basket (2) to the receiving position, and to release the straw mushrooms from the harvesting suction cup (13) so that they fall into the harvesting basket (2), and to control the driving mechanism to return the harvesting basket (2) to its original position.

2. The intelligent mushroom harvesting machine according to claim 1, characterized in that, There are four rotary telescopic cylinders (12), and the four picking suction cups (13) are driven by the corresponding rotary telescopic cylinders (12) to achieve descent and rise. The controller selects at least one of the four picking suction cups (13) to perform descent and adsorption picking based on the number and position of the identified mature straw mushrooms. The rotary telescopic cylinder (12) is configured to perform a rotational action after the picking suction cup (13) adsorbs the straw mushroom to complete the picking and return to its original position.

3. The intelligent mushroom harvesting machine according to claim 1, characterized in that, The moving mechanism includes a horizontal moving unit, a longitudinal moving unit and a vertical moving unit; wherein, the vertical moving unit includes two first sliders (51) fixedly connected to the other side of the fixed frame (11), the two first sliders (51) are respectively slidably sleeved on two vertical slide rods (52), both ends of the vertical slide rods (52) are mounted on the connecting plate (54) through slide rod fixing frame (53), a first lead screw stepper motor (55) is installed at the top center of the connecting plate (54), the output end of the first lead screw stepper motor (55) is connected to the first lead screw (56), both ends of the first lead screw (56) are mounted on the connecting plate (54) through lead screw bearings (57), the outer side of the first lead screw (56) is threadedly connected to a first lead screw nut block (58), and one side of the first lead screw nut block (58) is fixedly connected to the fixed frame (11); The lateral movement unit includes four second sliders (61) disposed at the bottom of the connecting plate (54). The second sliders (61) are slidably sleeved on the lateral slide rod (62). Both ends of the lateral slide rod (62) are mounted on the bearing plate (7) through the slide rod fixing bracket (53). A second lead screw stepper motor (63) is disposed in the middle of one side of the bearing plate (7). The output end of the second lead screw stepper motor (63) is connected to one end of the second lead screw (64). One end of the second lead screw (64) is mounted on the bearing plate (7) through the lead screw bearing (57). A second lead screw nut block (65) is threadedly connected to the outer side of the second lead screw (64), and the top of the second lead screw nut block (65) is fixedly connected to the bottom of the connecting plate (54). The negative pressure generating device (4) is mounted on the connecting plate (54).

4. The intelligent mushroom harvesting machine according to claim 3, characterized in that, The longitudinal moving unit includes a pair of drive wheel brackets (81) fixedly connected to the bottom sides of the support plate (7). Each drive wheel bracket (81) is provided with a drive wheel (82). The corresponding drive wheels (82) on both sides are connected and driven by drive shafts (83). One end of the two drive shafts (83) is fixedly installed with a transmission sprocket. The two transmission sprockets are driven by a transmission chain (84). A motor drive sprocket (85) is also connected to the transmission chain (84). The motor drive sprocket (85) is powered by a drive motor (86) located at the bottom of the support plate (7).

5. The intelligent straw mushroom harvesting machine according to claim 1, characterized in that, The driving mechanism includes a driving cylinder (91) installed at the center of the bottom of the support plate (7). The output end of the driving cylinder (91) is fixedly connected to the picking basket (2). The two ends of the picking basket (2) are slidably connected to the bottom of the support plate (7) via slide rails. The picking basket (2) slides along the slide rail between the receiving position and the return position to realize the opening and closing of the picking basket (2).

6. The intelligent mushroom harvesting machine according to claim 1, characterized in that, The controller executes a maturity recognition algorithm, which performs multi-feature fusion judgment based on size features, morphological features, and color features. The size feature is used to compare the target size with a preset maturity size threshold. The morphological features include at least roundness and aspect ratio. The color features include converting the image to a preset color space and extracting color features, and comparing them with a preset color threshold range. The maturity recognition algorithm adopts a triple verification logic. The target is judged to be a mature and harvestable straw mushroom and the harvesting action is triggered only when the size meets the standard, the morphology is compliant, and the color matches.

7. The intelligent mushroom harvesting machine according to claim 1, characterized in that, The controller is used to calibrate the visual recognition camera (3) during initialization to establish a mapping relationship between pixel coordinates and physical coordinates of the mushroom bed, and to extract the pixel coordinates of the center of the cap of the mature straw mushroom, and then perform coordinate transformation to output positioning data of horizontal coordinates, vertical coordinates, vertical coordinates and suction cup descent height parameters. The positioning data is used to drive the picking mechanism (1) and the moving mechanism to complete the positioning.

8. The intelligent mushroom harvesting machine according to claim 7, characterized in that, The controller is equipped with a secondary positioning mechanism. After the picking mechanism (1) moves to the initially calculated coordinates, it controls the visual recognition camera (3) to take a local image again for fine adjustment so that the deviation between the center of the picking suction cup (13) and the center of the straw mushroom does not exceed the preset deviation threshold.

9. The intelligent mushroom harvesting machine according to claim 5, characterized in that, Also includes: The controller is connected to the relay and the magnetic switch respectively, the relay is connected to the solenoid valve, and the solenoid valve is connected to the drive cylinder (91) to control its extension and retraction. Magnets are provided inside the pistons of the rotary telescopic cylinder (12) and the drive cylinder (91). The magnetic switch is installed at the corresponding position on the outside of the rotary telescopic cylinder (12) and the drive cylinder (91) and outputs a position signal to the controller. The controller adjusts the control of the relay and the solenoid valve according to the position signal to achieve accurate control of the receiving and returning actions of the picking basket (2).

10. The intelligent mushroom harvesting machine according to claim 1, characterized in that, The controller includes a preprocessing module, a communication control module, and an anomaly handling module. The preprocessing module performs noise reduction, Gaussian filtering, enhancement, and distortion correction on the acquired images. The communication control module sends the positioning coordinates and picking instructions to the drive control units of each stepper motor and cylinder through a serial communication interface or a bus communication interface, and receives execution feedback signals. The anomaly handling module triggers the entire machine to move to the next area when no mature straw mushrooms are detected in a consecutive preset number of frames. When straw mushrooms are detected but positioning fails, an alarm signal is issued and picking is suspended.

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