Intelligent mushroom harvesting robot and harvesting method thereof

Abstract

This invention relates to the field of mushroom harvesting technology, and particularly to an intelligent mushroom harvesting robot, comprising a conveying module, a harvesting module, an identification module, and a control module. The conveying module is installed between mushroom beds in the cultivation field; the harvesting module moves reciprocally along the conveying track, with its storage component located on top of the moving component and overlapping the projected portion of the harvesting component in the vertical direction; the harvesting component includes a multi-axis harvesting arm and a harvesting support mechanism, wherein the support mechanism has a pre-filled liquid-filled support arc cavity, which connects during the closing of the transmission part to form a support ring cavity, using liquid buoyancy to suspend and support the mushroom cap while cutting the stem; the identification module is used to identify the position of the mushroom. The intelligent mushroom harvesting robot provided by this invention achieves non-destructive support of the mushroom cap through the suspended support part, effectively reducing the occurrence of damage to the mushroom cap due to mechanical compression during the harvesting process, enabling automatic mushroom harvesting to obtain higher quality mushrooms, and has good application value.

Description

Technical Field

[0001] This invention relates to the field of mushroom harvesting technology, and in particular to an intelligent mushroom harvesting robot and its harvesting method. Background Technology

[0002] In the edible fungi industry, mushrooms broadly refer to a large category of fungi with edible and medicinal value, and automated harvesting technology has become an important research direction in smart agriculture. Among the many types of mushrooms, shiitake mushrooms, due to their unique flavor, rich nutritional value, and high economic added value, have become the representative variety with the largest cultivation scale and the most mature industrial chain in my country. To improve economic efficiency, some farmers in rice-growing areas have adopted a crop rotation model, planting shiitake mushrooms in the paddy fields after the rice harvest. Mushroom farmers prepare multiple raised beds in the paddy fields and then neatly arrange the mushroom logs on them. The raised beds are about 1.5 meters wide and can be over 10 meters long. Between the raised beds are ditches about 30 cm wide to maintain air humidity in the mushroom fields and facilitate movement for the farmers. However, due to the varying depths, muddy and loose texture, and narrow width of the ditches, movement is inconvenient. Furthermore, the low height of the raised beds requires farmers to bend over for extended periods while harvesting shiitake mushrooms, resulting in high labor intensity. Coupled with factors such as declining population and rising labor costs, the field-grown shiitake mushroom industry is facing severe challenges and urgently needs to develop automated harvesting devices for field-grown shiitake mushrooms.

[0003] Mushroom fields consist of multiple long, narrow beds connected by narrow ditches. Several arched supports are installed on the beds, covered with a plastic film. Therefore, the harvesting equipment must operate within narrow, confined, and complex spaces. Existing wheeled harvesting equipment requires a large area of ​​paved surface and a significant working height, making it unsuitable for harvesting ground-grown shiitake mushrooms.

[0004] When harvesting shiitake mushrooms, the mycelium firmly grips the substrate, making direct pulling impossible. Therefore, traditional adsorption-based harvesting methods are unsuitable for ground-grown shiitake mushrooms. Furthermore, grabbing methods easily damage the mushroom caps, leading to a decline in product quality. Additionally, the uneven growth of shiitake mushrooms prevents indiscriminate, one-size-fits-all harvesting. Moreover, shiitake mushrooms generally grow low, have large caps, and often overlap or stick together. This necessitates aiming at the root during harvesting, while existing overhead and side-view inspection methods are ineffective and inefficient.

[0005] Due to the large area, limited working space, and complex environment of mushroom fields, efficient movement, detection, and harvesting of equipment within these fields are crucial for harvesting ground-grown shiitake mushrooms. Furthermore, driven by industry integration needs, most factories require immediate cleaning, arranging, and drying of harvested mushrooms. However, conventionally harvested mushrooms are often scattered, damaged, and require manual sorting, resulting in low efficiency and quality degradation. Therefore, optimizing harvesting equipment to address these challenges and develop practically applicable harvesting devices is a pressing issue for ground-grown shiitake mushrooms. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an intelligent mushroom harvesting robot and its harvesting method, so as to solve the problem that existing mushroom picking devices cannot be adapted to the harvesting of ground-grown shiitake mushrooms.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an intelligent mushroom harvesting robot, installed above the raised beds in a mushroom field, comprising: The conveying module includes conveying rails and a support frame. The support frame is set between the beds, and the conveying rails are distributed along the length of the beds and set on the top of the support frame. The harvesting module includes a moving component, a harvesting component, and a storage component. The moving component is mounted on a conveyor track and moves back and forth along the track. The harvesting component is located in the middle of the moving component and includes a multi-axis harvesting arm and a harvesting support mechanism. The harvesting support mechanism includes a transmission part, a suspension support part, and a cutting part. The transmission part has two sides that can move closer or further apart. Each side is equipped with a suspension support part and a cutting part. The cutting part is located at the end of the transmission part, and the suspension support part is located at the front end of the cutting part. The suspension support part has a support arc cavity, which is pre-filled with liquid. When the transmission parts move closer together, the support arc cavity avoids the mushroom stem. At the same time, the support arc cavity closes and connects to form a support ring cavity. After the cutting part cuts the mushroom stem, the mushroom cap is suspended in the support ring cavity under the buoyancy of the liquid. The storage component is positioned on top of the moving component, and in the vertical direction, the projection of the harvesting component partially overlaps with the storage component; The identification module is used to identify the position of the mushroom from the top of the harvesting support mechanism and the side of the cutting part; The control module is electrically connected to the harvesting module and the identification module.

[0008] In one embodiment, the suspended support includes a support body, a partition wall, a blocking slider, a contact ramp, and a pusher slider. The support body is C-shaped, with a support arc cavity inside. A clearance opening is provided on the upper part of the side walls of the support body where they abut each other. The partition wall creates a sliding channel in the support arc cavity near the clearance opening. The blocking slider is located in the sliding channel and above the pusher slider. The contact surfaces of the blocking slider and the pusher slider are both arc surfaces. The top of the contact ramp is hinged below the clearance opening. The contact ramp extends downward from the hinge and away from the support arc cavity. The inner side of the contact ramp abuts against the side wall of the pusher slider. The pusher slider is located in the sliding channel. After the contact ramps rotate in contact with each other, they push the pusher slider to move towards the outer wall of the support body, thereby causing the blocking slider to move axially, thus closing or opening the clearance opening.

[0009] In one embodiment, a flexible membrane layer is attached to the interior of the support body, and the liquid is contained within the flexible membrane layer. A pressing push plate, a pressing connecting rod, a limiting wall, and a return spring are provided on the side of the push slider away from the contact inclined block. The limiting wall is located between the pressing push plate and the push slider. The pressing connecting rod passes through the limiting wall and connects to both the pressing push plate and the push slider. The return spring is sleeved on the pressing connecting rod and located between the limiting wall and the push slider. The side of the pressing push plate away from the limiting wall abuts against the flexible membrane layer. When the push slider moves, the pressing push plate pushes and presses the flexible membrane layer, causing the liquid level inside the support body to rise.

[0010] In one embodiment, a receiving cover is provided above the supporting body. The receiving cover extends radially upward from the outer wall of the supporting body to receive mushroom caps and buffer liquid overflowing from tilting. The receiving cover is provided with inlet and outlet pipes for initial liquid injection, liquid drainage, or periodic cleaning. A suction pipe is provided at the bottom of the supporting body. The suction pipe passes through the supporting arc cavity and extends above the cutting part to collect cutting debris and trace amounts of leaked liquid. The suction pipe is connected to a negative pressure recovery unit.

[0011] In one embodiment, the cutting part includes a cutting blade and a telescopic clamping part. The cutting blade is at least disposed at the bottom of the supporting arc cavity, and the telescopic clamping part is located at the bottom of the cutting blade. After the transmission part approaches, the telescopic clamping part extends to form a cylindrical clamping cavity to position the mushroom stem, and then the cutting blade performs a cutting action.

[0012] In one embodiment, the multi-axis harvesting arm includes a first axle seat, a first arm body, a second axle seat, and a second arm body that are rotatably connected in sequence. The first axle seat is connected to a moving component via a first drive motor, which enables the first axle seat to rotate horizontally. A first detection component is disposed on the outer side of the first axle seat. The two ends of the first arm body are rotatably connected to the first axle seat and the second axle seat, respectively. A second drive motor is disposed within the first arm body, which enables the first arm body to rotate in a vertical plane about its hinge point with the first axle seat. A third drive motor is disposed within the second axle seat and connected to the second arm body, which enables the second arm body to rotate about its central axis. A fourth drive motor is disposed within the second arm body, and a harvesting support mechanism is disposed at the end of the second arm body, which enables the harvesting support mechanism to rotate about its connection end with the second arm body. The transmission unit includes a harvesting fixed seat, a harvesting motor, a driving bevel gear, a first driven bevel gear, and a second driven bevel gear; the two sides of the harvesting fixed seat are hinged to the second arm body, and the bottom two sides of the harvesting fixed seat extend downward to form connecting sidewalls. The harvesting motor is located at the center of the harvesting fixed seat, the driving bevel gear is connected to the output end of the harvesting motor, and the first driven bevel gear and the second driven bevel gear are respectively hinged to the two connecting sidewalls and simultaneously mesh with the driving bevel gear. The first driven bevel tooth and the second driven bevel tooth are respectively provided with a first arc-shaped gripper and a second arc-shaped gripper. The first arc-shaped gripper and the second arc-shaped gripper are provided with a floating support part in the middle. The first arc-shaped gripper and the second arc-shaped gripper are provided with a cutting part at their ends. The first driven bevel tooth and the second driven bevel tooth rotate synchronously in opposite directions under the drive of the active bevel tooth, thereby causing the cutting parts to move closer to each other or further away.

[0013] In one embodiment, the identification module includes a first detection component and a second detection component. The first detection component is connected to the end of the multi-axis harvesting arm near the moving component, so that the first detection component rotates circumferentially together with the multi-axis harvesting arm. The detection end of the first detection component is higher than the moving end of the multi-axis harvesting arm. The second detection component is disposed at the end of the harvesting support mechanism connected to the multi-axis harvesting arm. The detection end of the second detection component extends along the outer edge of the harvesting support mechanism to the side of the cutting part. When the harvesting component moves, the detection end of the second detection component is relatively stationary with respect to the cutting center of the cutting part. The first detection component includes a first detection camera and a camera connecting bracket assembly. The first detection camera is located at the end of the camera connecting bracket assembly. The camera connecting bracket assembly is L-shaped in general. The camera connecting bracket assembly extends vertically upward from the outer wall of the first bearing and then horizontally towards the harvesting support mechanism. The plane of the camera connecting bracket assembly is parallel to the plane of the first arm body.

[0014] In one embodiment, the second detection component includes a camera connecting arm and a second detection camera. The fixed end of the camera connecting arm is located at the center of the top outer side of the connecting sidewall. The camera connecting arm extends along the connecting sidewall to the middle of the suspension support and then gradually extends at an angle away from the suspension support. The second detection camera is embedded at the end of the camera connecting arm. The contact point between the camera connecting arm and the cutting part is in the same plane.

[0015] In one embodiment, the moving component includes a moving platform, a drive wheel set, and a buffer connection mechanism. The drive wheel set is configured to cooperate with the conveying track and is respectively hinged to the four corners of the moving platform. A buffer connection mechanism is provided between the moving platform and the drive wheel set. The drive wheel set is used to drive the moving platform to move back and forth along the conveying track, and the buffer connection mechanism is used to reduce the vibration experienced by the moving platform.

[0016] The present invention also provides a harvesting method using any of the intelligent mushroom harvesting robots described above, the steps of which are as follows: S1. Place the harvesting module on the starting end of the conveying module, initialize the harvesting module and the identification module through the control module, move the moving component to the end of the conveying track, and reset the harvesting component; S2. The control module acquires images of the mushroom logs at the current workstation through the recognition module, analyzes the location and size of the mushrooms to be harvested through visual recognition, identifies the mushrooms that meet the standards to be harvested, and plans the harvesting sequence; then it controls the harvesting module to move the multi-axis harvesting arm to the mushroom position according to the information given by the recognition module. S3. The control module synchronously calls the second detection component located on the side of the cutting section to acquire local images of the harvesting support mechanism and the mushroom root, and drives the multi-axis harvesting arm to fine-tune to the alignment position; then controls the transmission unit to close, and during the closing process, the liquid level in the support arc cavity rises to support the mushroom cap; after the cutting section is completed, the mushroom cap is suspended in the liquid in the support ring cavity formed by the closing; then controls the multi-axis harvesting arm to lift up and keep the harvesting support mechanism in a vertical state, and releases the mushroom along the vertical path into the storage component; S4. If not all the mushrooms to be picked at the current workstation have been picked, repeat step S3 according to the picking order; if all the mushrooms to be picked at the current workstation have been picked, move to the next workstation and repeat steps S2 to S3. S5. When the intelligent mushroom harvesting robot detects that it has completed harvesting in the area at the end of the conveyor track, the harvesting module retreats back to the beginning of the conveyor module and repeats steps S2 to S4. When the intelligent mushroom harvesting robot has completed harvesting mushrooms in all areas to be harvested, each module resets and harvesting stops.

[0017] The beneficial effects of this invention are as follows: Conventional track-mounted mushroom harvesting robots typically employ side-mounted storage bins and fixed vision systems. These systems require ample lateral space in the mushroom beds, making them unsuitable for narrow, densely packed environments. They also pose safety hazards due to their high center of gravity, which increases the risk of tipping over and interference during transport. Furthermore, existing harvesting mechanisms often rely on rigid robotic arms to grip the mushroom caps, which can easily cause compression deformation and surface abrasions. Vision guidance often uses externally fixed cameras, resulting in cumbersome field-of-view switching and a lack of coordination with the end effector. During dynamic harvesting, they rely on real-time software calibration, which suffers from significant algorithm latency and susceptibility to arm obstruction and vibration, leading to large cutting and positioning errors, high miscut rates, slow work cycles, and high product damage rates.

[0018] The intelligent mushroom harvesting robot provided by this invention adopts a compact structural layout, integrating the storage component above the moving component, and partially overlapping the vertical projection of the harvesting component with that of the storage component. This shortens the material transfer path after harvesting without increasing the overall machine dimensions, effectively lowers the overall center of gravity, improves stability during reciprocating movement along the conveyor track, and avoids interference in narrow planting beds. Simultaneously, the recognition module is positioned above the harvesting support mechanism and on the side of the cutting section, forming a composite field of view combining a high-level overhead view and lateral near-field focusing. This continuously eliminates blind spots caused by mechanical self-occlusion during robot movement and arm extension, enabling real-time dynamic capture of mushroom positions and rapid path planning, significantly reducing energy consumption and time wasted on frequent adjustments to the moving component.

[0019] Meanwhile, the intelligent mushroom harvesting robot provided by this invention features a harvesting support mechanism with transmission units on both sides that can approach each other. Each side integrates a pre-filled liquid-filled suspension support unit and an end-cutting unit. As the transmission units approach each other, the support arc cavity automatically reserves space for the mushroom stem and simultaneously closes to form a support ring cavity. After the cutting unit cuts the mushroom stem, the mushroom cap directly relies on liquid buoyancy to float stably within the support ring cavity. This allows the intelligent mushroom harvesting robot provided by this invention to abandon the traditional rigid gripping method, achieving "suspension support," effectively mitigating the risk of uneven force and cap abrasion during harvesting of tilted mushrooms. Utilizing water buoyancy to naturally buffer the cutting reaction force ensures a stable cutting process and precise positioning, significantly improving the commercial grade of the finished mushrooms and the cleanliness of the operation.

[0020] Meanwhile, this invention, through deep electrical collaboration between the control module, identification module, and harvesting module, seamlessly integrates "top + side" dual-view identification, support arc cavity connecting to the handle, liquid buoyancy support, and bottom cutting, constructing a closed-loop operation process of "precise identification and positioning → adaptive encirclement by the mechanism → non-destructive buoyancy support → efficient cutting and release." This enables low-latency, high-cycle continuous automated operation in the confined and dense mushroom field environment. The overall structure is compact and operates smoothly, effectively reducing the intensity of manual intervention and the complexity of equipment maintenance, demonstrating significant value for large-scale application.

[0021] The harvesting method of the intelligent mushroom harvesting robot provided by this invention can realize fully automated and non-destructive harvesting operations, effectively reducing the need for manual intervention, and has good promotion and application value and industrialization prospects.

[0022] Other features and beneficial effects of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects of the invention and other beneficial effects may be realized and obtained by means of the structures and / or components pointed out in the description and claims. Attached Figure Description

[0023] Figure 1 This is a perspective view of an embodiment of the present invention; Figure 2 This is a top view of an embodiment of the present invention; Figure 3 This is a three-dimensional schematic diagram of the harvesting module in one embodiment of the present invention; Figure 4 This is a side view of the harvesting module in one embodiment of the present invention; Figure 5 for Figure 4 A magnified view of a section at point I; Figure 6 This is a perspective view of the end of the transmission part in one embodiment of the present invention; Figure 7 for Figure 6 Top view; Figure 8 for Figure 7 Cross-sectional view at point AA; Figure 9 for Figure 7 Cross-sectional view at point BB; Figure 10 for Figure 9 Enlarged view of a section at point III; Figure 11 This is a top view of the harvesting module according to an embodiment of the present invention; Figure 12 for Figure 11 A magnified view of a section at point II.

[0024] Label Explanation: 1. Conveying module; 11. Conveying track; 12. Support frame; 2. Harvesting module; 21. Moving assembly; 211. Moving platform; 212. Drive wheel set; 213. Buffer connection mechanism; 2131. Connecting lug; 2132. Telescopic rod; 2133. Buffer spring; 2134. Connecting rod; 22. Harvesting assembly; 221. Multi-axis harvesting arm; 2211. First axle seat; 2212. First arm body; 2213. Second axle seat; 2214. Second arm body; 2215. First drive motor; 2216. Second drive motor; 2217. Third drive motor; 2218. Fourth drive motor; 222. Harvesting support mechanism; 2221. Transmission unit; 22211. Harvesting fixed seat; 22212. Harvesting motor; 22213. Driving bevel gear; 22214. First driven bevel gear; 22215. Second driven bevel gear 22216. Conical teeth; 22217. First arc-shaped gripper; 22218. Second arc-shaped gripper; 2222. Suspension support; 22221. Support body; 222211. Clearance opening; 222212. Flexible membrane layer; 22222. Spacer wall; 22223. Blocking slider; 22224. Contact inclined block; 22225. Push slider; 22226. Extrusion push plate; 22227. Extrusion connecting rod; 22228. 22229. Limiting wall; 22223. Reset spring; 2224. Cutting part; 2225. Telescopic clamping part; 2226. Receiving cover; 2227. Inlet and outlet pipes; 2228. Suction pipe; 23. Storage component; 34. Identification module; 35. First detection component; 311. First detection camera; 312. Camera connecting bracket assembly; 32. Second detection component; 321. Camera connecting arm; 322. Second detection camera. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. The technical features designed in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. 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.

[0026] In the description of this invention, it should be noted that all terms used in this invention (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains, and should not be construed as limiting the invention; it should be further understood that the terms used in this invention should be understood to have the same meaning as those in the context of this specification and in the relevant field, and should not be understood in an idealized or overly formal sense, except as expressly defined in this invention.

[0027] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0028] Please refer to Figures 1 to 12 A smart mushroom harvesting robot, installed above the raised beds in a mushroom field, includes: The conveying module 1 includes a conveying track 11 and a support frame 12. The support frame 12 is arranged between the beds, and the conveying track 11 is distributed along the length of the beds and arranged on the top of the support frame 12. Harvesting module 2 includes a moving component 21, a harvesting component 22, and a storage component 23. The moving component 21 is mounted on a conveying track 11 and moves back and forth along the conveying track 11. The harvesting component 22 is located in the middle of the moving component 21 and includes a multi-axis harvesting arm 221 and a harvesting support mechanism 222. The harvesting support mechanism 222 includes a transmission part 2221, a suspension support part 2222, and a cutting part 2223. The transmission part 2221 has two sides that can move closer to or further away from each other, and each side has... The device includes a suspension support section 2222 and a cutting section 2223. The cutting section 2223 is located at the end of the transmission section 2221, and the suspension support section 2222 is located at the front end of the cutting section 2223. The suspension support section 2222 has a supporting arc cavity, which is pre-filled with liquid. When the transmission sections 2221 approach each other, the supporting arc cavity avoids the mushroom stem, and at the same time, the supporting arc cavity closes and connects to form a supporting ring cavity. After the cutting section 2223 completes the cutting of the mushroom stem, the mushroom cap is suspended in the supporting ring cavity under the buoyancy of the liquid. The storage component 23 is positioned on top of the moving component 21, and in the vertical direction, the projection of the harvesting component 22 partially overlaps with the storage component 23; The identification module 3 is used to identify the position of the mushroom by the upper side of the harvesting support mechanism 222 and the side of the cutting part 2223; The control module is electrically connected to the harvesting module 2 and the identification module 3.

[0029] Specifically, the control module can be a PLC chip or an embedded industrial control motherboard, or an external PC system can be used for wireless control via communication signals. Those skilled in the art can select a suitable control module as needed, without making specific limitations.

[0030] Specifically, the storage component 23 has a storage frame with several grid-like units, and the collected mushrooms are placed into the storage frame vertically.

[0031] During the process of the two sides of the transmission unit 2221 coming together to form a complete supporting ring cavity, the pre-filled liquid is very likely to leak due to gaps at the joint surface. Traditional electric or pneumatic sealing elements have a high failure rate and high maintenance cost in the high humidity and multi-spore environment of the mushroom house. At the same time, the joint surface will block and touch the underside of the mushroom cap, which may also cause contact damage. Therefore, in this embodiment, the suspension support 2222 includes a support body 22221, a partition wall 22222, a blocking slider 22223, a contact inclined block 22224, and a pushing slider 22225. The support body 22221 is generally C-shaped, and a support arc cavity is formed inside the support body 22221. An avoidance opening 222211 is formed on the upper part of the side walls of the support body 22221 that abut against each other. The partition wall 22222 forms a sliding channel in the support arc cavity near the avoidance opening 222211. The blocking slider 22223 is disposed in the sliding channel and located above the pushing slider 22225. The contact surfaces of 22223 and the push slider 22225 are both arc surfaces; the top of the contact inclined block 22224 is hinged below the clearance opening 222211. The contact inclined block 22224 extends downward from the hinge and away from the supporting arc cavity. The inner side of the contact inclined block 22224 abuts against the side wall of the push slider 22225. The push slider 22225 is set in the sliding channel. After the contact inclined blocks 22224 rotate in contact with each other, they push the push slider 22225 to move towards the outer wall of the supporting body 22221, thereby causing the blocking slider 22223 to generate axial displacement, thus closing or opening the clearance opening 222211. Specifically, after the two supporting bodies 22221 are closed, a mushroom stem channel is formed in the center, and the mushroom cap enters the supporting arc cavity from above the supporting body 22221. When the two supporting bodies 22221 close, the clearance opening 222211 connects the tops of the two independent supporting arc cavities, forming a complete supporting annular cavity in the upper part of the supporting body 22221. This prevents the mushroom cap from touching the rigid sidewalls of the mating surface of the supporting body 22221 and thus ensuring sufficient contact with the liquid, preventing the mushroom from failing to suspend. Simultaneously, the blocking slider 22223 is triggered in real-time through the purely mechanical linkage of the contact inclined block 22224 and the pushing slider 22225, achieving adaptive sealing and locking of the clearance opening 222211 after the annular cavity is connected. This effectively blocks the path of liquid overflowing from the mating gap within the supporting arc cavity, maintaining a stable liquid level and buoyancy within the supporting arc cavity. If the initial liquid level in the supporting arc cavity is set too high, the liquid is prone to overflow due to the adaptation to the mushroom body's tilted posture or running vibration when the transmission part 2221 approaches and closes with the suspension support part 2222, thus contaminating the cutting part 2223 and the transmission part 2221. If the initial liquid level is too low, it cannot provide sufficient instantaneous buoyancy support at the moment of cutting, which can easily cause the mushroom cap to become unstable and fall or the cut to be skewed. Therefore, in this embodiment, a flexible membrane layer 222212 is attached to the inside of the supporting body 22221, and the liquid is contained in the flexible membrane layer 222212. The push slider 22225 is provided with a pressing push plate 22226, a pressing connecting rod 22227, a limiting wall 22228 and a return spring 22229 on the side away from the contact inclined block 22224. The limiting wall 22228 is located between the pressing push plate 22226 and the push slider 22225, and the pressing connecting rod 22227 passes through the limiting wall. 22228 is connected to the extrusion push plate 22226 and the push slider 22225. The return spring 22229 is sleeved on the extrusion connecting rod 22227 and is located between the limiting wall 22228 and the push slider 22225. The side of the extrusion push plate 22226 away from the limiting wall 22228 abuts against the flexible membrane layer 222212. When the push slider 22225 is displaced, the extrusion push plate 22226 pushes and extrudes the flexible membrane layer 222212, causing the liquid level in the supporting body 22221 to rise. This design allows the suspension support mechanism to maintain a low liquid level before initial alignment and closure, avoiding the risk of liquid overflow during the approach process. As the transmission part 2221 gradually closes and enters the cutting process, the push slider 22225 moves synchronously with the closing stroke, and the flexible membrane layer 222212 is squeezed by the squeezing connecting rod 22227 and the push plate, so that the liquid level in the flexible membrane layer 222212 gradually rises during the cutting process, providing the mushroom cap with an immediate and gentle micro-lift force to dynamically offset the cutting reaction force and gravity disturbance, forming an adaptive buoyancy match, which not only ensures the cleanliness of the operation, but also ensures the stable suspension of the mushroom cap.

[0032] During the buoyancy support process, the mushroom caps are prone to liquid splashing and overflow due to vibrations from the robotic arm or tilting of the mushroom body, contaminating the cutting section 2223, the transmission mechanism, and adjacent mushroom logs. Furthermore, the supporting arc cavity requires regular injection, drainage, and self-cleaning maintenance. If the mushroom debris and trace amounts of leaked liquid remain in the cavity, they will continuously corrode precision components and breed spores, causing contamination. In this embodiment, a receiving cover 2225 is provided above the supporting body 22221. The receiving cover 2225 extends radially upwards from the outer wall of the supporting body 22221 to receive the mushroom caps and buffer any overflowing liquid. The receiving cover 2225 is equipped with inlet and outlet pipes 2226 for initial injection, drainage, or periodic cleaning. A suction pipe 2227 is provided at the bottom of the supporting body 22221, penetrating the supporting arc cavity and extending above the cutting section 2223 to collect cutting debris and trace amounts of leaked liquid. The suction pipe 2227 is externally connected to a negative pressure recovery unit. When the cover 2225 is closed, it forms a top-sealed buffer cavity, which can effectively catch overflow liquid under tilted conditions and isolate external collisions, protecting the integrity of the mushroom cap surface. The inlet and outlet pipes 2226 can realize rapid injection and drainage and online cleaning of the supporting arc cavity, greatly reducing downtime maintenance time and manual intervention intensity. The suction pipe 2227 at the bottom of the supporting body 22221, together with the external negative pressure recovery unit, can directionally suck up debris and leakage liquid during cutting, preventing contaminants and overflow liquid from flowing to the transmission part 2221 and the cutting blade, ensuring the cleanliness, sealing reliability and long-term maintenance-free performance of the equipment in continuous high-speed operation.

[0033] Preferably, the inlet / outlet pipe 2226 is connected to a replenishment water tank, which is mounted on the multi-axis harvesting arm 221. A micro-pump is installed on the inlet / outlet pipe 2226 to control the injection of liquid. The negative pressure recovery unit can also be connected to the replenishment water tank, and a filtration unit is installed at the connection point to filter the absorbed liquid and return it to the replenishment water tank.

[0034] The mushroom stem is crisp and tender with a certain degree of flexibility. During the closing process of the transmission unit 2221, it is easily subject to slight swaying or deflection due to operational vibration. If the cut is made directly without pre-positioning, it is very easy to cause the cut to be tilted, the tissue to become stringy, or to accidentally damage adjacent gills. At the same time, if the axial reaction force generated at the moment of cutting is not rigidly restrained, it is easy to cause instantaneous displacement of the mushroom body, which seriously affects the harvesting yield and operational stability. Therefore, in this embodiment, the cutting unit 2223 includes a cutting blade and a telescopic clamping unit 2224. The cutting blade is at least located at the bottom of the supporting arc cavity, and the telescopic clamping unit 2224 is located at the bottom of the cutting blade. After the transmission unit 2221 approaches, the telescopic clamping unit 2224 extends and closes to form a cylindrical clamping cavity to position the mushroom stem, and then the cutting blade performs the cutting action. This design allows the telescopic clamping part 2224 to extend and close in the initial stage of closing, forming a cylindrical clamping cavity that clamps and limits the bottom of the mushroom stem, eliminating slight swaying and deflection before cutting. Subsequently, the cutting blade cuts the mushroom stem as the closing process progresses. The cut mushroom is suspended and separated by buoyancy, which not only isolates the cutting force from disturbing the mushroom's posture but also ensures that the stem cross-section is flat and smooth, significantly improving the success rate and quality of mushroom harvesting.

[0035] In this embodiment, the multi-axis harvesting arm 221 includes a first axle seat 2211, a first arm body 2212, a second axle seat 2213, and a second arm body 2214, which are rotatably connected in sequence. The first axle seat 2211 is connected to the moving component 21 via a first drive motor 2215, which enables the first axle seat 2211 to rotate horizontally. A first detection component 31 is disposed on the outside of the first axle seat 2211. The two ends of the first arm body 2212 are rotatably connected to the first axle seat 2211 and the second axle seat 2213, respectively. A second drive motor 2216 is disposed inside the first arm body 2212. Motor 2216 causes the first arm 2212 to rotate in a vertical plane about the hinge point with the first shaft seat 2211; a third drive motor 2217 is provided in the second shaft seat 2213, the third drive motor 2217 is connected to the second arm 2214, the third drive motor 2217 causes the second arm 2214 to rotate about the central axis of the second arm 2214; a fourth drive motor 2218 is provided in the second arm 2214, the harvesting support mechanism 222 is located at the end of the second arm 2214, the fourth drive motor 2218 causes the harvesting support mechanism 222 to rotate about the connection end with the second arm 2214.

[0036] Specifically, the first arm body 2212 and the second arm body 2214 are provided with a drive pulley and a driven pulley at both ends. The drive pulley is driven and connected to the third drive motor 2217 and the fourth drive motor 2218 respectively, and the rotation degree of the second shaft seat 2213 and the harvest support mechanism 222 is controlled by belt transmission.

[0037] In this embodiment, the transmission unit 2221 includes a harvesting fixing seat 22211, a harvesting motor 22212, an active bevel gear 22213, a first driven bevel gear 22214, and a second driven bevel gear 22215. The two sides of the harvesting fixing seat 22211 are hinged to the second arm body 2214. The bottom two sides of the harvesting fixing seat 22211 extend downward to form connecting sidewalls. The harvesting motor 22212 is located at the center of the harvesting fixing seat 22211. The active bevel gear 22213 is connected to the output end of the harvesting motor 22212. The first driven bevel gear 22214 and the second driven bevel gear 22215 are respectively hinged to the two connecting sidewalls and simultaneously mesh with the active bevel gear 22213. The first driven bevel tooth 22214 and the second driven bevel tooth 22215 are respectively provided with a first arc-shaped gripper 22216 and a second arc-shaped gripper 22217. The first arc-shaped gripper 22216 and the second arc-shaped gripper 22217 are provided with a suspension support portion 2222 in the middle. The ends of the first arc-shaped gripper 22216 and the second arc-shaped gripper 22217 are provided with a cutting portion 2223. The first driven bevel tooth 22214 and the second driven bevel tooth 22215 rotate synchronously in opposite directions under the drive of the active bevel tooth 22213, thereby causing the cutting portion 2223 and the suspension support portion 2222 to move closer to or further away from each other.

[0038] Specifically, the tops of the first arc-shaped gripper 22216 and the second arc-shaped gripper 22217 mesh with each other, so that after the first driven bevel tooth 22214 and the second driven bevel tooth 22215 rotate to their limit, the first arc-shaped gripper 22216 and the second arc-shaped gripper 22217 mesh with each other to limit the movement, thus preventing the cutting part 2223 at the end from colliding excessively.

[0039] Specifically, the telescopic clamping part 2224 uses an electric push rod for telescopic adjustment.

[0040] Because mushroom beds are narrow and mushrooms grow in dense clusters, traditional fixed top-view cameras or end-effector vision systems are easily obstructed by the robotic arm, resulting in large blind spots and cumbersome field-of-view switching. At the same time, if the relative pose of the camera and the robotic arm changes frequently during dynamic operations, it relies heavily on complex real-time hand-eye calibration and dynamic coordinate calculation, resulting in high algorithm latency and susceptibility to field vibration interference, which seriously affects target recognition efficiency and global positioning accuracy. Therefore, in this embodiment, the identification module 3 includes a first detection component 31 and a second detection component 32. The first detection component 31 is connected to the end of the multi-axis harvesting arm 221 near the moving component 21, so that the first detection component 31 rotates circumferentially together with the multi-axis harvesting arm 221. The detection end of the first detection component 31 is higher than the moving end of the multi-axis harvesting arm 221. The second detection component 32 is disposed at the end of the harvesting support mechanism 222 connected to the multi-axis harvesting arm 221. The detection end of the second detection component 32 extends along the outer edge of the harvesting support mechanism 222 to the side of the collection end of the harvesting support mechanism 222. When the harvesting component 22 moves, the detection end of the second detection component 32 is relatively stationary with respect to the cutting center of the collection end of the harvesting support mechanism 222. The first detection component 31 includes a first detection camera 311 and a camera connecting bracket assembly 312. The first detection camera 311 is located at the end of the camera connecting bracket assembly 312. The camera connecting bracket assembly 312 is generally L-shaped. The camera connecting bracket assembly 312 extends vertically upward from the outer wall of the first bearing seat 2211 and then extends horizontally towards the harvesting support mechanism 222. The plane of the camera connecting bracket assembly 312 is parallel to the plane of the first arm body 2212. This configuration allows the first detection camera 311 to obtain a high-position, wide-area, and unobstructed global field of view: the vertical extension of the L-shaped bracket raises the camera's optical axis above the motion network of the multi-axis harvesting arm 221, while the horizontal extension allows the lens to extend forward to operate close to the harvesting support mechanism 222. During the circumferential rotation and pitch swing of the multi-axis harvesting arm 221, the physical obstruction of the camera's field of view by the first arm body 2212, the second arm body 2214, and the clamping mechanism at the end is minimized. Furthermore, the plane where the camera connecting bracket group 312 is located remains parallel to the motion plane of the first arm body 2212, ensuring that the spatial geometric relationship between the visual imaging coordinate system and the kinematic reference plane of the multi-axis harvesting arm 221 remains constant. This significantly simplifies the calculation dimension of the hand-eye calibration matrix and the image distortion compensation algorithm, reduces parallax error and coordinate transformation delay, and improves the accuracy of visual recognition and judgment.

[0041] Preferably, the first detection camera 311 can be connected to the camera connection bracket group 312 via a rotating frame. The rotating frame can expand the range of motion of the first detection camera 311, thereby giving the first detection camera 311 an independent degree of freedom for fine-tuning the viewing angle, further reducing the obstruction of visual recognition by the multi-axis harvesting arm 221, and improving the accuracy of visual recognition.

[0042] In this embodiment, the second detection component 32 includes a camera connecting arm 321 and a second detection camera 322. The fixed end of the camera connecting arm 321 is located at the center of the top outer side of the connecting sidewall. The camera connecting arm 321 extends along the connecting sidewall to the middle of the suspension support 2222 and then gradually extends at an angle away from the suspension support 2222. The second detection camera 322 is embedded at the end of the camera connecting arm 321. The contact point between the camera connecting arm 321 and the cutting part 2223 is in the same plane. This configuration allows the second detection component 32 to visually identify and locate the mushroom to be harvested throughout the entire clamping and cutting process, avoiding motion interference during the closing process of the arc-shaped gripper and forming a blind-spot-free macro field of view. Meanwhile, by constraining the spatial pose of the camera connecting arm 321 and the cutting part 2223 to be coplanar, the visual imaging reference plane coincides with the clamping and cutting plane. During the dynamic process of the harvesting component 22 approaching, clamping and cutting, the detection end and the cutting center always remain rigidly relatively stationary. This effectively eliminates the parallax accumulation, dynamic calibration delay and algorithm compensation error under the traditional "eye outside the hand" or floating calibration architecture, and significantly improves the alignment accuracy, cutting success rate and finished mushroom integrity rate for densely clustered and tilted mushroom stipes.

[0043] In this embodiment, the moving component 21 includes a moving platform 211, a drive wheel set 212, and a buffer connection mechanism 213. The drive wheel set 212 is configured to cooperate with the conveying track 11 and is respectively hinged to the four corners of the moving platform 211. A buffer connection mechanism 213 is provided between the moving platform 211 and the drive wheel set 212. The drive wheel set 212 is used to drive the moving platform 211 to move back and forth along the conveying track 11, and the buffer connection mechanism 213 is used to reduce the vibration experienced by the moving platform 211.

[0044] Specifically, each drive wheel assembly 212 has its own independent displacement motor drive. The drive wheel is provided with a displacement groove that cooperates with the conveyor track 11, so that the drive wheel can be locked on the conveyor track 11, ensuring that the intelligent mushroom harvesting robot does not derail.

[0045] In this embodiment, the buffer connection mechanism 213 includes a connecting lug 2131, a telescopic rod 2132, a buffer spring 2133, and a connecting rod 2134. The connecting rod 2134 is mounted on the drive wheel assembly 212, the connecting lug 2131 is mounted on the movable platform 211, the two ends of the telescopic rod 2132 are respectively hinged to the connecting lug 2131 and the connecting rod 2134, and the two ends of the buffer spring 2133 are respectively connected to the fixed end and the output end of the telescopic rod 2132.

[0046] Specifically, the telescopic rod 2132 consists of a passive telescopic part and an active telescopic part. The active telescopic part extends and retracts autonomously through a drive structure such as an electric push rod, while the passive telescopic part extends and retracts under the action of the buffer spring 2133.

[0047] The present invention also provides a harvesting method using any of the intelligent mushroom harvesting robots described above, the steps of which are as follows: S1. Place the harvesting module 2 on the starting end of the conveying module 1. Initialize the harvesting module 2 and the identification module 3 through the control module. Move the moving component 21 to the end of the conveying track 11 and reset the harvesting component 22. S2. The control module acquires the image of the mushroom sticks at the current workstation through the recognition module 3, and analyzes the position and size of the mushrooms to be harvested through visual recognition, identifies the mushrooms that meet the standards to be harvested, and plans the harvesting sequence; then it controls the harvesting module 2 to move the multi-axis harvesting arm 221 to the mushroom position according to the information given by the recognition module 3. S3. The control module synchronously calls the second detection component 32 located on the side of the cutting section 2223 to acquire a partial image of the harvesting support mechanism 222 and the mushroom root, and drives the multi-axis harvesting arm 221 to fine-tune to the alignment position; then controls the transmission section 2221 to close, and during the closing process, the liquid level in the support arc cavity rises to support the mushroom cap; after the cutting section 2223 finishes cutting, the mushroom cap is suspended in the liquid in the support ring cavity formed by the closing; then controls the multi-axis harvesting arm 221 to lift up and keep the harvesting support mechanism 222 in a vertical state, and releases the mushroom along the vertical path into the storage component 23; S4. If not all the mushrooms to be picked at the current workstation have been picked, repeat step S3 according to the picking order; if all the mushrooms to be picked at the current workstation have been picked, move to the next workstation and repeat steps S2 to S3. S5. When the intelligent mushroom harvesting robot detects that it has completed the harvesting of the area at the end of the conveying track 11, the harvesting module 2 retreats back to the starting end of the conveying module 1 and repeats steps S2 to S4. When the intelligent mushroom harvesting robot has completed the harvesting of mushrooms in all areas to be harvested, each module is reset and the harvesting stops.

[0048] Specifically, step S3 includes: the control module synchronously calls the second detection component 32 to obtain local images of the harvesting support mechanism 222 and the mushroom root; based on the positional relationship between the detection end of the second detection component 32 and the cutting center, the fixed pixel offset between the mushroom root and the cutting center in the local image is directly extracted, and the multi-axis harvesting arm 221 is driven to finely adjust to the alignment position; then the transmission part 2221 is controlled to close, and the telescopic clamping part 2224 extends first to surround and position the mushroom stem, and the liquid level gradually rises to the preset position by mechanically squeezing the flexible membrane, while the cutting part 2223 performs cutting; after the cutting is completed, the multi-axis harvesting arm 221 is controlled to lift, the transmission part 2221 opens, and the mushroom is released into the storage component 23 along the vertical path.

[0049] Preferably, step S3 further includes S31: when the control module controls the multi-axis harvesting arm 221 to move, it simultaneously controls the active telescopic part in the buffer connection mechanism 213 to perform compensatory telescopic extension and retraction, so as to dynamically offset the inertial impact and reaction torque generated by the movement of the harvesting arm. Specifically, based on the real-time kinematic parameters, acceleration and end load status of the multi-axis harvesting arm 221, the control module predicts the attitude deviation trend of the moving platform 211, and drives the active telescopic part to output reverse displacement or preload adjustment as needed, so that the moving platform 211 maintains a horizontal reference and low vibration state during dynamic operation. This setting makes the active compensation and passive buffering complementary, thereby efficiently maintaining the dynamic stability of the platform and avoiding excessive shaking and scattering of liquid in the suspended support part 2222.

[0050] Furthermore, those skilled in the art should understand that although many problems exist in the prior art, each embodiment or technical solution of the present invention can be improved in only one or a few aspects, without necessarily solving all the technical problems listed in the prior art or the background art simultaneously. Those skilled in the art should understand that any content not mentioned in a claim should not be construed as a limitation on that claim.

[0051] Although this document frequently uses terms such as conveying module, conveying track, and support frame, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would contradict the spirit of the invention. The terms "first," "second," etc. (if present) in the specification and claims of the embodiments of the invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent mushroom harvesting robot, which is erected above a bed of a mushroom field, characterized in that, include: The conveying module (1) includes a conveying track (11) and a support frame (12). The support frame (12) is disposed between the beds, and the conveying track (11) is distributed along the length of the beds and disposed on the top of the support frame (12). The harvesting module (2) includes a moving component (21), a harvesting component (22), and a storage component (23). The moving component (21) is disposed on the conveying track (11) and moves back and forth along the conveying track (11). The harvesting component (22) is disposed in the middle of the moving component (21). The harvesting component (22) includes a multi-axis harvesting arm (221) and a harvesting support mechanism (222). The harvesting support mechanism (222) includes a transmission part (2221), a suspension support part (2222), and a cutting part (2223). The transmission part (2221) has two sides that can move closer to or further away from each other. Each side is provided with the suspended support part (2222) and the cutting part (2223). The cutting part (2223) is located at the end of the transmission part (2221), and the suspended support part (2222) is located at the front end of the cutting part (2223). The suspended support part (2222) has a supporting arc cavity, which is pre-filled with liquid. When the transmission parts (2221) approach each other, the supporting arc cavity avoids the mushroom stem, and at the same time, the supporting arc cavity closes and connects to form a supporting ring cavity. After the cutting part (2223) completes the cutting of the mushroom stem, the mushroom cap is suspended in the supporting ring cavity under the action of liquid buoyancy. The storage component (23) is disposed on top of the moving component (21), and in the vertical direction, the projection of the harvesting component (22) partially overlaps with the storage component (23); The identification module (3) is used to identify the position of the mushroom by the upper side of the harvesting support mechanism (222) and the side of the cutting part (2223); The control module is electrically connected to the harvesting module (2) and the identification module (3).

2. The intelligent mushroom harvesting robot according to claim 1, characterized in that: The suspended support (2222) includes a support body (22221), a partition wall (22222), a blocking slider (22223), a contact ramp (22224), and a pushing slider (22225). The support body (22221) is C-shaped, and the support arc cavity is formed inside the support body (22221). A clearance opening (222211) is formed on the upper part of the side walls of the support body (22221) where they abut against each other. The partition wall (22222) forms a sliding channel within the support arc cavity near the clearance opening (222211). The blocking slider (22223) is located within the sliding channel and above the pushing slider (22225). 3) The contact surfaces of the push block (22225) are both arc surfaces; the top of the contact wedge (22224) is hinged to the lower part of the clearance opening (222211), the contact wedge (22224) extends downward from the hinge and away from the supporting arc cavity, the inner side of the contact wedge (22224) abuts against the side wall of the push block (22225), the push block (22225) is arranged in the sliding channel, after the contact wedges (22224) rotate in contact with each other, they push the push block (22225) to move towards the outer wall of the supporting body (22221), thereby causing the blocking block (22223) to generate axial displacement, thereby closing or opening the clearance opening (222211).

3. The intelligent mushroom harvesting robot according to claim 2, characterized in that: The supporting body (22221) has a flexible membrane layer (222212) attached inside, and the liquid is contained in the flexible membrane layer (222212). The push slider (22225) is provided with a pressing push plate (22226), a pressing connecting rod (22227), a limiting wall (22228), and a return spring (22229) on the side away from the contact inclined block (22224). The limiting wall (22228) is located between the pressing push plate (22226) and the push slider (22225). The pressing connecting rod (22227) passes through the limiting wall (22228) and is connected to the liquid in the limiting wall. The extrusion pusher plate (22226) and the push slider (22225) are connected. The return spring (22229) is sleeved on the extrusion connecting rod (22227) and disposed between the limiting wall (22228) and the push slider (22225). The side of the extrusion pusher plate (22226) away from the limiting wall (22228) abuts against the flexible membrane layer (222212). When the push slider (22225) is displaced, the extrusion pusher plate (22226) pushes and squeezes the flexible membrane layer (222212) to raise the liquid level in the supporting body (22221).

4. The intelligent mushroom harvesting robot according to claim 3, characterized in that: The supporting body (22221) is provided with a receiving cover (2225) above it. The receiving cover (2225) extends radially upward from the outer wall of the supporting body (22221) and is used to receive mushroom caps and buffer liquid overflowing from tilting. The receiving cover (2225) is provided with inlet and outlet pipes (2226) for initial liquid injection, liquid drainage or periodic cleaning. The bottom of the supporting body (22221) is provided with a suction pipe (2227). The suction pipe (2227) passes through the supporting arc cavity and extends above the cutting part (2223) for collecting cutting debris and trace amounts of leakage liquid. The suction pipe (2227) is externally connected to a negative pressure recovery unit.

5. The intelligent mushroom harvesting robot according to claim 1, characterized in that: The cutting part (2223) includes a cutting blade and a telescopic clamping part (2224). The cutting blade is at least located at the bottom of the supporting arc cavity, and the telescopic clamping part (2224) is located at the bottom of the cutting blade. After the transmission part (2221) approaches, the telescopic clamping part (2224) extends to form a cylindrical clamping cavity to position the mushroom stem, and then the cutting blade performs a cutting action.

6. The intelligent mushroom harvesting robot according to claim 1, characterized in that: The multi-axis harvesting arm (221) includes a first axle seat (2211), a first arm body (2212), a second axle seat (2213), and a second arm body (2214) that are rotatably connected in sequence. The first axle seat (2211) is connected to the moving component (21) via a first drive motor (2215), which enables the first axle seat (2211) to rotate horizontally. The first detection component (31) is located on the outside of the first axle seat (2211). The two ends of the first arm body (2212) are rotatably connected to the first axle seat (2211) and the second axle seat (2213), respectively. A second drive motor (2216) is installed inside the first arm body (2212). 6) The first arm (2212) rotates in a vertical plane about the hinge point with the first shaft seat (2211); the second shaft seat (2213) is provided with a third drive motor (2217), the third drive motor (2217) is connected to the second arm (2214), the third drive motor (2217) causes the second arm (2214) to rotate about the central axis of the second arm (2214); the second arm (2214) is provided with a fourth drive motor (2218), the harvest support mechanism (222) is located at the end of the second arm (2214), the fourth drive motor (2218) causes the harvest support mechanism (222) to rotate about the connection end with the second arm (2214); The transmission unit (2221) includes a harvesting fixed seat (22211), a harvesting motor (22212), an active bevel gear (22213), a first driven bevel gear (22214), and a second driven bevel gear (22215). The two sides of the harvesting fixed seat (22211) are hinged to the second arm body (2214). The bottom two sides of the harvesting fixed seat (22211) extend downward to form connecting sidewalls. The harvesting motor (22212) is located at the center of the harvesting fixed seat (22211). The active bevel gear (22213) is connected to the output end of the harvesting motor (22212). The first driven bevel gear (22214) and the second driven bevel gear (22215) are respectively hinged to the two connecting sidewalls and simultaneously mesh with the active bevel gear (22213). The first driven bevel tooth (22214) and the second driven bevel tooth (22215) are respectively provided with the first arc-shaped gripper (22216) and the second arc-shaped gripper (22217). The first arc-shaped gripper (22216) and the second arc-shaped gripper (22217) are provided with the suspended support part (2222) in the middle. The first arc-shaped gripper (22216) and the second arc-shaped gripper (22217) are provided with the cutting part (2223) at their ends. The first driven bevel tooth (22214) and the second driven bevel tooth (22215) rotate synchronously in opposite directions under the drive of the active bevel tooth (22213), thereby causing the cutting parts (2223) to move closer to or further away from each other.

7. The intelligent mushroom harvesting robot according to claim 6, characterized in that: The identification module (3) includes a first detection component (31) and a second detection component (32). The first detection component (31) is connected to one end of the multi-axis harvesting arm (221) near the moving component (21), so that the first detection component (31) rotates circumferentially together with the multi-axis harvesting arm (221). The detection end of the first detection component (31) is higher than the moving end of the multi-axis harvesting arm (221). The second detection component (32) is located at one end of the harvesting support mechanism (222) connected to the multi-axis harvesting arm (221). The detection end of the second detection component (32) extends along the outer edge of the harvesting support mechanism (222) to the side of the cutting part (2223). When the harvesting component (22) moves, the detection end of the second detection component (32) is relatively stationary with respect to the cutting center of the cutting part (2223). The first detection component (31) includes a first detection camera (311) and a camera connecting bracket group (312). The first detection camera (311) is located at the end of the camera connecting bracket group (312). The camera connecting bracket group (312) is generally L-shaped. The camera connecting bracket group (312) extends vertically upward from the outer wall of the first bearing (2211) and then horizontally towards the harvesting support mechanism (222). The plane of the camera connecting bracket group (312) is parallel to the plane of the first arm body (2212).

8. The intelligent mushroom harvesting robot according to claim 6, characterized in that: The second detection component (32) includes a camera connecting arm (321) and a second detection camera (322). The fixed end of the camera connecting arm (321) is located at the center of the top of the outer side of the connecting sidewall. The camera connecting arm (321) extends along the connecting sidewall to the middle of the suspension support (2222) and then gradually extends in an inclined direction away from the suspension support (2222). The second detection camera (322) is embedded at the end of the camera connecting arm (321). The contact point between the camera connecting arm (321) and the cutting part (2223) is in the same plane.

9. The intelligent mushroom harvesting robot according to claim 1, characterized in that: The moving component (21) includes a moving platform (211), a drive wheel set (212), and a buffer connection mechanism (213). The drive wheel set (212) is configured to cooperate with the conveying track (11) and is respectively hinged to the four corners of the moving platform (211). The buffer connection mechanism (213) is provided between the moving platform (211) and the drive wheel set (212). The drive wheel set (212) is used to drive the moving platform (211) to move back and forth along the conveying track (11). The buffer connection mechanism (213) is used to reduce the vibration of the moving platform (211).

10. A harvesting method employing the intelligent mushroom harvesting robot as described in any one of claims 1 to 9, characterized in that, The steps are as follows: S1. Place the harvesting module (2) on the starting end of the conveying module (1), initialize the harvesting module (2) and the identification module (3) through the control module, move the moving component (21) to the end of the conveying track (11), and reset the harvesting component (22). S2. The control module collects the mushroom stick image of the current work station through the recognition module (3), analyzes the position and size of the mushroom to be harvested through visual recognition, identifies the mushrooms that meet the standards to be harvested, and plans the harvesting operation sequence; then controls the harvesting module (2) to make the multi-axis harvesting arm (221) move to the mushroom position according to the information given by the recognition module (3); S3. The control module synchronously calls the second detection component (32) located on the side of the cutting section (2223) to obtain a partial image of the harvesting support mechanism (222) and the mushroom root, and drives the multi-axis harvesting arm (221) to fine-tune to the alignment position; then controls the transmission part (2221) to close, and during the closing process, the liquid level in the support arc cavity rises to support the mushroom cap; after the cutting section (2223) is cut, the mushroom cap is suspended in the liquid in the support ring cavity formed by the closing; then controls the multi-axis harvesting arm (221) to lift up and keep the harvesting support mechanism (222) in a vertical state, and releases the mushroom into the storage component (23) along the vertical path; S4. If not all the mushrooms to be picked at the current workstation have been picked, repeat step S3 according to the picking order; if all the mushrooms to be picked at the current workstation have been picked, move to the next workstation and repeat steps S2 to S3. S5. When the intelligent mushroom harvesting robot is detected to have completed the harvesting of the end area of ​​the conveying track (11), the harvesting module (2) retreats back to the starting end of the conveying module (1) and repeats steps S2 to S4. When the intelligent mushroom harvesting robot has completed the harvesting of mushrooms in all areas to be harvested, each module is reset and the harvesting stops.

Images